Shape measuring cylindrical flexible body apparatus
A shape measuring apparatus includes a cylindrical flexible body and a bend detection sensor. The sensor includes an optical fiber extending along the flexible body, a detection target to vary characteristics of detection light guided through the optical fiber in accordance with a curvature of the optical fiber, and a light detection unit to detect the detection light. The shape measuring apparatus also includes a shape calculating device to calculate a bend shape of the flexible body, based on the variation of the characteristics of the detection light, a cylindrical sheathing member sheathing a part of the optical fiber in the flexible body, and a hard distal member provided at a distal end of the flexible body and holding a distal end of the sheathing member.
1. A shape measuring cylindrical flexible body apparatus comprising:
a cylindrical flexible body having a distal end and a proximal end;
a bend detection sensor comprising:
a light source configured to radiate detection light,
an optical fiber extending along a longitudinal direction of the cylindrical flexible body, the optical fiber being configured to guide the detection light radiated from the light source,
at least one detection target provided in the optical fiber configured to vary characteristics of the detection light in accordance with a curvature of the optical fiber, and
a light detection sensor configured to detect the detection light guided through the optical fiber;
a controller comprising hardware, the controller being configured to calculate a bend shape of the cylindrical flexible body, based on the variation of the characteristics of the detection light detected by the light detection sensor;
a cylindrical sheathing member disposed in an inside of the cylindrical flexible body, the cylindrical sheathing member being a cylindrical member to sheathe at least a part of the optical fiber; and
a hard distal member provided at the distal end of the cylindrical flexible body, the hard distal member being configured to hold a distal end of the cylindrical sheathing member;
wherein the cylindrical sheathing member has a flexibility that is equal to or greater than a flexibility of the optical fiber.
2. The shape measuring cylindrical flexible body apparatus of claim 1 , wherein the cylindrical sheathing member has a torsional rigidity that is higher than a torsional rigidity of the optical fiber.
3. The shape measuring cylindrical flexible body apparatus of claim 2 , wherein the cylindrical sheathing member includes a resin tube, and a reinforcement member buried within the resin tube.
4. The shape measuring cylindrical flexible body apparatus of claim 3 , wherein the reinforcement member is composed of at least one of a braid and a coil.
5. The shape measuring cylindrical flexible body apparatus of claim 2 , wherein the cylindrical sheathing member has a slit formed to improve the flexibility of the cylindrical sheathing member.
6. The shape measuring cylindrical flexible body apparatus of claim 2 , wherein the cylindrical sheathing member has a processed portion processed to decrease a contact area with an outside.
7. The shape measuring cylindrical flexible body apparatus of claim 2 , wherein the cylindrical sheathing member has an outer peripheral surface subjected to a smoothing process.
8. The shape measuring cylindrical flexible body apparatus of claim 2 , wherein the cylindrical sheathing member is composed of a metal tube and a resin coat formed on at least one of an inner peripheral surface and an outer peripheral surface of the metal tube, the resin coat having a friction coefficient that is lower than a friction coefficient of the metal tube.
9. The shape measuring cylindrical flexible body apparatus of claim 2 , further comprising a lubricant lying between the cylindrical sheathing member and the optical fiber.
10. The shape measuring cylindrical flexible body apparatus of claim 1 , further comprising a biasing spring configured to apply tension to the cylindrical sheathing member in a longitudinal direction of the optical fiber.
11. The shape measuring cylindrical flexible body apparatus of claim 10 , further comprising a sliding surface arranged on the optical fiber, the sliding surface being configured to move along the longitudinal axis of the optical fiber and to prevent the cylindrical sheathing member from twisting about the longitudinal axis of the optical fiber.
12. The shape measuring cylindrical flexible body apparatus of claim 1 , wherein the shape measuring cylindrical flexible body apparatus is an endoscope apparatus, and the cylindrical flexible body is an insertion section of the endoscope apparatus.
13. A shape measuring cylindrical flexible body apparatus of claim 1 , further comprising:
a cylindrical flexible body having a distal end and a proximal end;
a bend detection sensor comprising:
a light source configured to radiate detection light,
an optical fiber extending along a longitudinal direction of the cylindrical flexible body, the optical fiber being configured to guide the detection light radiated from the light source,
at least one detection target provided in the optical fiber configured to vary characteristics of the detection light in accordance with a curvature of the optical fiber, and
a light detection sensor configured to detect the detection light guided through the optical fiber;
a controller comprising hardware, the controller being configured to calculate a bend shape of the cylindrical flexible body, based on the variation of the characteristics of the detection light detected by the light detection sensor;
a cylindrical sheathing member disposed in an inside of the cylindrical flexible body, the cylindrical sheathing member being a cylindrical member to sheathe at least a part of the optical fiber; and
a hard distal member provided at the distal end of the cylindrical flexible body, the hard distal member being configured to hold a distal end of the cylindrical sheathing member; and
a biasing spring configured to apply tension to the optical fiber in a longitudinal direction of the optical fiber.
14. The shape measuring cylindrical flexible body apparatus of claim 13 , further comprising a sliding surface arranged on the optical fiber, the sliding surface being configured to move along the longitudinal axis of the optical fiber and to prevent the optical fiber from twisting about the longitudinal axis of the optical fiber.