JP2007130154A - Endoscope insertion part shape recognition system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately reproduce and display the shape of a curved part in the insertion part of an endoscope by simple constitution. <P>SOLUTION: First to n-th sensors (coils) S1-Sn are arranged on a sensor probe 20 at prescribed intervals, the sensor probe 20 is inserted to the forceps channel 14 of the endoscope, and the first sensor S1 provided on the distal end of the sensor probe 20 and the second sensor S2 following it are arranged at both ends of an endoscope curved part 12B. The change of an AC magnetic field by a magnetic field generator 30 is detected by the respective sensors S1 to Sn, and positions corresponding to the respective sensors are obtained. Characteristics when the curved part 12B is curved are checked beforehand and are stored in a memory 22M provided in the connector part 22 of the sensor probe 20 as curved part shape data corresponding to a straight distance between the first and second sensors. The curved part shape data are utilized for reproducing the shape of the curved part, and an interpolation curve based on the position information of the second to n-th sensors S2 to Sn is used for reproducing the shape of an endoscope soft part. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus that detects the position of an endoscope insertion portion during insertion and displays the shape thereof.

  It is useful for the surgeon to grasp the shape of the endoscope insertion portion inserted into the body. In particular, in the use of a lower endoscope that is difficult to insert into the body, grasping the shape of the endoscope insertion portion is extremely useful. From these facts, various systems for grasping the shape of the endoscope insertion portion have been proposed.

  A system using an alternating magnetic field is known as a system for displaying the shape of the endoscope insertion portion. In this method, a large number of coils are arranged at predetermined intervals along the longitudinal direction of the insertion portion, and the position and orientation of each coil in the three-dimensional space are detected by using the electromagnetic induction action between the AC magnetic field and the coil. Is. The shape of the endoscope insertion portion is reproduced by applying a three-dimensional spline curve or the like to the position data of the measurement point where the coil is arranged, and displayed on the monitor.

  The endoscope insertion portion is generally divided into a bending portion connected to the distal end portion and a flexible portion connecting the operation portion and the bending portion. The bending portion is a portion that is bent in conjunction with operation of a knob provided in the operation portion. On the other hand, the soft part is a part that bends freely.

  As schematically shown in FIG. 11, the flexible portion 120 </ b> A is composed of a spiral tube 123, and the bending portion 120 </ b> B is composed of a large number of bending pieces 121. The bending pieces 121 are connected to each other by a hinge portion 122 so that the bending pieces 121 can be bent. FIG. 12 schematically shows another structure of the bending portion 120B. In the example of FIG. 12, the bending portion 120B includes two types of bending pieces 121A and 121B. In the configuration of FIG. 12, a bending piece 121A narrower than the bending piece 121B on the soft portion side is used on the bending portion distal end side, and the distal end side of the bending portion 120B can be bent with a larger curvature than the flexible portion side.

  From the structure shown in FIGS. 11 and 12, when the bending portion is bent by the knob operation, the curvature is extremely larger than the curvature due to the natural bending of the soft portion. Also, the manner of bending is greatly different, and even the same bending portion 120B is bent with a plurality of different curvatures as shown in FIG. Therefore, the shape of the curved portion cannot be accurately reproduced by the same method as the shape reproduction of the soft portion.

In order to solve the above problem, there is known a technique in which the number of coils installed in the bending portion is increased and the arrangement thereof is made dense so that the shape reproduction of the bending portion is accurately performed (Patent Document 1).
JP 2000-93386 A

  However, the installation of a large number of coils in the bending portion limits the curvature that the bending portion can tolerate, and also reduces the durability of the coil and the bending portion. Moreover, an increase in the number of parts, an increase in the size of the curved portion, and the like are caused.

  An object of the present invention is to provide an endoscope insertion portion shape grasping system capable of reproducing the shape of an insertion portion with a simple configuration.

  An endoscope insertion portion shape grasping system according to the present invention is an endoscope insertion portion shape grasping system for grasping the shape of a flexible endoscope insertion portion, and is provided at both ends of a bending portion in the insertion portion. It is characterized by comprising a distance detecting means for detecting the distance between the two and a memory for storing curved portion shape data for reproducing the shape of the curved portion corresponding to the distance.

  The distance detection means includes position detection means for detecting positions at both ends, and distance calculation means for calculating a distance from the positions at both ends. The position detecting means uses an alternating magnetic field.

  The position detection means includes a magnetic field generator that generates an alternating magnetic field, a sensor unit that detects the alternating magnetic field, and a position calculation unit that calculates the positions of the both ends based on signals from the sensor unit.

  At both ends of the bending portion, a first coil is disposed on the distal end side of the insertion portion, and a second coil is disposed on the flexible portion side of the insertion portion.

  The sensor of the sensor unit includes first and second coils, and the positions of the first and second coils are calculated based on the electrical signals of the first and second coils induced by the alternating magnetic field.

  The sensor part is composed of a sensor probe having a flexible tubular part. When the sensor probe is inserted into a predetermined channel of the endoscope, the first and second coils are positioned at positions corresponding to both ends. Is done.

  The sensor probe is detachable from the position calculating means, and the memory is provided in the sensor probe. A bending portion shape reproducing means for reproducing the shape of the bending portion based on the bending portion shape data is provided.

  The curved portion shape data includes one or more pieces of position information related to the curved portion. The endoscope insertion part shape grasping system further includes a soft part shape reproducing means for reproducing the shape of the soft part in the insertion part. The soft part shape reproducing means is reproduced by using an interpolation curve connecting the positions of a plurality of sensors arranged along the longitudinal direction of the soft part.

  As described above, according to the present invention, it is possible to provide an endoscope insertion portion shape grasping system that can reproduce the shape of an insertion portion with a simple configuration.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic view of an endoscope to which an endoscope insertion portion shape grasping system according to an embodiment of the present invention is applied. In this embodiment, an electronic endoscope is employed as the endoscope. .

  The electronic endoscope 10 includes an operation unit 11 for an operator to hold and operate. An insertion portion 12 and a light guide cable 13 are connected to the operation portion 11, and a connector 13 </ b> A is provided at the tip of the light guide cable 13. The connector 13A is detachably attached to a processor device (not shown) in which, for example, a light source and a video signal processing circuit are integrally accommodated, and the processor device is passed through the connector 13A of the electronic endoscope 10, the light guide cable 13, and the like. Illumination light is supplied into the body cavity from the light source unit, and an image signal from the electronic endoscope 10 is supplied to the video signal processing circuit of the processor device.

  The insertion portion 12 includes a flexible portion 12A, a bending portion 12B, and a distal end portion 12C. The flexible portion 12 </ b> A is a flexible tube that is freely bent, occupies most of the insertion portion 12, and is directly connected to the operation portion 11. The bending portion 12B is provided in a section connecting the tip portion 12C and the flexible portion 12A, and the direction of the tip portion 11C is rotated by, for example, about 180 ° in conjunction with the rotation operation of the angle knob 11A provided in the operation portion 11. Bendable until done.

  The insertion portion 12 is formed with a forceps channel that communicates from the operation portion 11 to the distal end portion 12C, and the operation portion 11 is provided with a forceps port 11B that serves as an entrance of the forceps channel. As will be described later, an imaging optical system, an imaging element, an illumination optical system, and the like are mounted on the distal end portion 12C.

  FIG. 2 is a schematic diagram schematically showing a configuration of a sensor unit used in an insertion unit shape grasping system that detects and displays the position of the insertion unit 12. In this embodiment, the sensor part of the insertion part shape grasping system is a probe type sensor (sensor probe). The sensor probe 20 includes a flexible tubular portion 21 and a connector portion 22 connected to one end thereof.

  For example, the length of the tubular portion 21 is substantially equal to the length obtained by adding the length of the insertion portion 12 and the length of the light guide cable 13. The distal end of the tubular portion 21 is inserted into the forceps channel from the forceps port 11B, and the distal end is installed at the distal end of the forceps channel in the distal end portion 12C.

  A first sensor S1 is provided at the distal end 21A of the tubular portion 21. A second sensor S2 is provided at a position moved from the first sensor S1 by a distance B along the pipe longitudinal direction toward the connector portion 22 side. A third sensor S3, a fourth sensor S4, a fifth sensor S5,..., An nth sensor Sn are sequentially provided at predetermined intervals A further on the connector section 22 side than the second sensor S2. The first sensor S1 to the nth sensor Sn are coils for magnetic sensors, for example, and each coil is electrically connected to the connector portion 22.

  FIG. 3 is a block diagram of the insertion portion shape grasping system of the present embodiment. In the present embodiment, the insertion portion shape grasping system includes, for example, a sensor probe 20, a position detection device main body 23, a magnetic field generator 30, and an image display device 31.

  In FIG. 3, the tubular portion 21 of the sensor probe 20 is attached to the forceps channel of the electronic endoscope 10. More specifically, the sensor probe 20 is inserted into the forceps channel 14 of the insertion portion 12 from the forceps port 11B, and the distal end thereof is disposed at the distal end portion 12C of the insertion portion 12. That is, the first sensor S1 is disposed in the distal end portion 12C. The distal end portion 12C is generally rigid, and the imaging element 15 and the light emitting end 16A of the light guide 16 are disposed therein. The distal end portion 12 </ b> C of the insertion portion 12 is provided with an illumination optical system 16 </ b> B for irradiating light emitted from the light guide 16 and an imaging optical system 15 </ b> A for forming a subject image on the imaging device 15.

  On the other hand, the connector portion 22 of the sensor probe 20 is detachably connected to the position detection device main body 23. Signals from the sensors S <b> 1 to Sn of the sensor probe 20 are input to the signal processing circuit 24 of the position detection device main body 23 via the connector unit 22. In the signal processing circuit 24, amplification, detection, and A / D conversion of signals from the first sensor S <b> 1 to the n-th sensor Sn are performed and input to the control calculation unit 25 of the position detection device body 23.

  The connector unit 22 is provided with a non-volatile memory 22M. When the connector unit 22 is connected to the position detection device main body 23, the connector unit 22 is connected to the control calculation unit 25. As will be described later, the memory 22M stores data (curved portion shape data) used for displaying the shape of the bending portion 12B when the shape display processing of the insertion portion 12 is performed. The curved portion shape data is read from the memory 22M to the control calculation unit 25 when the power of the insertion portion shape grasping system is turned on and the connector portion 22 is attached to the position detection device main body 23, for example.

  On the other hand, the magnetic field generator 30 is connected to the position detection device main body 23 through, for example, a connector. The magnetic field generator 30 is a device that generates an alternating magnetic field in a time series in a direction corresponding to each coordinate axis XYZ of the orthogonal coordinate system XYZ, for example, and is driven by a signal from a drive circuit XYZ in the position detection device main body 23. The drive circuit XYZ is controlled by a signal from the control calculation unit 25.

  As is well known, in the insertion portion shape grasping system using an alternating magnetic field, the coils S1 to Sn provided in the sensor probe 20 generate magnetic fields by electromagnetic induction from these alternating magnetic fields generated from the magnetic field generator 30. An induced electromotive force corresponding to a distance in each coordinate axis direction (X, Y, Z axis direction) from the XYZ coordinate system set in the device 30 is generated as a detection signal. In the control calculation unit 25, the position coordinates corresponding to the coils S1 to Sn are calculated in a predetermined coordinate system based on the detection results of the detection signals generated in the coils S1 to Sn.

  The control calculation unit 25 further creates image data that reproduces the shape of the insertion unit 12 based on the position coordinate data of the coils S1 to Sn and the curved portion shape data read from the memory 22M, and sends the image data to the image display control unit 27. Output. Based on the clock signal of the timing circuit 28, the image display control unit 27 converts image data that reproduces the shape of the insertion unit 12 from the control calculation unit 25 into a predetermined video signal, and is connected to the position detection device main body 23. To the image display device 31. An operation panel 29 is connected to the control calculation unit 25, and an operation signal is input to the control calculation unit 25 by operating switches provided on the operation panel 29.

  Thereby, on the image display device 31, for example, the shape of the insertion portion 12 inserted into the body of the subject is reproduced and displayed. Note that the drive timing of the signal processing circuit 24, the control arithmetic unit 25, the drive circuit XYZ 26, and the like is also controlled based on the clock signal from the timing circuit 28.

  Next, details of the insertion portion shape display processing in the present embodiment will be described. 4 and 5, the sensor probe 20 is attached to the forceps channel of the electronic endoscope 10, the angle knob 11A is operated, and the shape near the tip of the sensor probe 20 in a state where the insertion portion 12 is curved is shown. FIG. 4 shows a state in which the bending portion 12B is bent when the bending portion 12B is slightly bent, and FIG. 5 shows a state in which the bending portion 12B is bent until the end face of the distal end portion 12C is inverted by approximately 180 °. 4 and 5, only the sensor probe 20 is drawn, and the endoscope insertion portion 12 is omitted.

  In the insertion portion shape display process, the shape of the insertion portion 12 is reproduced on the screen of the image display device 31 by connecting points P1 to Pn corresponding to the positions of the magnetic sensor coils S1 to Sn obtained using the alternating magnetic field. Is done. FIG. 6 shows an image display example when the points P1 to Pn are connected by a straight line (linear interpolation), and FIG. 7 shows the interpolation between the points P1 and Pn using a predetermined curve such as a Bezier curve or a spline curve. An example of image display when (fitting) is shown.

  The curved portion 12B is generally different in structure from the flexible portion 12A, and greatly differs in how the force is applied, such as a force applied by an angle wire. Therefore, in the bending portion 12B, the way of bending is also significantly different from that of the flexible portion 12A, and when the same method as the flexible portion 12A is used for interpolation in the bending portion 12B as in the prior art, the shape of the insertion portion 12B to be reproduced is the actual shape. There are cases where it is significantly different from the above.

  FIG. 8 shows the positions of the points P1 to P4 when the bending portion 12B is greatly bent, and the state when these are linearly interpolated. In FIG. 8, the shape of the insertion portion 12B reproduced by linear interpolation (the point P1 to P4 connected by a straight line) is indicated by a solid line Ls, and the actual shape of the insertion portion 12 is indicated by a broken line Lb.

  As shown in FIG. 8, the flexible portion 12A bends gently, so that in the section between the points P2 to P4 corresponding to the flexible portion 12A, the reproduced shape (Ls) and the actual shape (Lb) There is not much difference between. However, the reproduced shape between the points P1 and P2 corresponding to the curved portion 12B is greatly different from the actual shape. In the example of FIG. 8, the case of linear interpolation is given as an extreme example. However, even in the interpolation using a Bezier curve or a spline curve, when the same interpolation method is used for the flexible portion 12A and the bending portion 12B, the bending portion 12B It can not cope when it is greatly curved.

  In order to more accurately reproduce the shape of the bending portion 12B, it is conceivable to arrange a large number of magnetic sensors in the bending portion 12B. However, if the coil for the magnetic sensor is arranged in the bending portion 12B, the angle knob The bending operation by 11A is not only inhibited, but the sensor may be destroyed, and the durability of the sensor probe 20 is deteriorated.

  From these things, as demonstrated with reference to FIG. 2, FIG. 3, in this embodiment, 1st sensor S1 and 2nd sensor S2 are the curved parts 12B (adjacent part of the front-end | tip part 12C of the tubular part 21). Are disposed at a distance B along the axial direction, and this distance B is slightly longer than the length of the curved portion 12B. That is, when the sensor probe 20 is attached to the forceps channel 14, the first sensor S1 is disposed in the rigid distal end portion 12C, and the second coil S2 is disposed in the flexible portion 12A adjacent to the bending portion 12B. The sensor coil is not arranged in the bending portion 12B.

  By the way, the way of bending of the bending portion 12B is generally characterized for each product. FIG. 9 schematically shows the actual bending state of the bending portion 12B and the positional relationship between the point P1 and the point P2. In FIG. 9, the state from the state where the bending portion 12B is not bent to the time when the bending portion 12B is bent in a substantially opposite direction is depicted as nine steps.

  In FIG. 9, each position of the point P1 with respect to nine bending states is defined as P1 (0) to P1 (8). Further, the direction of the distal end portion 12C at the time of bending with respect to the direction in which the distal end portion 12C is directed when the bending portion 12B is not curved is represented by an angle θ, thereby representing the curved state of the bending portion 12B. That is, when the bending portion 12B is not bent and the point P1 is located at P1 (0), θ = 0 °, the bending portion 12B is bent in the opposite direction, and the point P1 is located at P1 (8). When θ = 180 °. Furthermore, the values of θ at the positions P1 (0) to P1 (8) are represented by θ0 to θ8, respectively.

At this time, there is usually a one-to-one correspondence between the distance (linear distance) D between the points P1 and P2 and the angle θ (that is, D = D (θ), θ = D ⁻¹ ( D)). Further, the bending shape of the bending portion 12B when the distal end portion 12C is oriented in the θ direction is usually one. Therefore, when the distance D is determined from the positions of the points P1 and P2, the shape of the bending portion 12B can be determined.

  In the present embodiment, the sensor probe 20 corresponding to the endoscope 10 is prepared, and the distance D (that is, the relative position of the point P1 with respect to the point P2) and the shape of the bending portion 12B are stored in the memory 22M of the connector portion 22 of the sensor probe 20. Is stored as curved portion shape data. The shape of the bending portion 12B with respect to the distance D (relative position of the point P1) is measured in advance, and Table 1 shows an example of bending portion shape data.

  As shown in Table 1, for example, the curved portion shape data corresponds to the relative positions P1 (0) to P1 (8), and the position coordinates (x, x) at predetermined intervals along the longitudinal direction of the curved portion 12B. y, z) are recorded. In the example shown in Table 1, the position coordinate data of the bending portion 12B corresponding to between the points P1 and P2 is prepared at intervals that divide the points P1 and P2 into, for example, 10 equal parts, and P1 (0) to P1 (8 ), For example, nine pieces of position coordinate data (X1, Y1, Z1) to (X9, Y9, Z9) are recorded. Note that FIG. 10 shows the relationship between the position coordinate data (X1, Y1, Z1) to (X9, Y9, Z9) and the bending portion 12B, where the point P1 is located at P1 (0), P1 (4), and P1 (8). This is schematically shown as an example.

  As described above, when the distance D is calculated, the relative position of the point P1 with respect to the point P2 (not considering the degree of freedom around the axis) is uniquely determined, and based on this, the relative positions P1 (0) to P1 are determined. One of (8) is selected, and the shape of the insertion portion 12B is reproduced based on the position coordinate data (X1, Y1, Z1) to (X9, Y9, Z9) at that time.

  In the present embodiment, the bending portion shape data is position information of a predetermined point (one or more) between the points P1 and P2, but the curvature data of the bending portion 12B may be the bending portion shape data. Further, a predetermined interpolation function or a parameter of the interpolation function may be stored for each distance D (relative position of the point P1), or a combination of the above may be used.

  Therefore, in the insertion portion shape display process of the present embodiment, different interpolation methods are adopted for the bending portion 12B and the flexible portion 12A, and the shape of the entire insertion portion 12 is reproduced by combining these. That is, the position of each coil is connected to the flexible portion 12A using a Bezier curve or a spline curve, and the shape of the insertion portion 12 is reproduced by a conventional method, and the bending portion 12B and the distal end portion 12C are The bending portion shape data obtained by examining the bending method in the bending portion 12B in advance, and the relative positional relationship between the soft portion 12A located at both ends of the bending portion 12B and the magnetic sensor coils S1 and S2 provided at the distal end portion 12C. Based on this, interpolation is performed to reproduce the shape.

  When a Bezier curve, a spline curve, or the like is used for the interpolation curve of the soft portion 12A, the control point for the point P2 of the interpolation curve of the soft portion 12A is the tangent or curvature of the interpolation curve selected for the bending portion 12B. Determined with reference to geometric parameters.

  As described above, according to the present embodiment, the shape of the curved portion can be more accurately reproduced with a simple configuration, and thereby the shape of the entire insertion portion can be more accurately reproduced. .

  In the present embodiment, the position detection device main body is also used as a device for creating reproduced image data, and the image display device is directly connected. However, the position information of the magnetic sensor coil may be output to a computer, and the computer may reproduce the shape of the insertion portion and display the screen.

  In the present embodiment, the curved shape data is stored in the memory provided in the sensor probe. However, the curved shape data may be stored in the memory of the position detection device main body or the computer, for example. In such a case, for example, the curved shape data is stored in the memory for each type (model number) of the sensor probe and endoscope, and the model numbers of the sensor probe and endoscope are displayed in a list on the screen. It is good also as a structure which acquires corresponding curve shape data by selecting a corresponding model number from the inside. Alternatively, the model number may be recorded in the memory of the sensor probe, read out, and the curved shape data corresponding to the model number may be automatically selected.

  In this embodiment, the AC magnetic field generated by the magnetic field generator installed outside is detected using the magnetic sensor coil provided on the probe. However, the magnetic field generating coil is provided on the probe, It is good also as a structure detected with the magnetic sensor installed in. In this embodiment, the sensor probe is attached to the forceps channel, but the channel into which the sensor probe is inserted is not limited to this. It is also possible to provide the sensor coil directly in the insertion part of the endoscope.

  Further, in the present embodiment, the bending state of the bending portion is uniquely determined by the distance between the first sensor and the second sensor, and the bending portion state data is determined by determining the state of the bending portion based only on this distance. However, if it is difficult to make a determination due to a difference in distance, the directions of the respective sensors detected by the first and second sensors may be taken into the determination.

1 is an overview diagram of an endoscope to which an endoscope insertion portion shape grasping system according to an embodiment of the present invention is applied. It is the schematic which shows typically the structure of the sensor part used in an insertion part shape grasping | ascertainment system. It is a block diagram of the insertion part shape grasping system of this embodiment. The curved part is shown in a slightly bent state. A state in which the bending portion is bent until the end face of the tip portion is inverted by approximately 180 ° is shown. This is an image display example when the points P1 to Pn are connected by a straight line (linear interpolation). It is an image display example when interpolating between points P1-Pn using predetermined curves, such as a Bezier curve and a spline curve. The positions of the points P1 to P4 when the bending portion is greatly bent and the state when these are linearly interpolated are shown. It is a schematic diagram which shows the positional relationship with respect to the point P2 of the actual bending state of a bending part, and the point P1 in each state. The relationship between the position coordinate data (X1, Y1, Z1) to (X9, Y9, Z9) and the curved portion is schematically shown as an example when the position of the point P1 is P1 (0), P1 (4), P1 (8). FIG. It is a figure which shows typically an example of the structure of an endoscope bending part. It is a figure which shows typically the structure of the endoscope bending part different from FIG. It is a schematic diagram of the curved part curved by the several different curvature.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Endoscope 11B Forceps port 12 Insertion part 12A Soft part 12B Bending part 12C Tip part 20 Sensor probe 21 Tubular part 22 Connector part 22M Memory 24 Signal processing circuit 25 Control arithmetic part 26 Drive circuit XYZ
27 Image display control unit 30 Magnetic field generator 31 Image display device S1 to Sn sensor (coil)

Claims (12)

An endoscope insertion portion shape grasping system for grasping the shape of a flexible endoscope insertion portion,
Distance detecting means for detecting a distance between both ends of the bending portion in the insertion portion;
An endoscope insertion portion shape grasping system comprising: a memory that stores bending portion shape data for reproducing the shape of the bending portion corresponding to the distance.   The endoscope insertion unit according to claim 1, wherein the distance detection unit includes a position detection unit that detects the positions of the both ends, and a distance calculation unit that calculates the distance from the positions of the both ends. Shape grasping system.   The endoscope insertion portion shape grasping system according to claim 2, wherein the position detection means uses an alternating magnetic field.   The position detection means includes a magnetic field generator that generates an alternating magnetic field, a sensor unit that detects the alternating magnetic field, and a position calculation unit that calculates the positions of the both ends based on signals from the sensor unit. The endoscope insertion portion shape grasping system according to claim 3.   The endoscope insertion according to claim 4, wherein a first coil is disposed on a distal end side of the insertion portion and a second coil is disposed on a flexible portion side of the insertion portion at both ends of the bending portion. Part shape grasping system.   The sensor of the sensor unit includes the first and second coils, and the positions of the first and second coils are calculated based on electrical signals of the first and second coils induced by the alternating magnetic field. The endoscope insertion part shape grasping system according to claim 5 characterized by things.   The sensor part is composed of a sensor probe having a flexible tubular part, and the sensor probe is inserted into a predetermined channel of the endoscope so that the first and second coils are disposed at both ends. The endoscope insertion portion shape grasping system according to claim 6, wherein the endoscope insertion portion shape grasping system is provided at a corresponding position.   The endoscope insertion portion shape grasping system according to claim 7, wherein the sensor probe is detachably attached to the position calculating means, and the memory is provided in the sensor probe.   The endoscope insertion portion shape grasping system according to claim 1, further comprising a bending portion shape reproducing unit that reproduces the shape of the bending portion based on the bending portion shape data.   The endoscope insertion portion shape grasping system according to claim 9, wherein the bending portion shape data includes position information of one or more points related to the bending portion.   The endoscope insertion part shape grasping system according to claim 9, further comprising a soft part shape reproduction unit that reproduces a shape of the soft part in the insertion part. The endoscope insertion according to claim 11, wherein the soft part shape reproducing means is reproduced by using an interpolation curve that connects positions of a plurality of sensors arranged along a longitudinal direction of the soft part. Part shape grasping system.

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