| 摘要 |
<p>The disclosed endoscope shape detection device (1) includes: a posture detecting section (30) that detects the posture of each of a plurality of sensor units (Si) on the basis of measurement data obtained with the sensor units (Si); and a linear-shape detecting section (40) that detects the linear shape (71) of an inserted part (11) of an endoscope (10) on the basis of the posture of each sensor unit (Si) detected by the posture detecting section (30) and on the assumption that the shape between the sensor units (Si) is a straight-line link (Tj) having a dimension equal to the dimension (l) between the sensors. The endoscope shape detection device (1) also includes a shape modifying section (50, 150) that corrects at least the position of each sensor unit (Si) by using a particle filter and that detects a modified shape (75, 175) found by modifying said linear shape (71) detected by the linear-shape detecting section (40).</p> |
