WO2017221355A1

WO2017221355A1 - Shape estimating device

Info

Publication number: WO2017221355A1
Application number: PCT/JP2016/068552
Authority: WO
Inventors: 高山　晃一; 藤田　浩正; 憲佐藤
Original assignee: オリンパス株式会社
Priority date: 2016-06-22
Filing date: 2016-06-22
Publication date: 2017-12-28
Also published as: JPWO2017221355A1

Abstract

This shape estimating device is provided with: an input unit (130) that is configured such that light quantity information, i.e., the relationships between wavelengths and light quantities, said light quantity information having been acquired using a shape estimating sensor unit that is configured such that the light quantities detected with respect to wavelengths corresponding to a plurality of shape detection units vary in accordance with the shapes of the shape detection units, and temperature-related information of the periphery of the shape estimating sensor unit are inputted; a storage unit (120) that stores therein light quantity estimation relationships, including shape characteristic information that indicates the relationships among the shapes, the wavelengths, and the light quantities of respective shape detection units; and a calculation unit (110) that calculates the shapes of respective shape detection units on the basis of the light quantity information, the temperature-related information, and light quantity estimation values, i.e., the relationships between the wavelengths and the light quantities, said light quantity estimation values having been calculated on the basis of the light quantity estimation relationships.

Description

Shape estimation device

The present invention relates to a shape estimation apparatus that estimates the bending shape of a flexible object.

Japanese Unexamined Patent Application Publication No. 2016-007505 discloses such a shape estimation apparatus. In this shape estimation device, for a wavelength corresponding to each of the detection units of the plurality of light absorbers, using a sensor configured so that the detected light amount information differs according to the shape of each of the plurality of detection units, Based on the light amount estimation value that is the relationship between the wavelength and the light amount calculated based on the light amount information and the light amount estimation relationship, the shape of each of the plurality of detection units is calculated. Further, based on the shape and position information of each of the plurality of detection units, the bending shape of the flexible object incorporating the shape estimation device is estimated.

The present inventors have found that the light quantity information detected by the shape estimation apparatus changes depending on the temperature. That is, the present inventors have found that the shape estimated by the shape estimation device includes an error due to temperature.

The present invention has been made in consideration of such a situation, and an object thereof is to provide a shape estimation apparatus that estimates an accurate shape that does not include an error caused by temperature.

The shape estimation apparatus according to the present invention includes a shape estimation sensor unit configured such that the amount of light detected for a wavelength corresponding to each of a plurality of shape detection units differs according to the shape of each of the plurality of shape detection units. A light quantity information that is a relationship between the wavelength and the light quantity acquired using the information, an input unit configured to receive temperature-related information around the shape estimation sensor unit, and the plurality of shape detections A storage unit that stores a light amount estimation relationship including shape characteristic information representing a relationship between the shape, the wavelength, and the light amount of each of the units; the light amount information; and the wavelength that is calculated based on the light amount estimation relationship And a calculation unit that calculates the shape of each of the plurality of shape detection units based on the light amount estimation value that is a relationship between the light amount and the temperature related information.

According to the present invention, there is provided a shape estimation device that estimates an accurate shape that does not include an error due to temperature.

FIG. 1 is a configuration diagram of a shape estimation apparatus according to the first embodiment. FIG. 2 shows a cross-sectional view of the shape detector along a plane perpendicular to the axis of the photoconductive member. FIG. 3 shows an example of the relationship between the light wavelength and the absorptance in the first light absorber, the second light absorber, and the nth light absorber. FIG. 4A schematically shows the transmission of light when the light conducting member is bent so that the shape detecting unit comes inside the bending of the light conducting member. FIG. 4B schematically shows the transmission of light when the photoconductive member is not bent. FIG. 4C schematically shows the transmission of light when the light conducting member is bent so that the shape detection unit comes outside the bending of the light conducting member. FIG. 5 shows the processor unit and its peripherals in the first embodiment. FIG. 6 is a flowchart of shape estimation in the first embodiment. FIG. 7 is a configuration diagram of a shape estimation apparatus according to the second embodiment. FIG. 8 shows a change in the light amount change rate of each temperature detection unit due to temperature fluctuation. FIG. 9 shows a processor unit and its peripheral units in the second embodiment. FIG. 10 is a flowchart of shape estimation in the second embodiment. FIG. 11 is a configuration diagram of a shape estimation apparatus according to the third embodiment. FIG. 12 shows a light absorption spectrum of the light absorber of each shape detection unit and temperature detection unit. FIG. 13 shows a processor unit and its peripheral units in the third embodiment. FIG. 14 is a flowchart of shape estimation in the third embodiment. FIG. 15 is a configuration diagram of a shape estimation apparatus according to the fourth embodiment. FIG. 16 shows a processor unit and its peripheral units in the fourth embodiment. FIG. 17 is a flowchart of shape estimation in the fourth embodiment. FIG. 18 is a configuration diagram of a shape estimation apparatus according to the fifth embodiment. FIG. 19 schematically shows an endoscope in which the shape estimation apparatus of the fifth embodiment is incorporated. FIG. 20 shows a processor unit and its peripheral unit in the fifth embodiment. FIG. 21 shows an insertion portion of an endoscope that is inserted into a lumen and has an S shape. FIG. 22 is a flowchart of shape estimation in the fifth embodiment. FIG. 23 is a configuration diagram of a shape estimation apparatus according to the sixth embodiment. FIG. 24 schematically shows an endoscope system in which the shape estimation apparatus according to the sixth embodiment is incorporated. FIG. 25 shows a processor unit and its peripheral units in the sixth embodiment. FIG. 26 is a flowchart of shape estimation in the sixth embodiment.

<First Embodiment>
FIG. 1 is a configuration diagram of a shape estimation apparatus according to the first embodiment. The shape estimation apparatus includes a shape estimation sensor unit 20, a light source unit 10 that supplies light to the shape estimation sensor unit 20, a light detector 30 that detects light that has passed through the shape estimation sensor unit 20, and a light source unit. A light branching unit 50 that guides light from the shape estimation sensor unit 20 to the light detector 30 and guides the light from the shape estimation sensor unit 20 to the photodetector 30, and an antireflection member 60 connected to the light branching unit 50. A temperature measurement unit 70 that detects temperature-related information around the shape estimation sensor unit 20 and a processor unit 100 that estimates the shape of the shape estimation sensor unit 20 are provided.

Shape estimating sensor unit 20 includes an optical conductive member LG ₂ which is connected to the optical branching unit 50, a plurality of shape detecting unit provided on the light conducting member LG ₂ (first shape detecting unit DP _1, the second shape detection unit DP _2, ..., a shape detection unit DP _n) of the n, and a reflecting member 40 provided at the end of the light conducting member LG _2. In the following, the first shape detection unit DP ₁ , the second shape detection unit DP ₂ ,..., The nth shape detection unit DP _n are simply referred to as the shape detection unit DP _i (i = 1, 2,..., N). write.

Each shape detection unit DP _i is composed of a material that reduces the intensity of light guided by the light conducting member LG _2. Each of the plurality of shape detectors DP _i reduces light of different wavelengths. Each shape detection unit DP _i is composed of, for example, a light absorber whose light absorptance changes according to the curvature. Light conducting member LG ₂ is constituted by an optical fiber, it has flexibility. The shape estimation sensor unit 20 includes a fiber sensor having an optical fiber provided with a plurality of shape detection units DP _i .

The reflecting member 40 reflects the light guided from the light branching unit 50 by the light conducting member LG < _b > ₂ so as to return to the direction of the light branching unit 50.

The light source unit 10 is optically connected to the optical branching section 50 through the light conducting member LG _1. Photodetector 30 is optically connected to the optical branching section 50 through the light conducting member LG _4. Antireflection member 60 is optically connected to the optical branching section 50 through the light conducting member LG _3. The light conducting members LG ₁ , LG ₃ , LG ₄ are made of, for example, optical fibers and have flexibility.

The light source unit 10 supplies light to the shape estimation sensor unit 20. The light source unit 10 includes a generally known light emitting element such as a lamp, LED, or laser diode. The light source unit 10 may further include a phosphor for converting the wavelength.

The light branching unit 50 guides light from the light source unit 10 to the shape estimation sensor unit 20 and guides light from the shape estimation sensor unit 20 to the photodetector 30. The optical branching unit 50 includes an optical coupler, a half mirror, and the like. For example, the light branching unit 50 divides the light emitted from the light source unit 10 input through the light conducting member LG ₁ and guides it to the two light conducting members LG ₂ and LG ₃ . Optical branching unit 50 also reflected light from the reflecting member 40 to be input through the optical conduction member LG _2, guided to a photodetector 30 through the optical conduction member LG _4.

The light detector 30 detects light that has passed through the shape estimation sensor unit 20. The photodetector 30 has a function of detecting the intensity of received light for each wavelength, that is, a function of detecting by spectroscopy. The photodetector 30 includes, for example, a spectroscopic element such as a spectroscope or a color filter, and a light receiving element such as a photodiode. The photodetector 30 detects the intensity of light in a predetermined wavelength region and outputs detected light amount information. Here, the detected light amount information is information representing a relationship between a specific wavelength in a predetermined wavelength region and light intensity at the wavelength.

The antireflection member 60 prevents light that has not entered the light conducting member LG < _b > ₂ from the light emitted from the light source unit 10 from returning to the photodetector 30.

The temperature measurement unit 70 detects temperature-related information around the shape estimation sensor unit 20. The temperature measuring unit 70 includes at least one temperature measuring device provided around at least one of the shape detecting units DP _i of the shape estimating sensor unit 20. For example, the temperature measuring unit 70 includes a plurality of temperature measuring devices (first temperature measuring device TD ₁ , second temperature measuring device TD ₂ ,..., M-th temperature measuring device TD _m ). In the following, the first temperature measuring device TD ₁ , the second temperature measuring device TD ₂ ,..., The m-th temperature measuring device TD _m is simply referred to as a temperature measuring device TD _j (j = 1, 2,..., M). write. For example, the number of the temperature measuring device TD _j is equal to the number of shape detection unit DP _i, the temperature measuring device TD _j, respectively, are arranged around the shape detection unit DP _i. The temperature measuring device TD _j may be composed of, for example, a thermocouple, a resistance thermometer, or the like.

Figure 2 shows a cross-sectional view of taken along a plane perpendicular to the light conducting member LG ₂ shaft shape detection unit DP _i. The light conducting member LG ₂ includes a core 512, a clad 514 that surrounds the core 512, and a jacket 516 that surrounds the clad 514.

The shape detection unit DP _i is formed by removing a part of the jacket 516 and the clad 514 to expose the core 512 and providing the light absorber 518 on the exposed core 512. The light absorbers 518 of the plurality of shape detectors DP _i have different light absorptance for each wavelength. In other words, the light absorbers 518 of the plurality of shape detection units DP _i have different light modulation characteristics. The member used for the shape detection unit DP _i is not limited to the light absorber. An optical member that affects the spectrum of the guided light can be used. Such an optical member may be, for example, a wavelength conversion member (phosphor).

FIG. 3 shows an example of the relationship between the light wavelength and the absorptance in the first light absorber, the second light absorber, and the nth light absorber. In FIG. 3, the solid line indicates the light absorption characteristic of the first light absorber, the broken line indicates the light absorption characteristic of the second light absorber, and the two-dot chain line indicates the light absorption characteristic of the nth light absorber. As shown in FIG. 3, the light absorbers provided in the different shape detectors DP _i have different light absorption characteristics.

Detecting light guided by the light conducting member LG ₂ is lost in the shape detection unit DP _i. Its light loss amount, as shown in FIGS. 4A-4C, changes depending on the direction and amount of bending of the light conducting member LG _2. For example, when the light conducting member LG ₂ is bent so as to come shape detection unit DP _i inside the bending of the light conducting member LG ₂ as shown in FIG. 4A, the light conducting member LG as shown in FIG. 4B Compared with the case where ₂ is not bent, the light guide loss amount is small. The light loss is reduced in proportion to the curve amount of the light conducting member LG _2. On the contrary, when the light conducting member LG ₂ should come shape detection unit DP _i outside the bending of the light conducting member LG ₂ is bent as shown in FIG. 4C, as shown in Figure 4B light loss as compared to the case where the light conducting member LG ₂ unflexed increases. The light loss is increased in proportion to the curve amount of the light conducting member LG _2.

This change in the light guide loss amount is reflected in the amount of detection light received by the photodetector 30. That is, it is reflected in the output signal of the photodetector 30. Therefore, by monitoring the output signal of the photodetector 30, it is possible to grasp the direction and amount of bending of the light conducting member LG _2.

That is, the shape estimation sensor unit 20, the amount of light detected for each wavelength corresponding to a plurality of shape detecting unit DP _i is configured differently depending on the respective shapes of a plurality of shape detecting unit DP _i ing.

The light emitted from the light source unit 10 is guided by the light conducting member LG ₁ and enters the light branching unit 50. The light branching unit 50 divides the input light and outputs the divided light to the two light conducting members LG ₂ and LG ₃ , respectively. Light guided by the light conducting member LG ₃ is for example absorbed by the reflection preventing member 60 provided at the end of the light conducting member LG _3. Light guided by the light conducting member LG ₂ is reflected by the light conducting member LG reflecting member 40 provided at the end of _2, is guided again by the light conducting member LG ₂ in the optical branching section 50 Return. Light guided by the light conducting member LG ₂ during guided, by the shape detection unit DP _i, wavelength components corresponding to the shape detecting unit DP _i is lost. Optical branching section 50 divides the light came back, and outputs the part to the light conducting member LG _4. Light output to the light conducting member LG ₄ is guided from entering the photodetector 30 by a light conducting member LG _4. Light photodetector 30 receives light is a light that has passed through the shape detection unit DP _i, changes depending on the curvature and the temperature of the shape detecting unit DP _i.

Temperature measurement unit 70 obtains temperature-related information around the light conducting member LG _2, and outputs the acquired temperature-related information to the processor unit 100. More specifically, the temperature measurement unit 70 measures the temperature around the shape detection unit DP _i by the temperature measuring device TD _j and outputs information on the measured temperature to the processor unit 100.

The processor unit 100 estimates the shape of the shape estimation sensor unit 20.

[Operation processing unit (processor unit and its peripheral parts)]
Next, an arithmetic processing unit that estimates the shape of the shape estimation sensor unit 20 will be described. FIG. 5 shows the processor unit 100 and its peripheral parts. The processor unit 100 is configured by an electronic computer that is a personal computer, for example. A display unit 160 and an input device 170 are connected to the processor unit 100.

The processor unit 100 includes an input unit 130, a control unit 200, a storage unit 120, a temperature calculation unit 210, a curvature calculation unit 110, a shape calculation unit 150, a photodetector driving unit 180, and a light source driving unit 190. And an output unit 140.

The input unit 130 is configured to receive light amount information that is a relationship between the wavelength and the light amount acquired using the shape estimation sensor unit 20. Here, the light amount information that is the relationship between the wavelength and the light amount is, for example, a spectrum having different light absorption rates.

The input unit 130 is also configured to input temperature-related information around the shape estimation sensor unit 20. For example, the input unit 130 is configured to receive temperature-related information acquired by the temperature measurement unit 70.

Further, the input unit 130 further receives a shape estimation start signal, a shape estimation end signal, a light amount reading start signal, a light amount reading end signal, a curvature calculation start signal, a curvature calculation end signal, and a signal related to the setting of the curvature calculation unit 110 from the input device 170. , A shape calculation start signal, a shape calculation end signal, a signal related to the setting of the shape calculation unit 150, and the like are input.

The control unit 200 controls the setting of the light intensity of each light source of the light source unit 10 through the light source driving unit 190 in accordance with a signal from the input device 170.

The storage unit 120 stores a light amount estimation relationship including shape characteristic information representing a relationship between a shape, a wavelength, and a light amount for each of the plurality of shape detection units DP _i . The storage unit 120 also stores various types of information necessary for calculations performed by the shape calculation unit 150. The storage unit 120 further stores, for example, a program including a calculation algorithm, a light quantity estimation relationship including shape characteristic information of the shape detection unit DP _i , and the like.

The temperature calculation unit 210 estimates temperature-related information based on information from the temperature measurement unit 70, that is, detection information of the plurality of temperature measuring devices TD _j , and transmits the temperature-related information to the curvature calculation unit 110 and the storage unit 120.

The curvature calculation unit 110 reads the light amount estimation relationship from the storage unit 120 and calculates a light amount estimation value that is a relationship between the wavelength and the light amount corresponding to each shape detection unit DP _i based on the light amount estimation relationship. The curvature calculation unit 110 further includes light amount information supplied from the input unit 130, a light amount estimation value calculated based on the light amount estimation relationship read from the storage unit 120, and temperature related information supplied from the temperature calculation unit 210. Based on this, the curvature of each of the plurality of shape detectors DP _i is calculated. The curvature calculation unit 110 outputs the calculated curvature of each shape detection unit DP _i to the shape calculation unit 150.

The shape calculation unit 150 calculates the shape information of the light conducting member LG ₂ provided with the plurality of shape detection units DP _i based on the curvature and position information of each shape detection unit DP _i supplied, that is, the shape information. To do. Shape operation unit 150 outputs the calculated shape information of the light conducting member LG ₂ to the output portion 140.

The photodetector driving unit 180 generates a driving signal for the photodetector 30 based on the information acquired from the input unit 130 and the shape calculating unit 150, and transmits the generated driving signal to the output unit 140. The drive signal of the photodetector 30 is a signal for performing on / off switching of the photodetector 30 and gain adjustment of the photodetector 30.

The light source driving unit 190 generates a driving signal for the light source unit 10 and transmits the generated driving signal to the output unit 140.

The output unit 140 outputs the acquired shape information of the light conducting member LG ₂ from the shape calculation portion 150 to the display unit 160. Further, the output unit 140 transmits a drive signal from the light source driving unit 190 to the light source unit 10. The output unit 140 transmits a drive signal from the photodetector driving unit 180 to the photodetector 30.

[Curvature calculation and shape calculation]
The curvature calculation unit 110 acquires curvature characteristic information (light amount estimation relationship) for each wavelength of the light amount information according to the temperature related information from the temperature calculation unit 210 stored in the storage unit 120. The curvature characteristic information is a parameter used for the light amount change rate and the shape derivation of the shape estimation sensor unit 20. The curvature calculation unit 110 calculates a light amount change rate (light amount estimation value) based on the curvature characteristic information. The light quantity change rate is given by equation (1). The reference light amount is light amount information when the shape estimation sensor unit 20 is in a straight line.

In accordance with the temperature change, the light quantity (CR ₀ ) serving as the reference of the equation (1) changes. The reference amount of light is expressed as information with respect to temperature as a variable, and is expressed as in equation (2). Expression (2) is expressed as a function of information about temperature, but the reference light quantity may be acquired using a map.

There is a relationship of Expression (3) between the light amount change rate of Expression (1) and the shape information (curvature information) of each shape detection unit DP _i .

The shape information of each shape detection unit DP _i calculated by the curvature calculation unit 110 is transmitted to the shape calculation unit 150. Shape operation unit 150, based on the shape information of the shape detection unit DP _i, to calculate the shape of the light conducting member LG _2. Shape information of the light conducting member LG ₂ is transmitted to the display unit 160 via the output unit 140. The display unit 160 displays shape information. The display unit 160 may display not only the shape information but also the curvature and shape calculation results. The mathematical expression is an expression for changing the reference light amount information CR ₀ according to the temperature as an example, but the temperature related information (Te) is calculated as a variable in the shape information calculation (CR _n ) of each shape detection unit DP _i. May be.

[Flowchart of shape estimation]
FIG. 6 is a flowchart of shape estimation in this embodiment.

In step 1S1, the initial setting is transmitted from the control unit 200 to the photodetector driving unit 180 and the light source driving unit 190, and driving is started.

In step 1S2, reading of the light amount from the light detector 30 is started.

In step 1S3, a light quantity reading end signal is received.

In step 1S4, the detection signal (light quantity information) from the photodetector 30 and the temperature related information from the temperature measurement unit 70 are acquired.

In Step 1S5, temperature related information is transmitted to the storage unit 120, and curvature characteristic information corresponding to the temperature related information is acquired from the storage unit 120.

In step 1S6, the curvature of each shape detection unit DP _i is calculated based on the acquired detection signal of the photodetector 30, the temperature related information acquired from the temperature measurement unit 70, and the curvature characteristic information acquired from the storage unit 120. To do.

In step 1S7, it estimates the shape of the light conducting member LG ₂ on the basis of the curvature and position information of each shape detecting unit DP _i of the shape detecting unit DP _i.

In step 1S8, it displays the estimated shape of the light conducting member LG ₂ to the display unit 160.

In step 1S9, it is determined whether an end signal has been received. If the determination result is No, the process returns to step 1S2. If the determination result is Yes, the shape estimation ends.

Since the shape estimation apparatus according to the present embodiment performs shape estimation using temperature related information in addition to the light amount information and the light amount estimated value, the error in the shape detection result due to the temperature change is removed. It is possible to calculate the curvature of the shape detector DP _i and estimate the shape of the light conducting member LG ₂ with high accuracy.

Second Embodiment
FIG. 7 is a configuration diagram of a shape estimation apparatus according to the second embodiment. 7, members denoted by the same reference numerals as those shown in FIG. 1 are the same members, and detailed description thereof is omitted. Hereinafter, the second embodiment will be described focusing on differences from the first embodiment.

The difference is the configuration of the temperature measurement unit. In the present embodiment, the temperature measurement unit 70A includes a temperature estimation sensor unit 20A, a light source unit 10A that supplies light to the temperature estimation sensor unit 20A, and light detection that detects light that has passed through the temperature estimation sensor unit 20A. Connected to the optical branching unit 50A, the light branching unit 50A for guiding the light from the light source unit 10A to the temperature estimation sensor unit 20A and the light from the temperature estimation sensor unit 20A to the photodetector 30A. An antireflection member 60A is provided.

Light source unit 10A is the optical branching section 50A optically connected via an optical conduction member LGA _1. Photodetector 30A is an optical branching section 50A optically connected via an optical conductive member LGA _4. Antireflection member 60A is an optical branching section 50A optically connected via an optical conduction member LGA _3.

The configuration of the light source unit 10A, the photodetector 30A, the light branching unit 50A, the antireflection member 60A, and the light conducting members LGA ₁ , LGA ₃ , and LGA ₄ are respectively the light source unit 10, the photodetector 30, the light branching unit 50, This is the same as the antireflection member 60 and the light conducting members LG ₁ , LG ₃ , LG ₄ .

The temperature estimation sensor unit 20A is composed of a fiber sensor, and includes a light conducting member LGA ₂ connected to the light branching unit 50A and a plurality of temperature detection units (first temperature) provided in the light conducting member LGA _2. Detection unit TDA ₁ , second temperature detection unit TDA ₂ ,..., M-th temperature detection unit TDA _m ), and reflection member 40A provided at the end of photoconductive member LGA ₂ . Hereinafter, the first temperature detection unit TDA ₁ , the second temperature detection unit TDA ₂ ,..., The mth temperature detection unit TDA _m are simply referred to as temperature detection unit TDA _j (j = 1, 2,..., M). write.

Each temperature detection unit TDA _j is composed of a light absorber whose light absorption rate varies depending on the temperature. Further, each of the temperature detection units TDA _j absorbs light having different wavelengths. Each temperature detection unit TDA _j changes in the light amount change rate as shown in FIG. The temperature estimation sensor unit 20 </ b> A is disposed around the shape estimation sensor unit 20. Each temperature detection unit TDA _j is arranged, for example, at a location around the shape detection unit DP _i of the shape estimation sensor unit 20 where no shape change is given. Thereby, it becomes possible to measure temperature stably.

In the present embodiment, the temperature estimation sensor unit 20A is illustrated as being configured as a reflection type in FIG. 7, but may be configured as a transmission type.

[Operation processing unit (processor unit and its peripheral parts)]
Then, the arithmetic processing part of the shape estimation apparatus of this embodiment is demonstrated. FIG. 9 shows the processor unit 100 and its peripheral parts in the present embodiment. The configuration of the processor unit 100 in the present embodiment is basically the same as that of the processor unit 100 in the first embodiment. Hereinafter, differences will be described.

The input unit 130 is configured to receive a detection signal from a photodetector 30A that detects light that has passed through the temperature estimation sensor unit 20A. In addition to the light source unit 10, the light source driving unit 190 is configured to drive the light source unit 10A that supplies light to the temperature estimation sensor unit 20A. The photodetector driver 180 is configured to drive the photodetector 30 </ b> A that detects light that has passed through the temperature estimation sensor unit 20 </ b> A, in addition to the photodetector 30. The output unit 140 is configured to transmit a driving signal from the light source driving unit 190 to the light source unit 10A and a driving signal from the photodetector driving unit 180 to the photodetector 30A.

The temperature calculation unit 210 converts the detection signal of the photodetector 30A into temperature related information. Since the temperature detection unit TDA _j of the temperature estimation sensor unit 20A has a linear shape without changing its shape, the light amount change detected by the photodetector 30A depends only on the temperature change. Therefore, by formulating or mapping the relationship between the light quantity change and the temperature change, the temperature related information can be acquired from the light quantity change detected by the photodetector 30A. Expression (4) shows the relationship between the light amount change rate and the temperature related information of the temperature detector TDA _j .

What is a same formula as formula (3), the temperature detecting unit TDA _j, because they are disposed at locations where the shape does not change, change of light intensity CR _Te of each temperature detecting unit TDA _j is dependent only on the temperature change It becomes.

The temperature related information of each temperature detection unit TDA _j of the equation (4) calculated in the temperature calculation unit 210 is transmitted to the storage unit 120. The storage unit 120 transmits curvature characteristic information corresponding to the stored temperature-related information to the curvature calculation unit 110. The curvature calculation unit 110 is based on the temperature-related information from the temperature calculation unit 210, the detection signal from the photodetector 30, and the curvature characteristic information from the storage unit 120. The light amount change amount of each shape detection unit DP _i is calculated by a numerical analysis method using information or the like. Based on the relationship between the calculated amount of change in light quantity and the curvature, the curvature of each shape detection unit DP _{i in} FIG. 7 is calculated.

Hereinafter, similarly to the first embodiment, the shape operation unit 150, based on the position information of the curvature and the shape detection unit DP _i of the shape detecting unit DP _i, a plurality of shape detecting unit DP _i is provided to calculate the shape information of the light conducting member LG _2. Shape information of the calculated light conducting member LG ₂ is displayed on the display unit 160.

[Flowchart of shape estimation]
FIG. 10 is a flowchart of shape estimation in this embodiment.

In step 2S1, the setting is transmitted from the control unit 200 to the photodetector driving unit 180 and the light source driving unit 190, and driving is started.

In Step 2S2, reading of the light amount from the photodetector 30 for the shape estimation sensor unit 20 and reading of the light amount from the photodetector 30A for the temperature estimation sensor unit 20A are started.

In step 2S3, a light quantity reading end signal is received.

In step 2S4, a detection signal from the photodetector 30 for the shape estimation sensor unit 20 and a detection signal from the photodetector 30A for the temperature estimation sensor unit 20A are acquired.

In step 2S5, temperature related information is calculated from the light quantity change rate of the temperature detector TDA _j . The temperature related information Te is calculated according to Te = F (λn). Here, λn is a light quantity change rate.

In step 2S6, the acquired temperature related information is transmitted to the storage unit 120, and curvature characteristic information corresponding to the temperature related information is acquired.

In step 2S7, the curvature of each shape detection unit DP _i is calculated based on the acquired detection signal of the photodetector 30, the temperature-related information calculated in step 2S5, and the curvature characteristic information acquired from the storage unit 120.

In step 2S8, the shape of the light conducting member LG ₂ shape estimation sensor unit 20 is estimated based on the position information of the curvature and the shape detection unit DP _i of the shape detecting unit DP _i.

In step 2S9, it displays the estimated shape of the light conducting member LG ₂ shape estimation sensor unit 20 to the display unit 160.

In step 2S10, it is determined whether an end signal has been received. If the determination result is No, the process returns to step 2S2. If the determination result is Yes, the shape estimation ends.

As in the first embodiment, the shape estimation apparatus according to the present embodiment removes errors in the shape detection results due to temperature changes, and thus calculates the curvature of each shape detection unit DP _i and the light conducting member LG ₂ . The shape can be estimated with high accuracy.

Moreover, since the temperature estimation sensor unit 20A of the temperature measurement unit 70A is composed of a fiber sensor, it can be configured to have a small diameter.

<Third Embodiment>
FIG. 11 is a configuration diagram of a shape estimation apparatus according to the third embodiment. 11, members denoted by the same reference numerals as those shown in FIG. 1 are the same members, and detailed description thereof is omitted. Hereinafter, the third embodiment will be described focusing on differences from the first embodiment.

In shape estimating device according to the present embodiment, the light conducting member LG ₂ shape estimation sensor unit 20, in addition to the shape detecting unit DP _i, the temperature detector TD is provided. The temperature detector TD is disposed at a location where no change in shape is given. The temperature detection unit TD includes a light absorber whose light absorption rate varies depending on the temperature. As shown in FIG. 12, the light absorption spectrum C _TD of the light absorber temperature detector TD has a peak at a wavelength lambda _k, wavelength lambda _1, lambda _2, ..., each having a peak at lambda _n

light absorption spectrum

_C 1 of the light absorber shape detecting unit DP _{_i,} C _{2, ...,} are present in a wavelength band different from the _{C n.} That is, in the temperature detection region where the light absorption spectrum C _TD of the light absorber of the temperature detection unit TD exists, the light absorption spectrums C _1, C ₂ ,..., C _n of the light absorber of the shape detection unit DP _i exist. It is in a different wavelength band from the shape detection region. For example, light of wavelength lambda _k, since only respond with light absorber temperature detector TD, easily performs a separation of temperature detection and shape detection.

Temperature detector TD is provided in the light-conducting member LG ₂ shape estimation sensor unit 20, it may alternatively be provided in the optical conduction member LG ₄ antireflection member 60 is connected . Further, in FIG. 11, although the light conducting member LG ₂ is only one temperature detection section TD is depicted as provided, or a plurality of the temperature detecting portion to the light conducting member LG ₂ is provided.

[Operation processing unit (processor unit and its peripheral parts)]
Then, the arithmetic processing part of the shape estimation apparatus of this embodiment is demonstrated. FIG. 13 shows the processor unit 100 and its peripheral parts in the present embodiment. The configuration of the processor unit 100 in the present embodiment is basically the same as that of the processor unit 100 in the first embodiment. Hereinafter, differences will be described.

The light detector 30 is configured to detect light that has passed through the temperature detector TD in addition to light that has passed through the shape detector DP _i . Temperature calculating unit 210 has a detection signal of the light of wavelength lambda _k detected by the optical detector 30 is configured to convert the temperature-related information.

In the temperature calculating unit 210, from the light amount change of the wavelength lambda _k of the temperature detecting region of FIG. 12, calculates information regarding the temperature related information such as temperature changes. Information about the temperature change can be calculated by equation approximating the relationship of Equation temperature changes as shown in (5) (Te) and light intensity change in wavelength _λ _k (CR _λk). Or, the information about the temperature change can be obtained from a map representing the light amount change rate versus temperature of a wavelength lambda _k.

The temperature related information (Te) acquired from the temperature calculation unit 210 is transmitted to the storage unit 120. The storage unit 120 transmits curvature characteristic information corresponding to the stored temperature-related information to the curvature calculation unit 110. The curvature calculation unit 110 is based on the temperature-related information from the temperature calculation unit 210, the detection signal from the photodetector 30, and the curvature characteristic information from the storage unit 120. The amount of light amount change of each shape detection unit DP _i is calculated using a numerical analysis method using the above. Based on the calculated relationship between the amount of change in light quantity and the curvature, the curvature of each shape detection unit DP _{i in} FIG. 11 is calculated.

[Flowchart of shape estimation]
FIG. 14 is a flowchart of shape estimation in this embodiment.

In step 3S1, the setting is transmitted from the control unit 200 to the photodetector driving unit 180 and the light source driving unit 190, and driving is started.

In step 3S2, reading of the light amount from the photodetector 30 is started.

In step 3S3, a light quantity reading end signal is received.

In step 3S4, a detection signal from the photodetector 30 is acquired.

In step 3S5, the absorbance of each shape detection unit DP _i is obtained from the storage unit 120, and the light amount change of each shape detection unit DP _i is calculated by a technique such as multivariate analysis.

In step 3S6, temperature related information is calculated from the light quantity change of the temperature detector TD.

In step 3S7, the curvature of each shape detection unit DP _i is calculated based on the acquired detection signal of the photodetector 30, the temperature-related information calculated in step 3S6, and the curvature characteristic information acquired from the storage unit 120.

In step 3S8, it estimates the shape of the light conducting member LG ₂ on the basis of the curvature and position information of each shape detecting unit DP _i of the shape detecting unit DP _i.

In step 3S9, it displays the estimated shape of the light conducting member LG ₂ to the display unit 160.

In step 3S10, it is determined whether an end signal has been received. If the determination result is No, the process returns to step 3S2. If the determination result is Yes, the shape estimation ends.

Temperature detector TD for obtaining temperature-related information, since the provided optical conduction member LG ₂ shape estimation sensor unit 20, thickening the diameter of the object to be installed shape estimation apparatus of the present embodiment It is possible to acquire temperature-related information without this.

<Fourth embodiment>
FIG. 15 is a configuration diagram of a shape estimation apparatus according to the fourth embodiment. The shape estimation apparatus according to the present embodiment is similar to the shape estimation apparatus according to the third embodiment. 15, members denoted by the same reference numerals as those shown in FIG. 11 are similar members, and detailed description thereof is omitted. Hereinafter, the fourth embodiment will be described focusing on differences from the third embodiment.

In the shape estimation device according to the present embodiment, the temperature detection unit TD is provided in addition to the shape detection unit DP _i in the photoconductive member LG ₂ of the shape estimation sensor unit 20 as in the shape estimation device according to the third embodiment. It has been. The configuration of the temperature detection unit TD is the same as that of the third embodiment. In the third embodiment, the temperature detection unit TD is arranged at a location where the shape change is not given, but in this embodiment, the temperature detection unit TD is arranged at a location where the shape change is given. Furthermore, in the present embodiment, the temperature detection unit TD is disposed adjacent to one of the shape detection units DP _i . For example, the temperature detection unit TD is disposed adjacent to the _first shape detection unit DP1. For this reason, the curvature of the temperature detection unit TD is equal to the curvature of the _first shape detection unit DP1.

In FIG. 15, the light conducting member LG ₂ is depicted as having only one temperature detecting unit TD, but the plurality of temperature detecting units are adjacent to the plurality of shape detecting units, and the light conducting member LG. ₂ may be provided.

[Operation processing unit (processor unit and its peripheral parts)]
Then, the arithmetic processing part of the shape estimation apparatus of this embodiment is demonstrated. FIG. 16 shows the processor unit 100 and its peripheral parts in the present embodiment. The configuration of the processor unit 100 in the present embodiment is basically the same as that of the processor unit 100 in the third embodiment. Hereinafter, differences will be described.

In the temperature calculation unit 210, a light amount change amount of each shape detection unit DP _i is calculated using a mathematical method using the light absorbance of each shape detection unit DP _i or a method such as numerical analysis. Light amount change of the light amount change rate and the shape detection unit DP _i of each wavelength relationship of Equation (6) holds.

The light quantity change information CR _i of each shape detection unit DP _i is expressed by Expression (7). As can be seen from equation (7), the light amount change information CR _i for each shape detecting unit DP _i, includes light amount change information CR _i of the light amount change information _{CR Te} and shape detection unit DP _i of the temperature detecting portion TD.

From the equation (7), between the light amount change information CR ₁ of the light amount change information CR _Te and first shape detecting portion DP ₁ of the temperature detecting portion TD that adjacent to the same curvature, the relationship of the following equation (8) The formula holds.

Information (T) about temperature and information (kappa) about curvature are acquired from Formula (8). Information T regarding the acquired temperature is transmitted to the storage unit 120. The curvature calculation unit 110 acquires curvature characteristic information according to the acquired temperature-related information T from the storage unit 120, and calculates the light amount change of each shape detection unit DP _i again based on the acquired curvature characteristic information. The calculated light amount change of each shape detection unit DP _i is corrected by temperature, and thus becomes shape change information. Calculated from the light amount information of each shape detecting unit DP _i, to calculate the curvature of the shape detecting unit DP _i of FIG.

Hereinafter, similarly to the third embodiment, the shape operation unit 150, based on the position information of the curvature and the shape detection unit DP _i of the shape detecting unit DP _i, a plurality of shape detecting unit DP _i is provided to calculate the shape information of the light conducting member LG _2. Shape information of the calculated light conducting member LG ₂ is displayed on the display unit 160.

[Flowchart of shape estimation]
FIG. 17 is a flowchart of shape estimation in this embodiment.

In step 4S1, the setting is transmitted from the control unit 200 to the photodetector driving unit 180 and the light source driving unit 190, and driving is started.

In step 4S2, reading of the light amount from the light detector 30 is started.

In step 4S3, a light quantity reading end signal is received.

In step 4S4, a detection signal from the photodetector 30 is acquired.

In step 4S5, the absorbances of the temperature detection unit TD and each shape detection unit DP _i are obtained from the storage unit 120, and the light quantity changes of the temperature detection unit TD and each shape detection unit DP _i are calculated by a technique such as multivariate analysis.

In step 4S6, calculates the amount change of the temperature detecting portion TD, and a first light quantity change of shape detecting unit DP ₁ adjacent to the temperature detector TD, a quantity of light caused by shape change, an amount of light caused by temperature.

In step 4S7, temperature related information is calculated from the light quantity change rate of the temperature detection unit TD.

In step 4S8, the curvature of each shape detection unit DP _i is calculated based on the acquired detection signal of the photodetector 30, the temperature-related information calculated in step 4S7, and the curvature characteristic information acquired from the storage unit 120.

In step 4S9, it estimates the shape of the light conducting member LG ₂ on the basis of the curvature and position information of each shape detecting unit DP _i of the shape detecting unit DP _i.
In step 4S10, and it displays the estimated shape of the light conducting member LG ₂ to the display unit 160.

In step 4S11, it is determined whether an end signal has been received. If the determination result is No, the process returns to step 4S2. If the determination result is Yes, the shape estimation ends.

<Fifth Embodiment>
FIG. 18 is a configuration diagram of a shape estimation apparatus according to the fifth embodiment. In FIG. 18, members denoted by the same reference numerals as those shown in FIG. 1 are similar members, and detailed description thereof is omitted. Hereinafter, the fifth embodiment will be described focusing on differences from the first embodiment.

The shape estimation device of this embodiment has a configuration in which the temperature measurement unit 70 is omitted from the shape estimation device of the first embodiment.

FIG. 19 schematically shows an endoscope 300 in which the shape estimation apparatus of this embodiment is incorporated. The endoscope 300 includes a holding unit 310 for an operator to hold the endoscope 300 and an insertion unit 320 extending from the holding unit 310. The insertion part 320 is a hollow elongate flexible member that is inserted into a lumen in a human body, for example. The shape estimation sensor unit 20 is provided in the internal space of the insertion unit 320. The shape estimation sensor unit 20 extends along the insertion unit 320. Other configurations of the shape estimation device, for example, the light source unit 10, the photodetector 30, the light branching unit 50, and the like are arranged in the holding unit 310.

[Operation processing unit (processor unit and its peripheral parts)]
Then, the arithmetic processing part of the shape estimation apparatus of this embodiment is demonstrated. FIG. 20 shows the processor unit 100 and its peripheral parts in the present embodiment. 20, members denoted by the same reference numerals as those shown in FIG. 5 are similar members, and detailed description thereof is omitted. Hereinafter, differences will be described.

The processor unit 100 of the shape estimation apparatus according to the present embodiment determines whether or not the insertion unit 320 of the endoscope 300 is currently inserted into the lumen of the human body instead of the temperature calculation unit 210. A body determination unit 220 is provided.

The curvature calculation unit 110 calculates a light amount change rate of each shape detection unit DP _i based on a detection signal from the photodetector 30 using a predetermined temperature, for example, room temperature as provisional temperature-related information. The curvature calculation unit 110 acquires the absorbance of each shape detection unit DP _i from the storage unit 120, and calculates the change in light amount of each shape detection unit DP _{i by} a technique such as multivariate analysis. The shape calculation unit 150 calculates the shape of the light conducting member LG ₂ from the calculated light amount change of each shape detection unit DP _{i and} the curvature characteristic information set in the storage unit 130. Shape information of the light conducting member LG ₂ is transmitted into the body judging section 220. The in-vivo determination unit 220 determines whether or not the insertion unit 320 of the endoscope 300 is currently inserted into the lumen. This determination is made based on whether or not the insertion portion 320 has a characteristic shape. For example, the insertion part 320 may be S-shaped as shown in FIG. 21 when inserted into a lumen.

Vivo determination unit 220, the shape information of the light conducting member LG _2, the insertion portion 320 determines whether it is the S-shape. When the in-vivo determination unit 220 determines that the insertion unit 320 has an S-shape, the curvature calculation unit 110 and the storage unit 120 use temperature-related information as information about a human body temperature (35 degrees to 37 degrees). Output to.

The temperature related information may be manually input via the input device 170 instead of being output by the in-vivo determination unit 220.

Hereinafter, similarly to the first embodiment, the storage unit 120 outputs curvature characteristic information corresponding to the temperature-related information supplied from the in-vivo determination unit 220 to the curvature calculation unit 110. Curvature calculation unit 110, a detection signal of the photodetector 30, the acquired curvature characteristic information from the storage unit 120, on the basis of the temperature-related information supplied from the body determining unit 220, a plurality of shape detecting unit DP _i Calculate the curvature of each. The curvature calculation unit 110 outputs the calculated curvature of each shape detection unit DP _i to the shape calculation unit 150. Shape operation unit 150, based on the curvature and position information of each shape detecting unit DP _i of the shape detecting unit DP _i, to calculate the shape information of the light conducting member LG ₂ as the shape information of the insertion portion 320. Shape information of the calculated light conducting member LG ₂ i.e. the insertion portion 320 is displayed on the display unit 160.

[Flowchart of shape estimation]
FIG. 22 is a flowchart of shape estimation in the present embodiment.

In step 5S1, the setting is transmitted from the control unit 200 to the photodetector driving unit 180 and the light source driving unit 190, and driving is started.

In step 5S2, the absorbance and preset curvature characteristic information are read from the storage unit 120.

In step 5S3, the light quantity reading from the photodetector 30 is started.

In step 5S4, a light quantity reading end signal is received.

In step 5S5, a detection signal from the photodetector 30 is acquired.

In step 5S6, it obtains the absorbance of each shape detecting unit DP _i in curvature calculating unit 110 calculates the light amount change rate of each shape detecting unit DP _i.

In step 5S7, light amount change and the curvature characteristic information of each shape detecting unit DP _i, estimates the shape of the light conducting member LG ₂ based on the position information of the shape detection unit DP _i.

In step 5S8, it is determined whether or not the insertion section 320 is inserted into a body lumen. Specifically, the light conducting member LG ₂ determines whether become S-shaped.

If the determination result in step 5S8 is Yes, in step 5S9, the curvature characteristic information is changed to curvature characteristic information corresponding to the temperature corresponding to the body temperature.

Subsequently, in step 5S10, the curvature of each shape detection unit DP _i is calculated based on the acquired detection signal of the photodetector 30, the temperature information corresponding to the body temperature, and the curvature characteristic information acquired from the storage unit 120. .

In step 5S11, we estimate the shape of the light conducting member LG ₂ on the basis of the curvature and position information of each shape detecting unit DP _i of the shape detecting unit DP _i.

In step 5S12, the display unit 160 the shape of the light conducting member LG ₂ estimated in step 5S11 as the shape of the insertion portion 320 of the endoscope 300.

On the other hand, if the determination result in step 5S8 is No, the process proceeds to step 5S12 skip step 5S9 to step 5S11, the shape of the insertion portion 320 of the endoscope 300 to the shape of the light conducting member LG ₂ estimated in step 5S7 Is displayed on the display unit 160.

In step 5S13, it is determined whether an end signal has been received. If the determination result is No, the process returns to step 5S3. If the determination result is Yes, the shape estimation ends.

Also, according to the present embodiment, an endoscope is provided in which the shape of the insertion portion 320 of the endoscope 300 can be estimated with high accuracy.

<Sixth Embodiment>
FIG. 23 is a configuration diagram of a shape estimation apparatus according to the sixth embodiment. 23, members denoted by the same reference numerals as those shown in FIG. 1 are the same members, and detailed description thereof is omitted. Hereinafter, the sixth embodiment will be described focusing on differences from the first embodiment.

The shape estimation device of this embodiment has a configuration including an insertion amount sensor 80 instead of the temperature measurement unit 70 of the shape estimation device of the first embodiment. The insertion amount sensor 80 provides information for determining whether the shape estimation sensor unit 20 or the insertion unit 320 of the endoscope 300 in which the shape estimation sensor unit 20 is incorporated is inserted into a lumen in a human body, for example. have.

FIG. 24 schematically shows an endoscope system in which the shape estimation apparatus of this embodiment is incorporated. The endoscope system includes an endoscope 300 and an endoscope control unit 820 that controls various operations of the endoscope 300.

As described in the fifth embodiment, the endoscope 300 includes a holding unit 310 for an operator to hold the endoscope 300 and an insertion unit 320 extending from the holding unit 310. The insertion part 320 is a hollow elongate flexible member that is inserted into a lumen in a human body, for example. The shape estimation sensor unit 20 is provided in the internal space of the insertion unit 320. The shape estimation sensor unit 20 extends along the insertion unit 320.

The endoscope control unit 820 has an image processing unit 822 for processing an image acquired by an image sensor provided at the distal end of the insertion unit 320 of the endoscope 300.

The insertion amount sensor 80 is provided in the insertion part 320 of the endoscope 300. For example, the insertion unit 320 is movable with respect to the insertion amount sensor 80, and the insertion amount sensor 80 outputs a signal corresponding to the length of the portion of the insertion unit 320 positioned in front of the insertion amount sensor 80. To do.

[Operation processing unit (processor unit and its peripheral parts)]
Then, the arithmetic processing part of the shape estimation apparatus of this embodiment is demonstrated. FIG. 25 shows the processor unit 100 and its peripheral parts in the present embodiment. 25, members denoted by the same reference numerals as those shown in FIG. 5 are the same members, and detailed description thereof is omitted. Hereinafter, differences will be described.

The input unit 130 is configured to receive a detection signal from the insertion amount sensor 80. The processor unit 100 of the shape estimation apparatus includes an in-vivo determination unit 220 that determines whether or not the insertion unit 320 of the endoscope 300 is currently inserted into a human body, instead of the temperature calculation unit 210. Yes.

Based on the detection signal from the insertion amount sensor 80, the in-vivo determination unit 220 determines whether or not the insertion unit 320 of the endoscope 300 is currently inserted into the human body. For example, the insertion amount sensor 80 outputs a detection signal corresponding to the length of the portion of the insertion unit 320 positioned in front of the insertion amount sensor 80, and the in-vivo determination unit 220 determines the detection signal from the insertion amount sensor 80 as a predetermined value. Compare with the threshold value. The in-vivo determination unit 220 determines that the insertion unit 320 is inserted into the body when the detection signal from the insertion amount sensor 80 is greater than a predetermined threshold value. In that case, the in-vivo determination unit 220 outputs information on the temperature corresponding to the human body temperature (35 degrees to 37 degrees) to the curvature calculation unit 110 and the storage unit 120 as temperature related information.

[Flowchart of shape estimation]
FIG. 26 is a flowchart of shape estimation in this embodiment.

In step 6S1, the setting is transmitted from the control unit 200 to the photodetector driving unit 180 and the light source driving unit 190, and driving is started.

In step 6S2, reading of the light amount from the photodetector 30 is started.

In step 6S3, a light quantity reading end signal is received.

In step 6S4, a detection signal from the insertion amount sensor 80 is acquired.

In step 6S5, it is determined whether the insertion part 320 of the endoscope 300 is inserted into the body. Specifically, it is determined whether the insertion amount, that is, the detection signal from the insertion amount sensor 80 is larger than the threshold value A.

If the determination result in Step 6S5 is Yes, curvature characteristic information corresponding to the temperature corresponding to the body temperature is acquired from the storage unit 120 in Step 6S6.

Subsequently, in step 6S7, the curvature of each shape detection unit DP _i is calculated based on the acquired detection signal of the photodetector 30, the temperature information corresponding to the body temperature, and the curvature characteristic information acquired from the storage unit 120. .

On the other hand, the determination in step 6S5 is No, in step 6S8, to calculate the curvature of the shape detecting unit DP _i based on the curvature characteristic information corresponding to the temperature that has been set in advance.

In step 6S9, it estimates the shape of the light conducting member LG ₂ on the basis of the curvature and position information of each shape detecting unit DP _i of the shape detecting unit DP _i.

In step 6S10, and it displays the estimated shape of the light conducting member LG ₂ to the display unit 160.

In step 6S11, it is determined whether an end signal has been received. If the determination result is No, the process returns to step 6S2. If the determination result is Yes, the shape estimation ends.

Also, according to the present embodiment, an endoscope system is provided in which the shape of the insertion portion 320 of the endoscope 300 can be estimated with high accuracy.

In the present embodiment, the insertion amount sensor 80 is used to determine whether the insertion portion 320 of the endoscope 300 is inserted into the body, but instead of using the insertion amount sensor 80, a camera or an endoscope is used. It may be determined whether or not the insertion unit 320 of the endoscope 300 is inserted into the body using image information or the like from the mirror system.

Claims

The wavelength acquired using a shape estimation sensor unit configured such that the amount of light detected for a wavelength corresponding to each of the plurality of shape detection units differs according to the shape of each of the plurality of shape detection units And an input unit configured to input light amount information which is a relationship between the light amount and the temperature estimation information around the shape estimation sensor unit;
A storage unit for storing a light amount estimation relationship including shape characteristic information indicating a relationship between the shape, the wavelength, and the light amount for each of the plurality of shape detection units;
Based on the light amount information, a light amount estimation value that is a relationship between the wavelength and the light amount calculated based on the light amount estimation relationship, and the temperature related information, each shape of the plurality of shape detection units is determined. A shape estimation apparatus including a calculation unit for calculating.
The shape estimation sensor unit is a fiber sensor having a light conducting member provided with the shape detection unit,
A light source for supplying light to the fiber sensor;
The shape estimation apparatus according to claim 1, further comprising a photodetector that detects light that has passed through the fiber sensor.
The shape estimation device according to claim 2, further comprising a temperature estimation sensor unit for detecting the temperature related information.
The shape estimation apparatus according to claim 3, wherein the temperature estimation sensor unit includes at least one temperature measuring device provided around at least one of the shape detection units.
The temperature estimation sensor unit is a second fiber sensor having a photoconductive member provided with at least one temperature detection unit,
A light source for supplying light to the second fiber sensor;
The shape estimation apparatus according to claim 3, further comprising a photodetector that detects light that has passed through the second fiber sensor.
The shape estimation apparatus according to claim 5, wherein the temperature detection unit includes a light absorber whose light absorptance changes depending on temperature.
The shape estimation device according to claim 6, wherein the temperature detection unit is arranged at a location where no shape change is given.
The shape estimation apparatus according to claim 3, wherein the temperature estimation sensor unit includes at least one temperature detection unit provided in the light conducting member of the shape estimation sensor unit.
The shape estimation apparatus according to claim 8, wherein the at least one temperature detection unit is disposed adjacent to at least one of the shape detection units.
The shape detection unit has a light absorber whose light absorptance changes according to the curvature,
The shape estimation apparatus according to claim 6, wherein a wavelength band in which the light absorber of the temperature detection unit absorbs light is different from a wavelength band in which the light absorber of the shape detection unit absorbs light.
The shape estimation apparatus according to claim 2, further comprising a calculation unit that estimates the temperature related information based on a shape of the fiber sensor.
An insertion amount sensor for detecting the insertion amount of the fiber sensor;
The shape estimation apparatus according to claim 2, further comprising a calculation unit that estimates the temperature related information based on information detected by the insertion amount sensor.
The shape estimation apparatus according to claim 1, further comprising an input device for inputting the temperature related information.
A shape estimation device according to any one of claims 1 to 13,
An endoscope in which the plurality of shape detection units are provided in an insertion unit;
An endoscope system comprising an insertion portion shape calculation unit that calculates the shape of the insertion unit based on the shape of each of the plurality of shape detection units obtained by the calculation unit.