Future shape estimation apparatus, insertion/removal system, insertion/removal support system, future shape estimation method, and recording medium non-transitory storing future shape estimation program

An insertion/removal system comprising

• an insertion section with flexibility which is to be inserted into an observation target object;
• a shape sensor which detects a bending state of the insertion section and outputs a detection signal;
• a control section which performs a bending manipulation of the insertion section;
• and
• a computer processor configured to:
• calculate insertion section shape information of the insertion section based on the detection signal output from the shape sensor;
• compare the insertion section shape information calculated at different times and derive shape time change information indicating a shape change of the insertion section based on a result of the comparison;
• and
• estimate a future shape of the insertion section a predetermined lapse of time after a present time based on the insertion section shape information calculated and the shape time change information derived, and output the future shape as future estimation shape information.

An insertion/removal system comprising:

• an insertion section with flexibility which is to be inserted into an observation target object;
• a shape sensor which detects a bending state of the insertion section and outputs a detection signal;
• a control section which bends the insertion section;
• and
• a computer processor configured to:
• calculate insertion section shape information of the insertion section based on the detection signal output from the shape sensor;
• compare the insertion section shape information calculated at different times and derive shape time change information indicating a shape change of the insertion section based on a result of the comparison;
• estimate a future shape of the insertion section a predetermined lapse of time after a present time based on the insertion section shape information calculated and the shape time change information derived, and output the future shape as future estimation shape information;
• and
• notify future estimation shape information output to support insertion/removal of the insertion section into/from the observation target object.

A future shape estimation method comprising:

• detecting a bending state of a flexible insertion section to be inserted into an observation target object by a shape sensor and outputting a detection signal;
• calculating insertion section shape information of the flexible insertion section based on the detection signal;
• comparing the insertion section shape information calculated at different times and deriving shape time change information indicating a shape change of the flexible insertion section based on a result of the comparison;
• and
• estimating a future shape of the insertion section a predetermined lapse of time after a present time based on the insertion section shape information and the shape time change information, and outputting the future shape as future estimation shape information.

A recording medium non-transitory storing a future shape estimation program which causes a computer to perform:

• a receiving function of receiving a detection signal output from a shape sensor which detects a bending state of a flexible insertion section inserted into an observation target object;
• an insertion section shape calculation function of calculating insertion section shape information of the flexible insertion section based on the detection signal;
• a shape time change deriving function of comparing the insertion section shape information calculated at different times and deriving shape time change information indicating a shape change of the flexible insertion section based on a result of the comparison;
• and
• an insertion section future shape estimation function of estimating a future shape of the flexible insertion section a predetermined lapse of time after a present time based on the insertion section shape information and the shape time change information, and outputting the future shape as future estimation shape information.