Endoscope system having a position and posture calculating portion

摘要

An endoscope system includes: a position and posture calculating portion that estimates a position of a distal end and a longitudinal direction of a distal end portion; a condition determining portion that, based on the shape information at the position of the distal end that is estimated, determines whether or not an angle that a core line direction of the luminal organ and the longitudinal direction estimated by the position and posture calculating portion form is equal to or less than a predetermined threshold value; and a position and posture information recording portion that, when the angle that the core line direction and the longitudinal direction form is equal to or less than the predetermined threshold value, records information regarding the position and the longitudinal direction of the distal end.

主权项

1. An endoscope system capable of previously acquiring shape information that is associated with positional information regarding a luminal organ of a subject, comprising:
a position and posture calculating portion that estimates a position of a distal end of an endoscope insertion portion and a longitudinal direction of a distal end portion of the endoscope insertion portion; a condition determining portion that, based on the shape information at a position of the distal end of the endoscope insertion portion estimated by the position and posture calculating portion, determines whether or not an angle that a core line direction of a core line that is positioned at approximately a center of the luminal organ and a longitudinal direction of the distal end portion of the endoscope insertion portion that is estimated by the position and posture calculating portion is equal to or less than a predetermined threshold value; and a position and posture information recording portion configured to, in a case where an angle that the core line direction and the longitudinal direction of the distal end portion of the endoscope insertion portion form is equal to or less than a predetermined threshold value, record information regarding the position of the distal end of the endoscope insertion portion and the longitudinal direction of the distal end portion of the endoscope insertion portion that is estimated by the position and posture calculating portion.