Patent ID: 8566052
Filing Date: 2013-10-22
Classification: A61B

Abstract:
1. A probe shape detection apparatus comprising: a drive signal transmitting section that transmits a drive signal for causing a magnetic field to be generated from a magnetic field generation element provided along a longitudinal direction of a probe having an elongated shape; a first magnetic field detection section that detects the magnetic field emitted from the magnetic field generation element as magnetic field components in three mutually orthogonal axial directions and outputs a magnetic field detection signal corresponding to a first electromotive voltage group generated when detecting the magnetic field components in the three axial directions; a second magnetic field detection section provided at a position different from the first magnetic field detection section that detects the magnetic field emitted from the magnetic field generation element as magnetic field components in the three axial directions and outputs a magnetic field detection signal corresponding to a second electromotive voltage group generated when detecting the magnetic field components in the three axial directions; a candidate position storage section that stores a plurality of pieces of candidate position information indicating candidate positions that can be taken by the magnetic field generation element; a candidate vector calculation section that calculates candidate vectors indicating orientation of the magnetic field generation element when the magnetic field generation element is assumed to be located at a position corresponding to one piece of candidate position information based on the first electromotive voltage group and the one piece of candidate position information read from the candidate position storage section; an estimated electromotive voltage calculation section that calculates an estimated electromotive voltage estimated to be generated when the magnetic field emitted from the magnetic field generation element is detected based on the one piece of candidate position information read from the candidate position storage section and the candidate vector calculated in the candidate vector calculation section; an error calculation section that calculates an error between the second electromotive voltage group and the estimated electromotive voltage; an estimated position acquiring section that acquires a candidate position where the error is minimized among all candidate positions indicated as the candidate position information based on the calculation result of the error calculation section as an estimated position of the magnetic field generation element; and an image generation section that generates a shape detection image showing the shape of the probe based on the respective estimated positions acquired in the estimated position acquiring section.