| 摘要 |
PROBLEM TO BE SOLVED: To provide a convenient-to-use insertion shape detection device suited for small-diameter endoscopes without complicating processing.SOLUTION: An insertion shape detection device includes a flexible insertion part, the flexible insertion part comprising a shape estimation section which estimates a curved shape and a shape non-estimation section which does not estimate a curved shape. The insertion shape detection device includes a detected part which is disposed only in the shape estimation section and detects the curved shape of the shape estimation section. This ensures that the number of detected parts is decreased, processing of curved shape information is prevented from becoming complicated, and the diameter of the insertion part is prevented from becoming larger, and also that the curved shape of the insertion part is detected in a section where observation by an endoscope needs to be supported. |
