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发明授权
CN107249421B 预先形状推测装置、插拔作业系统、插拔作业辅助系统 有权

预先形状推测装置、插拔作业系统、插拔作业辅助系统
摘要：
预先形状推测装置包括插入部(7)、形状传感器(8)和预先插入部形状推测部(33)。上述插入部(7)具有挠性，被向观察对象物的内部插入。上述形状传感器(8)检测上述插入部的弯曲状态，输出检测信号。上述预先插入部形状推测部(33)基于根据从上述形状传感器输出的上述检测信号而取得的信息，预先推测在规定的时间经过后的上述插入部的形状，作为预先推测形状信息进行输出。
摘要（英）：

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.

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