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 supporting apparatus for supporting insertion of a flexible insertion member into a subject and removal of the insertion member includes a self-following property evaluation unit and a determination unit. The self-following property evaluation unit evaluates self-following property or lateral movement during insertion of the insertion member. The determination unit which determines a state of the insertion member or the subject, based on the self-following property or the lateral movement.

Abstract: A supporting apparatus for supporting insertion of a flexible insertion member is provided. In the supporting apparatus, an attention point acquisition unit specifies a first attention point specified by a shape of the insertion member. A first displacement acquisition unit acquires a first displacement, which is a positional change of the first attention point. A second displacement acquisition unit acquires a second displacement of a second attention point. A displacement information calculation unit compares the first displacement of the first attention point and the second displacement of the second attention point with each other and calculates displacement information. A determination unit determines state of the insertion member or the subject, based on the displacement information.

Abstract: A supporting apparatus for supporting insertion of a flexible insertion member into a subject and removal of the insertion member includes an attention point acquisition unit, a first displacement acquisition unit and a determination unit. The attention point acquisition unit specifies at least one first attention point specified by a shape of the insertion member. The first displacement acquisition unit acquires a first displacement of the first attention point. The determination unit determines how a state of the insertion member or the subject is at a position corresponding to the first attention point, based on displacement information including information on the first displacement.

Abstract: A supporting apparatus for supporting insertion of a flexible insertion member into a subject and removal of the insertion member includes a position acquisition unit, an interrelation calculation unit and a determination unit. The position acquisition unit acquires information on displacements at at least two attention points located at positions that are different in the longitudinal direction of the insertion member. The interrelation calculation unit calculates a degree of interrelation of the displacements acquired at the at least two attention points. The determination unit determines a state of the insertion member or a state of a predetermined target portion of the subject, based on the degree of interrelation.

Abstract: A supporting apparatus for supporting insertion of a flexible insertion member into a subject and removal of the insertion member includes a tangential direction acquisition unit, a moving direction acquisition unit and a determination unit. The tangential direction acquisition unit acquires a tangential direction at at least one point of a predetermined portion in a longitudinal direction of the insertion member, based on a shape of the insertion member. The moving direction acquisition unit acquires a moving direction of the point. The determination unit determines states of the insertion member and the subject, based on the tangential direction and the moving direction.

Abstract: When a predetermined range of a bend member is divided into a plurality of segments which neighbor in order in a longitudinal direction and are estimation units each having at least information of a length, a curvature and a direction for estimating a bend shape of the bend member, a shape estimation unit includes a segment shape estimation unit which estimates a shape of each of the segments by using segment information including at least one piece of curvature information with respect to each segment, and a bend member shape estimation unit which estimates the bend shape in the predetermined range by connecting end portions of each two neighboring segments, such that tangent directions of end portions of the shapes of the two neighboring segments coincide and directions around the tangent directions coincide.

Abstract: A light guide sensor includes a light source, a light guide member comprising a core which guides light radiated from the light source, a cladding formed around the core, and at least one detecting portion is formed, and a light receiving unit which receives the light that has been guided by the member and has passed via the detecting portion. The detecting portion includes a first opening formed by removal in the outer circumference of the member so that at least part of the cladding is left by a thickness such as not to transmit the light from the core, and a second opening formed within the range of the first opening to transmit the light from the core. A method of forming such a light guide sensor is provided.

Abstract: An insertion apparatus includes an inserting section, a reference unit, a connecting member, and a first shape sensor. The inserting section is inserted into an insertion target. The reference unit is disposed outside the insertion target. The connecting member includes a movable section configured to move continuously and connects the inserting section and the reference unit. The first shape sensor detects a shape of the connecting member with respect to the reference unit by detecting a movable amount of the connecting member.

Abstract: An object insertion system includes an insertion portion, a first information generator, a storage unit, a second information calculator and an output unit. The first information generator includes at least one sensor and is configured to generate first information indicating at least one of an insertion state and an operation state of the insertion portion in a body cavity. The second information calculator is configured to calculate second information based on the first information generated by the first information generator and at least one of third information and fourth information stored by the storage unit, the second information being operation support information to insert the insertion portion to perform a predetermined work. The output unit is configured to output the second information.

Abstract: A relative position detecting system of a tubular device includes a shape sensor and a relative position detecting section. The shape sensor is configured to detect a shape of the tubular device to be inserted into a tubular cavity of an object. The relative position detecting section is configured to detect a relative positional relation between at least one position in a first range in which the shape of the tubular device is detectable by the shape sensor and at least one position in the tubular cavity.

Abstract: An insertion assist information detection system includes an endoscope apparatus and a movement amount detection sensor. The endoscope apparatus includes an insertion portion to be inserted into a tube, a grasp portion which is grasped by an operator, and a movable portion which mechanically connects the insertion portion and the grasp portion to relatively move the insertion portion and the grasp portion. The movement amount detection sensor detects a relative movement amount of the insertion portion and the grasp portion in the movable portion.

Abstract: A relative position information acquiring section acquires relative position information, in relation to an insertion subject, of a portion of an inserting section which becomes a position detection object. An image acquisition position calculating section calculates an image acquisition position that is at least one of an image acquisition region, a part of the image acquisition region and a point in the image acquisition region, by use of the relative position and shape information of the insertion subject. A display calculating section sets a display format on the basis of weighting information of the image acquisition position calculated on the basis of a weighting index parameter. An output section outputs the display format and the image acquisition position.

Abstract: A tubular insertion device includes a tubular insertion portion including a flexible portion in a predetermined part, bending sensors distributed and arranged in the flexible portion, and an operation support information calculating unit. The operation support information calculating unit extracts operation support information including at least first external force information regarding an external force applied to the tubular insertion portion by a combinational calculation based on detection information from the bending sensors.

Abstract: A light guide sensor includes a light source, a light guide member comprising a core which guides light radiated from the light source, a cladding formed around the core, and at least one detecting portion is formed, and a light receiving unit which receives the light that has been guided by the member and has passed via the detecting portion. The detecting portion includes a first opening formed by removal in the outer circumference of the member so that at least part of the cladding is left by a thickness such as not to transmit the light from the core, and a second opening formed within the range of the first opening to transmit the light from the core. A method of forming such a light guide sensor is provided.

Abstract: An insertion portion detection device provided with a light source unit which emits measuring beam to an outer circumferential surface of a cylindrical shape of an insertion portion to be inserted into an insertion target and to be a detection target, an optical pattern detection unit which receives reflected light from the outer circumferential surface and which sequentially acquires image data in a predetermined range of the outer circumferential surface including given optical patterns so that at least some of the optical patterns correspond to the image data, and a displacement amount calculation unit which detects a corresponding optical pattern from the image data and calculates at least one of an insertion amount of the insertion portion and an amount of rotation around the central axis of the cylindrical shape.

Abstract: A tubular insertion device includes a tubular insertion portion including a flexible portion in a predetermined part, bending sensors distributed and arranged in the flexible portion, and an operation support information calculating unit. The operation support information calculating unit extracts operation support information including at least first external force information regarding an external force applied to the tubular insertion portion by a combinational calculation based on detection information from the bending sensors.

Abstract: A bending operation system includes an elongated tubular portion including a bending portion, a first linear member and a second linear member which cause the bending portion to bend, and a drive portion which displaces the first linear member and the second linear member. The bending operation system further includes a first displacement detector which acquires a displacement of the first linear member as a first displacement, a second displacement detector which acquires a displacement of the second linear member as a second displacement, and a calculator which calculates operation assist information by use of one or both of the first displacement and the second displacement.

Abstract: A tubular insertion system includes an insertion unit including a bendable portion, a bending operation mechanism that operates the bendable portion. The tubular insertion system further includes a bending operation amount detection/calculation device that calculates bending operation amount information, a bent shape detection/calculation device that calculates bent shape information, and a first operation support information acquisition unit that acquires first operation support information based on at least one of the bending operation amount information and the bent shape information.

Abstract: An optical encoder is configured as follows. Namely, the optical encoder includes a signal processing circuit which processes encoder signals output from a plurality of encoder heads, a control unit which specifies one of the plurality of encoder heads, sets the signal output of the specified encoder head in an on state, and further sets the outputs of the encoder heads not specified in an off state, thereby causing only the specified encoder head to output an encoder signal to the signal processing circuit, switch signal lines, and a common wiring line which is shared by the plurality of encoder heads and which transmits the encoder signals to the signal processing circuit.