METHOD, INSTRUMENT, AND SYSTEM FOR MEASURING THREE-DIMENSIONAL RELATIVE RELATIONSHIP BETWEEN OPTICAL AXIS LOCATION IN OBJECT HAVING OPTICAL AXIS FROM LONG SHAFT DISTAL END OF LONG SHAFT AND MEANS FOR DEFINING LOCATION/ATTITUDE OF THE OBJECT

摘要

PROBLEM TO BE SOLVED: To highly precisely detect the actual location of an optical axis to a distal location in an object having the optical axis from the distal end of a long shaft, such as a rigid endoscope which has means for defining a plurality of coordinates or a plurality of coordinates and vectors as means for defining the location and attitude.

SOLUTION: This three-dimensional relative relationship measuring instrument, for measuring the three-dimensional relative relationship between the optical axis from the distal end of the long shaft 11 of the object 10 to be measured and first marker sections 12, includes: a first calibration object 20 which has a target 23 where the optical axis enters and second marker sections 22 being measurable by a three-dimensional shape measuring instrument; a second calibration object 30 which has a third marker section being measurable by the three-dimensional measuring instrument; and a moving means which relatively moves the first calibration object with respect to the object 10 to be measured. After the first calibration object 20 is moved by the moving means to make the optical axis from the distal end of the long shaft 11 enter the target 23, the three-dimensional shape measuring instrument measures the three-dimensional relative locations of the first to third marker sections to measure the three-dimensional relative relationship between the optical axis of the object 10 to be measured and the first marker sections 12.

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