PROBLEM TO BE SOLVED: To provide a surgical instrument position attitude measuring apparatus that is used to perform high-precision three-dimensional position attitude measurement for a surgical instrument by using an inertial sensor and a displacement measuring sensor.SOLUTION: An inertial sensor 5 and a displacement measuring sensor 6 are built into a hollow tube 3 for use in endoscopic surgical operation. A position attitude of a surgical instrument 2 is calculated by being converted to a coordinate system serving as a standard of the surgical instrument 2 inserted through the hollow tube by using constraint conditions at an insertion point 4 into the body.COPYRIGHT: (C)2016,JPO&INPIT【課題】慣性センサと変位計側センサを用い、手術器具の高精度な3次元位置姿勢計測を目的とする手術器具位置姿勢計測装置を提供する。【解決手段】内視鏡下外科手術に用いられる中空管3に慣性センサ5と変位計測センサ6を組み込み、体内への刺入点4での拘束条件を用いて中空管を通して挿入された術具2の基準とする座標系に変換することにより、術具の位置姿勢を計算する。【選択図】図1
