US 12,446,762 B2
Endoscope system, control device, information processing method
Katsuhiko Yoshimura, Hachioji (JP); Takahiro Komuro, Hachioji (JP); and Kosuke Kishi, Hachioji (JP)
Assigned to OLYMPUS CORPORATION, Tokyo (JP)
Filed by OLYMPUS CORPORATION, Tokyo (JP)
Filed on Jul. 8, 2022, as Appl. No. 17/860,267.
Application 17/860,267 is a continuation of application No. PCT/JP2021/001217, filed on Jan. 15, 2021.
Claims priority of provisional application 62/961,872, filed on Jan. 16, 2020.
Claims priority of application No. PCT/JP2020/040874 (WO), filed on Oct. 30, 2020.
Prior Publication US 2022/0338715 A1, Oct. 27, 2022
Int. Cl. A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/008 (2006.01); A61B 1/01 (2006.01); A61B 1/045 (2006.01); A61B 5/06 (2006.01); A61B 90/00 (2016.01); A61B 1/018 (2006.01); A61B 34/10 (2016.01); G02B 23/24 (2006.01)
CPC A61B 1/0057 (2013.01) [A61B 1/00006 (2013.01); A61B 1/00009 (2013.01); A61B 1/00042 (2022.02); A61B 1/00064 (2013.01); A61B 1/00105 (2013.01); A61B 1/00121 (2013.01); A61B 1/00128 (2013.01); A61B 1/00133 (2013.01); A61B 1/00154 (2013.01); A61B 1/0016 (2013.01); A61B 1/005 (2013.01); A61B 1/0052 (2013.01); A61B 1/0055 (2013.01); A61B 1/008 (2013.01); A61B 1/009 (2022.02); A61B 1/01 (2013.01); A61B 1/045 (2013.01); A61B 5/062 (2013.01); A61B 90/37 (2016.02); A61B 1/00066 (2013.01); A61B 1/018 (2013.01); A61B 2034/105 (2016.02); G02B 23/2476 (2013.01); G06T 2207/10068 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An endoscope system comprising:
an endoscope including a first tube being inserted into a body, a second tube being arranged at a proximal end of the first tube, and a connecting portion connecting the first tube and the second tube so that the first tube can rotate relative to the second tube about a longitudinal axis;
at least one processor configured to:
estimate a first shape of a portion of the first tube inserted into the body based on information about positions of a plurality of points on the first tube, and
estimate a second shape of a portion of the first tube and the second tube located outside of the body based on information about positions of two points on the second tube,
a plurality of sensors configured to acquire a position and posture,
wherein the plurality of sensors are provided at a distal end side of the second tube and at a proximal end side of the second tube, and
the at least one processor estimates the second shape based on information from the plurality of sensors.