Flexible portion shape estimating device and endoscope system having the same

A device for estimating a shape of a flexible portion, the device comprising:

• an endoscope inserting assembly having:
• the flexible portion, and
• an endoscope treatment instrument channel defined inside the endoscope inserting assembly and the flexible portion;
• an endoscope operating assembly configured to operate the endoscope inserting assembly and comprising an endoscope treatment instrument inserting assembly;
• a probe configured to pass through the endoscope treatment instrument inserting assembly and to be inserted into the flexible portion and slide therein, the probe having:
• a torque transmission wire transmitting a torque applied to one end of the torque transmission wire to the other end of the torque transmission wire, and
• an outer tubular body having a wire channel therein, which accommodates the torque transmission wire;
• a rotation information measuring assembly configured to measure rotation information on the other end of the torque transmission wire;
• a probe insertion length input part configured to receive a probe insertion length when the probe is inserted into the flexible portion after passing through an inserting part of an endoscope treatment instrument from a user,
• wherein the one end of the torque transmission wire is fixedly coupled to an inner surface of one end of the outer tubular body, and the other end of the torque transmission wire is located outside the flexible portion and is coupled to the rotation information measuring assembly,
• wherein the probe comprises a metal bar coupled to the other end of the torque transmission wire, and the metal bar is connected to the rotation information measuring assembly, which is configured to measure at least one of a rotation angle and a torque of the metal bar and is configured to measure the rotation information on the other end of the torque transmission wire, and
• a controller configured to analyze the probe insertion length and the rotation information on the other end of the torque transmission wire received from the rotation information measuring assembly, and configured to estimate the shape of the flexible portion into which the probe is inserted.