Abstract:
Sensing parts are formed in different directions in a circumferential direction in substantially a same position in the longitudinal direction thereof. Each sensing part is configured to include an optical characteristic changing member which generates the optical signals having absorption wavelength characteristic regions that vary from sensing part to sensing part by giving an optical characteristic change, which differs from that of other sensing parts, to the sensor light incident thereon in accordance with an amount of bending in a specific direction. A light detector detects the optical signals included in sensor light from a light source, which has passed through the sensing parts and undergone the optical characteristic change.
Abstract:
A insertion/removal apparatus comprises an insertion section with flexibility which is inserted into a target object to perform a desired operation, a shape sensor, an insertion section shape calculator, and a direct manipulation information estimation circuit. The shape sensor detects bending of the insertion section and outputs a detection signal. The insertion section shape calculator which calculates insertion section shape information indicating a shape of the insertion section, based on the detection signal output from the shape sensor. The direct manipulation information estimation circuit which estimates direct manipulation information including at least one of an insertion/removal amount and a rotation amount of the insertion section inserted into and removed from the target object, based on the insertion section shape information.
Abstract:
At least one optical fiber of a fiber sensor has sensing parts whose number is number of the anticipated inflection points+one or more, the anticipated inflection points being inflection points of a shape of a detection target range of a detection target. The number of the anticipated inflection points is decided based on one of a functional limit and a structural limit which limit a degree of freedom in a bending shape of the detection target. A space L1 between the anticipated inflection points is L1=r1·θ1, wherein r1 is a curvature radius at a maximum bending of the detection target range of the detection target, θ1 is a central angle of an arc created by the space between the anticipated inflection points at the maximum bending, and θ1≧π/2.
Abstract:
A future shape estimation apparatus includes an insertion section, a shape sensor and an insertion section future shape estimation circuit. The insertion section has flexibility and is to be inserted into an observation target object. The shape sensor detects a bending state of the insertion section and outputs a detection signal. The insertion section future shape estimation circuit estimates a future shape of the insertion section after a predetermined lapse of time based on information acquired from the detection signal output from the shape sensor, and outputs the future shape as future estimation shape information.
Abstract:
A curvature sensor is to be mounted along detection target to allow a curvature of the detection target. The sensor includes a light source, a light guide to guide light from the light source and sensing parts having light absorbability. The sensing parts include absorption bands having different intrinsic absorption patterns and characteristic absorption bands having intrinsic characteristic absorption patterns in the absorption bands. A light detector allows residual light not absorbed by the characteristic absorption bands to be detected, the residual light being included in light of bands corresponding to the characteristic absorption bands and radiated to the sensing parts from the light source. A calculator computes a curvature of the detection target based on a rate of change in the residual light.
Abstract:
A multipoint detection fiber sensor including a plurality of sensing parts at a plurality of positions is provided. The sensing parts are able to detect curve amounts respectively. The multipoint detection fiber sensor includes a plurality of optical fibers arranged in an overall effective detection area that is an extent in which the multipoint detection fiber sensor detects curve amounts. Each of the optical fibers includes the plurality of sensing parts. The multipoint detection fiber sensor also includes a light source which supplies light to the optical fibers and a light receiver which receives light emitted through the optical fibers to which light is supplied. Furthermore, an insertion apparatus into which the multipoint detection fiber sensor is incorporated is provided.
Abstract:
An insertion shape detection apparatus includes an insert portion having flexibility. The insert portion includes a shape estimation section where curved shape is estimated and a shape non-estimation section where curved shape is not estimated. The insertion shape detection apparatus includes a sensing part arranged only in the shape estimation section to detect the curved shape of the shape estimation section. Thus, the number of sensing parts is reduced and the increase in the diameter of the insert portion and complicated processing of curve information is avoided, while the curved shape of the insert portion in a section necessary to assist an endoscopic observation can be detected.
Abstract:
At least a part of the one characteristic change section is arranged at a position different from at least apart of the other characteristic change section in a circumferential direction of an optical sensor. At least a part of the one characteristic change section is arranged at a position different from at least a part of the other characteristic change section in an axial direction of an optical sensor.
Abstract:
An insertion system includes an insertion section and a rigidity variable portion provided in the insertion section. The rigidity variable portion includes a superelastic alloy member whose rigidity starts changing from a high-rigidity state to a low-rigidity state at a temperature, which varies with a degree of bending of the superelastic alloy member, and a heating member capable of switching between presence and absence of heating of the superelastic alloy member. The insertion system also includes a bending state detection sensor that detects a bending state of the rigidity variable portion, and a rigidity variable controller that controls switching between presence and absence of heating of the superelastic alloy member by the heating member to control the temperature of the superelastic alloy member.
Abstract:
A shape calculating apparatus includes a light source and a light guide provided with detection targets to decrease quantity of light guided by the light guide according to a bend shape of the light guide. The apparatus also includes a light detector to detect light quantity information in wavelengths included in light absorption spectra of the detection targets, a calculation unit that makes a calculation relating to a shape of each detection target based on the light quantity information, and a control unit that changes a dynamic range of at least one of an intensity of light input to the light guide and a detection signal output by the light detector for each wavelength range so that a magnitude of the detection signal is within a range between a lower limit threshold and an upper limit threshold of the light detector.