Endoscopic form detection device and form detecting method of insertion section of endoscope
AssigneeOlympus Medical Systems Corp.
InventorKatsumi HIRAKAWA
Life of this patent
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Abstract
An endoscopic form detection device includes a posture detecting section configured to detect a posture of each of sensor units based on measurement data in the sensor unit, and a linear form detecting section configured to detect a detected linear form of an inserting section on an assumption that a form between the respective sensor units is a linear link whose dimension is equal to an inter-sensor dimension based on the detected posture of each of the sensor units. The endoscopic form detection device includes a form correcting section configured to compensate at least a position of each of the sensor units by using a particle filter, and configured to detect a corrected form obtained by correcting the detected linear form.
Claims16
An endoscopic form detection device comprising:
- an endoscope including an inserting section in which sensor units are arranged in longitudinal directions at intervals of a predetermined inter-sensor dimension;
- a posture detecting section configured to detect a posture of each of the sensor units based on measurement data in the sensor unit;
- a linear form detecting section configured to detect a detected linear form of the inserting section of the endoscope on an assumption that a form between the respective sensor units is a linear link whose dimension is equal to the inter-sensor dimension based on the posture of each of the sensor units detected by the posture detecting section;
- and
- a form correcting section configured to compensate at least a position of each of the sensor units by using a particle filter, and configured to detect a corrected form obtained by correcting the detected linear form detected by the linear form detecting section.
A form detecting method of an inserting section of an endoscope, the method comprising:
- performing measurement by using sensor units arranged in longitudinal directions of the inserting section of the endoscope at intervals of a predetermined inter-sensor dimension;
- detecting a posture of each sensor unit based on measurement data in each sensor unit by using a posture detecting section;
- detecting a detected linear form of the inserting section of the endoscope by using a linear form detecting section on an assumption that a form between the respective sensor units is a linear link whose dimension is equal to the inter-sensor dimension based on the posture of each sensor unit detected by the posture detecting section;
- and
- compensating at least a position of each sensor unit by using a particle filter, and detecting a corrected form obtained by correcting the detected linear form detected by the linear form detecting section by using a form correcting section.
Dependencies are inferred from the claim text.