Patent ID: 8403829

Claim:
An endoscopic form detection device comprising: an endoscope including an inserting section in which sensor units are arranged in longitudinal directions at intervals of a predetermined inter-sensor dimension; a posture detecting section configured to detect a posture of each of the sensor units based on measurement data in the sensor unit; a sensor tentative position detecting section configured to detect a tentative position of each sensor unit on the assumption that a portion between the respective sensor units is a linear tentative link whose dimension is equal to the inter-sensor dimension based on the posture of each sensor unit detected by the posture detecting section; a tentative curve form detecting section configured to perform curve interpolation between the tentative positions of the respective sensor units by using a tentative arc to detect a tentative curve form of the inserting section based on the tentative positions of the respective sensor units detected by the sensor tentative position detecting section; a sensor position correcting section configured to correct a position of each sensor unit from the tentative position to a final position based on an absolute value of a difference between an arc length of each tentative arc of the tentative curve form detected by the tentative curve form detecting section and the inter-sensor dimension; and a final curve form detecting section configured to perform curve interpolation between the final positions of the respective sensor units by using a final arc to detect a final curve form of the inserting section.