Abstract: A bending apparatus includes a shape sensor including a light source, an optical fiber, a detecting part, and a light receiver. The shape sensor utilizes a variation in optical characteristics, which is detected by the detecting part in accordance with a variation of curvature of the optical fiber when the optical fiber is bent. The shape sensor is freely bendable in any direction and having directivity in detection sensitivity for a bending direction. A bending direction restriction mechanism is combined with the shape sensor and has bending directivity including such a property of ease in bending that bending is easy in at least a specific direction other than a direction of a center line, and such a property of difficulty in bending that bending is difficult in directions other than the specific direction.

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: 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·?1, wherein r1 is a curvature radius at a maximum bending of the detection target range of the detection target, ?1 is a central angle of an arc created by the space between the anticipated inflection points at the maximum bending, and ?1??/2.

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: 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 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 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 apparatus includes a flexible insert section inserted into an insertion target and a curved-shape detection sensor which detects a curved shape of the insert section. The curved-shape detection sensor includes at least a core, a cladding, a coating, and a sensing part mechanically attached to the core and detecting the curved shape. The optical fiber is disposed at least in the insert section. The optical fiber includes at least one displacement restraint section which directly or indirectly restrains a displacement of the sensing part relative to the insert section.

Abstract: An encoder signal processing circuit is connected to encoder heads outputting an encoder signal in accordance with a relative displacement with respect to a corresponding scale in such a way that signals can be transmitted to and received from the encoder heads, and processes encoder signals from the encoder heads. The circuit includes a processing unit and a processing decision unit. The processing unit generates displacement information from the encoder signal. The processing decision unit decides at least one of content of processing for the encoder heads and content of processing on encoder signals read from the encoder heads after starting to read an encoder signal from one of the encoder heads.

Abstract: An optical encoder includes a light projecting portion, a light receiving portion, and a scale arranged between the light projecting portion and the light receiving portion. The scale includes a light guiding portion which allows light to transmit therethrough and has a light guiding function of guiding at least a part of the light projected by the light projecting portion in a direction perpendicular to a thickness direction thereof through the light guiding portion. The light receiving portion receives the light guided by the scale and relatively moves with respect to the scale.

Abstract: An insertion system includes an insertion device, a shape sensor, an insertion device holder and an adjustment unit. The insertion device includes an elongated flexible insertion portion. The shape sensor detects a shape of the insertion portion. The insertion device holder holds the insertion device at one end of the insertion portion so that the other end of the insertion portion hangs. The adjustment unit determines an adjustment value to adjust shape detection characteristics of the shape sensor when the insertion device is held by the insertion device holder.

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: A bending apparatus includes a shape sensor including a light source, an optical fiber, a detecting part, and a light receiver. The shape sensor utilizes a variation in optical characteristics, which is detected by the detecting part in accordance with a variation of curvature of the optical fiber when the optical fiber is bent. The shape sensor is freely bendable in any direction and having directivity in detection sensitivity for a bending direction. A bending direction restriction mechanism is combined with the shape sensor and has bending directivity including such a property of ease in bending that bending is easy in at least a specific direction other than a direction of a center line, and such a property of difficulty in bending that bending is difficult in directions other than the specific direction.

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: An encoder signal processing circuit is connected to encoder heads outputting an encoder signal in accordance with a relative displacement with respect to a corresponding scale in such a way that signals can be transmitted to and received from the encoder heads, and processes encoder signals from the encoder heads. The circuit includes a processing unit and a processing decision unit. The processing unit generates displacement information from the encoder signal. The processing decision unit decides at least one of content of processing for the encoder heads and content of processing on encoder signals read from the encoder heads after starting to read an encoder signal from one of the encoder heads.

Abstract: An inserting state acquiring section is configured to acquire inserting state information of an inserting section that is to be inserted into an insertion subject, an insertion subject shape acquiring section is configured to acquire insertion subject shape information that is shape information of the insertion subject, and a positional relation calculating section is configured to be input the inserting state information and the insertion subject shape information and to calculate a positional relation of the inserting section to the insertion subject. When an output section outputs the calculation result of the positional relation calculating section, a control section is configured to control an output state of the calculation result in the output section.

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: An inserting state acquiring section is configured to acquire inserting state information of an inserting section that is to be inserted into an insertion subject, and an insertion subject shape acquiring section is configured to acquire insertion subject shape information that is shape information of the insertion subject. A positional relation calculating section is configured to be input the inserting state information and the insertion subject shape information and to calculate a positional relation of the inserting section to the insertion subject, and an output section is configured to output the calculation result of the positional relation calculating section as display information.