Device for detecting shape of endoscope
First Claim
1. A shape-of-endoscope detecting system for inferring a shape of an endoscope insertion portion adapted for insertion into a subject, wherein one of a plurality of magnetic-field generating elements and a plurality of magnetic-field detecting elements is disposed in the endoscope insertion portion, and the other of the plurality of magnetic field generating elements and the plurality of magnetic field detecting elements is disposed outside the subject, the shape-of-endoscope detecting system comprising:
- a detecting means for detecting positions of the one of the plurality of magnetic-field generating elements and the plurality of magnetic-field detecting elements, disposed in the endoscope insertion portion, using positions of the other of the plurality of magnetic-field generating elements and the plurality of magnetic-field detecting elements, disposed outside the subject; and
a data interpolating meansfor, positioning one or more virtual elements among the plurality of magnetic-field generating elements or the plurality of magnetic-field detecting elements whose positions are detected, based on the detected positions detected by the detecting means andfor interpolating data, which represents one or more intermediate positions between the detected positions of adjoining elements of the plurality of magnetic-field generating elements or magnetic-field detecting elements whose positions are detected, using the positions of the one or more virtual elements.
2 Assignments
0 Petitions
Accused Products
Abstract
Position detecting elements are disposed in an endoscope insertion portion at predetermined intervals. Even when the endoscope insertion portion is bent, position data representing the detected positions of the elements is used to infer or detect the shape of the insertion portion. A virtual element is disposed between adjoining elements so that a predetermined condition will be met. Position data of the virtual element is used together with the actually detected position data in order to interpolate data for the purpose of detecting the shape of the insertion portion. Consequently, as if a larger number of elements were disposed, the shape of the insertion portion can be detected highly precisely.
25 Citations
20 Claims
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1. A shape-of-endoscope detecting system for inferring a shape of an endoscope insertion portion adapted for insertion into a subject, wherein one of a plurality of magnetic-field generating elements and a plurality of magnetic-field detecting elements is disposed in the endoscope insertion portion, and the other of the plurality of magnetic field generating elements and the plurality of magnetic field detecting elements is disposed outside the subject, the shape-of-endoscope detecting system comprising:
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a detecting means for detecting positions of the one of the plurality of magnetic-field generating elements and the plurality of magnetic-field detecting elements, disposed in the endoscope insertion portion, using positions of the other of the plurality of magnetic-field generating elements and the plurality of magnetic-field detecting elements, disposed outside the subject; and a data interpolating means for, positioning one or more virtual elements among the plurality of magnetic-field generating elements or the plurality of magnetic-field detecting elements whose positions are detected, based on the detected positions detected by the detecting means and for interpolating data, which represents one or more intermediate positions between the detected positions of adjoining elements of the plurality of magnetic-field generating elements or magnetic-field detecting elements whose positions are detected, using the positions of the one or more virtual elements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A shape-of-insertion portion detecting system for inferring a shape of an insertion portion that is flexible and adapted for insertion into a subject, the shape-of-insertion portion detecting system comprising:
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position detecting elements disposed at predetermined intervals in the longitudinal direction of the insertion portion; a position detecting means for detecting positions of the position detecting a data interpolating means for, positioning a virtual element between the detected positions of adjoining position detecting elements based on the output of the detecting means so that a predetermined condition will be met, and for interpolating data using position data representing the positions of the adjoining elements and position data representing the position of the virtual element so as to infer the shape of the insertion portion. - View Dependent Claims (15, 16)
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17. A shape-of-endo scope detecting system for inferring a shape of an endoscope insertion portion adapted for insertion in to a subject, the shape-of-endoscope detecting system comprising:
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a detecting means for detecting positions of one of a plurality of magnetic-field generating elements and a plurality of magnetic-field detecting elements, disposed in the endoscope insertion portion, using positions of the other of the plurality of magnetic-field generating elements and the plurality of magnetic-field detecting elements, disposed outside the subject; a data interpolating means for, positioning one or more virtual elements among the plurality of magnetic-field generating elements or magnetic-field detecting elements whose positions are detected, based on the detected positions detected by the detecting means, and for interpolating data, which represents one or more intermediate positions between the detected positions of adjoining elements of the plurality of magnetic-field generating elements or magnetic-field detecting elements whose positions are detected, using the positions of the one or more virtual elements; a noise detecting means for selecting ac driving signals that have different frequencies and that are used to drive the plurality of magnetic-field generating elements, and for detecting a frequency component of a noise in a driving pause state in which the plurality of magnetic-field generating elements is not driven; and a driving control means for driving the plurality of magnetic-field generating elements using the ac driving signals that have different frequencies and that contain a little frequency component of a noise detected by the noise detecting means. - View Dependent Claims (18)
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19. A shape-of-endoscope detecting system for detecting the shape of an endoscope insertion portion, the shape-of-endoscope detecting system comprising;
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a plurality of coils disposed in the endoscope insertion portion; a driving signal applying means for applying driving signals to the plurality of coils disposed in the endoscope insertion portion; a detecting means for detecting the positions of the plurality of coils disposed in the endoscope insertion portion; a data interpolating means for positioning virtual elements among the plurality of coils disposed in the endoscope insertion portion based on the detected positions of the plurality of coils disposed in the endoscope insertion portion, and for interpolating data, which represents one or more intermediate positions between the detected positions of adjoining coils, using the positions of the one or more virtual elements; and an intermittently driving means that intermittently drives coils, which belong to each of a plurality of groups into which the plurality of coils is divided, so that the driving timings at which the respective coils are driven will not coincide with one another. - View Dependent Claims (20)
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Specification