MEDICAL MANIPULATOR SYSTEM AND MANIPULATOR CURVED SHAPE ESTIMATION METHOD

摘要

In order to measure the curved shape of a medical manipulator along a longitudinal direction by using a minimum sensor, a medical manipulator system (1) according to the present invention includes: an elongated manipulator (2) having a flexible portion (7); a shape sensor (4) that is provided movably along the longitudinal direction of a path in which the manipulator (2) is arranged, and that detects shape information of the path at each position; and a shape estimation unit (6) that estimates the curved shape of the manipulator (2) on the basis of the shape information detected by the shape sensor (4) and information about the longitudinal position of the shape sensor (4) in the path.