JP6811944B2 - Endoscope insertion shape detector and endoscope system - Google Patents

Description

The present invention relates to an endoscope insertion shape detection device and an endoscope system that detect the shape of an insertion portion of an endoscope inserted inside a subject.

Conventionally, as a technique in such a field, a plurality of coils are arranged inside an endoscope insertion part composed of an insertable flexible tube and a curved part, and an electric signal generated by the coils by receiving an electromagnetic wave from the outside is received. There are known endoscopes that output to the outside via a lead wire and grasp the shapes of the insertable flexible tube and the curved portion based on the amplitude and phase of the output electric signal.

For example, Patent Document 1 below describes an endoscope in which a plurality of insertion shape detection coils are fixed at predetermined intervals, and the heat-shrinkable tubes are further covered and then contracted to bring the heat-shrinkable tubes into close contact with the coils. It is disclosed.

Japanese Unexamined Patent Publication No. 2002-143082

However, in the above-mentioned endoscope, since the coil is fixed by the heat-shrinkable tube, there is a problem that the position of the coil is likely to shift due to the bending operation of the endoscope insertion portion or the like. In addition, when the lead wire of the coil is electrically connected to the lead wire by soldering or the like, the lead wire of the coil is thin, and stress concentration occurs due to a load such as a tensile load or a bending load of the lead wire due to the bending operation. Since it is easy, there is also a problem that the lead wire of the coil is broken at the connection part.

The present invention has been made to solve such a technical problem, and is an endoscope insertion shape capable of suppressing a misalignment of a coil and preventing a disconnection of a coil lead wire at a connection portion with a lead wire. It is an object of the present invention to provide a detection device and an endoscopic system.

The endoscope insertion shape detection device according to the present invention is an endoscope insertion shape detection device that detects the shape of an insertion portion of an endoscope inserted inside a subject, and is said to be inside the insertion portion. A plurality of coils arranged at predetermined intervals along the axial direction of the insertion portion, provided for each coil, electrically connected to the two lead wires of the coil, and extended in the axial direction. A lead wire set consisting of two lead wires and an electrically insulating portion provided for each coil and covering at least the coil and the connection portion between the lead wire of the coil and the lead wire set and extending in the axial direction. When there are a plurality of lead wire sets on only one of the front side and the rear side of the electrically insulating portion in the axial direction, one side of the lead wire set and both sides of the front side and the rear side of the electrically insulating portion. When there are a plurality of the lead wire sets in the above, a binding portion for binding the plurality of lead wire sets is provided on at least one side of the lead wire set.

In the endoscope insertion shape detection device according to the present invention, when there are a plurality of lead wire sets on only one of the front side and the rear side of the electrically insulating portion, one side, the front side and the rear side of the electrically insulating portion. When there are a plurality of lead wire sets on both sides, a binding portion for binding the plurality of lead wire sets is provided on at least one side thereof, so that the positions of the plurality of lead wire sets are fixed by using the binding portion. As a result, it is possible to prevent loosening of the lead wire sets and misalignment of the electrically insulating portion, and as a result, misalignment of the coil can be suppressed. Further, by fixing the positions of the plurality of lead wire sets at the binding portion, the load applied to the connection portion between the lead wire and the lead wire of the coil by the lead wire set can be reduced, and stress concentration can be suppressed. Therefore, it is possible to prevent the coil lead wire from being broken at the connection portion, and it is possible to improve the durability of the coil.

In the endoscope insertion shape detecting device according to the present invention, the binding portion is provided on the front side and the rear side of the electrically insulating portion, respectively, and the binding portion on the front side and the binding portion on the rear side adjacent to each other with the electrical insulating portion sandwiched therein. The distance from the portion is preferably 1.2 to 5 times the length of the electrically insulated portion.

In the endoscope insertion shape detecting device according to the present invention, the distance between the front binding portion adjacent to the electrically insulating portion and the rear binding portion is 3 to 4 with respect to the length of the electrically insulating portion. It is preferably doubled.

Further, in the endoscope insertion shape detecting device according to the present invention, it is preferable that there are more places where the binding portion is provided on the rear side than on the front side of the electrically insulating portion.

Further, in the endoscope insertion shape detecting device according to the present invention, the lead wire set is preferably a stranded wire formed by twisting two of the lead wires.

Further, in the endoscope insertion shape detecting device according to the present invention, the binding portion is preferably a pincushion portion that binds a plurality of the lead wire sets.

The endoscope system according to the present invention is characterized by including the above-mentioned endoscope insertion shape detecting device.

According to the present invention, it is possible to suppress the misalignment of the coil and prevent the coil lead wire from being broken at the connection portion with the lead wire.

It is a schematic block diagram which shows the endoscope system which concerns on embodiment. It is a front view which shows the tip part of the insertion part of an endoscope. It is a side sectional view which shows the tip part of the insertion part of an endoscope. It is a partial cross-sectional view which shows the structure of the probe for position detection which built-in an endoscope insertion shape detection device.

Hereinafter, embodiments of the endoscope insertion shape detection device and the endoscope system according to the present invention will be described with reference to the drawings. In the following description, "axial direction" indicates the axial direction of the insertion portion of the endoscope, "front side" indicates the subject side, and "rear side" indicates the operation portion side of the endoscope. Further, in the following embodiment, the position detection probe having the endoscope insertion shape detection device will be described as a configuration built in the insertion portion of the endoscope, but a treatment tool provided inside the endoscope. The structure may be removable as well as being inserted into the insertion channel.

FIG. 1 is a schematic configuration diagram showing an endoscope system according to an embodiment. In FIG. 1, for convenience of showing the drawings briefly, the connections between the devices are indicated by arrows, and in order to make the position of the position detection probe easier to understand, a part of the insertion portion is broken and shown. ..

The endoscope system 1 of the present embodiment is connected to an endoscope 10 provided with an endoscope insertion shape detection device 50 inside, a video processor 20 connected to the endoscope 10, and a video processor 20. The first monitor M1 that displays the image captured by the endoscope 10, the shape detection unit 40 connected to the endoscope 10, the magnetic field generator 30 connected to the shape detection unit 40, and the shape detection unit. It is provided with a second monitor M2 which is connected to 40 and displays an image of the inserted shape of the endoscope 10.

The endoscope 10 is inserted from an elongated tubular insertion portion 11 inserted into a subject (not shown), an operation portion 12 connected to the insertion portion 11 and operated by an operator, and an operation portion 12. It has a universal cable 13 that extends and is connected to the video processor 20 and the shape detection unit 40, respectively.

The insertion portion 11 includes an insertable flexible pipe 14 connected to the operation portion 12 and formed relatively long, and a bendable bendable portion 15 coaxially connected to the insert flexible pipe 14 and formed relatively short. And have. The insertable flexible tube 14 is formed by, for example, further coating a flexible resin outer skin on the outer peripheral surface of the flexible tube material formed by coating a spiral tube with a mesh tube. On the other hand, the curved portion 15 is formed by further coating a flexible and elastic rubber outer skin on the outer peripheral surface of a curved pipe formed by coating a reticulated tube on a plurality of articular rings connected so as to be tiltably connected. ing.

Inside the insertion portion 11, an image pickup signal cable 19 and a position detection probe 100 (details will be described later) extend along the axial direction of the insertion portion 11. Further, although not shown, the insertion portion 11 also includes a treatment tool insertion channel, two air / water supply tubes, an auxiliary water supply tube, and two light guide fiber bundles for lighting.

FIG. 2 is a front view showing the tip end portion of the insertion portion of the endoscope, and FIG. 3 is a side sectional view showing the tip end portion of the insertion portion of the endoscope. At the tip 11a of the insertion portion 11 (that is, the tip of the curved portion 15), the objective lens group 17, the opening 21 of the treatment tool insertion channel, and the feeds attached to the tips of the two air supply / water supply tubes, respectively. The air / water supply nozzle 22, the sub-water supply nozzle 23 attached to the tip of the sub-water supply tube, and the light distribution lens 24 installed on a one-to-one basis with respect to the two light guide fiber bundles for illumination are arranged respectively. There is.

As shown in FIG. 3, the objective lens group 17 is attached to a cylindrical observation window 16 provided at the tip end portion 11a of the insertion portion 11. The objective lens group 17 constitutes an imaging unit of the endoscope 10 together with an imaging element 18 arranged on the rear side. The signal of the internal image of the subject imaged by the image sensor 18 is transmitted to the video processor 20 via the image sensor cable 19 connected to the image sensor 18.

Further, the tip portion 11a of the insertion portion 11 is provided with an insertion hole 25 into which the tip portion of the position detection probe 100 can be inserted. The tip of the position detecting probe 100 inserted into the insertion hole 25 is fixed to the insertion hole 25 by a screw 26.

As shown in FIG. 1, the operation unit 12 has an operation unit main body 12a constituting the operation grip portion and a treatment tool insertion port 12c provided on the side closer to the insertion portion 11 of the operation unit main body 12a. The treatment tool insertion port 12c is an opening on the operation unit 12 side of the treatment tool insertion channel described above. Further, the operation unit main body 12a is provided with a bending operation knob 12b for operating the bending of the bending portion 15, and switches related to each operation of the endoscope 10.

The video processor 20 is a device for processing image data imaged by the image sensor 18 and transmitted via the image pickup signal cable 19 to generate a video signal. The video processor 20 further outputs the generated video signal to the first monitor M1. As a result, the internal image of the subject captured on the first monitor M1 is displayed.

The magnetic field generator 30 is a device for generating an alternating magnetic field from the built-in antenna. The alternating magnetic field generated from the built-in antenna generates an electromotive force in each coil 102 (described later) arranged in the position detection probe 100, and an induced current flows. The induced current flowing through the coil 102 is input to the shape detection unit 40 via a lead wire set 103 (described later) electrically connected to the coil 102.

The shape detection unit 40 has an electric circuit (not shown) for detecting the shape of the insertion unit 11 of the endoscope 10, and is input from a lead wire set 103 electrically connected to each coil 102. The position of each coil 102 is detected based on the induced current, and the axis of the portion where the position detection probe 100 is arranged is estimated by connecting the detected positions of each coil 102 with a line. Further, the shape detection unit 40 outputs a model imitating the endoscope 10 attached along the axis to the second monitor M2. As a result, the estimated insertion shape image of the endoscope 10 inserted inside the subject is displayed on the second monitor M2.

FIG. 4 is a partial cross-sectional view showing the configuration of a position detection probe incorporating an endoscope insertion shape detection device. As shown in FIG. 4, the position detecting probe 100 mainly has a flexible protective tube 101 and an endoscope insertion shape detecting device 50 provided inside the protective tube 101. The endoscope insertion shape detecting device 50 includes a plurality of coils 102 (8 in the present embodiment) arranged at predetermined intervals along the axial direction of the insertion portion 11 of the endoscope 10, and coils. A lead wire set 103 provided for each 102 and electrically connected to the coil 102, and a lead wire set 103 provided for each coil 102 to cover and protect at least the coil 102 and the connection portion between the coil 102 and the lead wire set 103. It has an electrical insulation part.

The eight coils 102 are arranged in the order of 1 to 8 from the tip end portion 11a of the insertion portion 11 toward the operation portion 12. The first and second coils 102 are arranged at positions corresponding to the curved portion 15 of the insertion portion 11, and the third to eighth coils 102 are arranged at positions corresponding to the insert flexible pipe 14. There is. Along with this, the first portion 101a of the protective tube 101 that covers the first and second coils 102 is formed so as to wind a metal coil around the outer periphery of the resin tube, and the third to eighth coils. The second portion 101b covering the coil 102 of the above is formed only by a resin tube. By doing so, since the flexural rigidity of the first portion 101a can be increased, it is possible to suppress the occurrence of buckling of the protective tube 101 while suitably following the bending operation of the bending portion 15.

The coil 102 is formed by winding a coil wire around a core material (magnetic core) 102a. The lead wire assembly 103 is arranged on the rear side of the coil 102 and extends along the axial direction to the operation unit 12 side. The lead wire set 103 is composed of two lead wires 103a and 103b that are electrically connected to the two lead wires drawn from the coil 102, respectively. The lead wires 103a and 103b are enamel wires, respectively, and are connected to the lead wire of the coil 102 by soldering, brazing, welding, or the like. The lead wire set 103 is a stranded wire formed by twisting two lead wires 103a and 103b together.

As shown in the upper part of FIG. 4, the tip of the position detection probe 100 is externally inserted into the tip of the first portion 101a of the protective tube 101, and extends further forward from the tip of the first portion 101a. A substantially cylindrical tip holding cylinder 110 is provided. The tip holding cylinder 110 is arranged at a substantially central position thereof and is arranged on a reduced diameter portion 110a whose outer diameter and inner diameter are reduced from the periphery, and on the rear side of the reduced diameter portion 110a and on a first portion 101a of the protective tube 101. It is divided into an extrapolated portion 110b to be extrapolated and an extending portion 110c extending forward from the reduced diameter portion 110a. Then, the first coil 102 is fixed inside the tip holding cylinder 110 with the first coil 102 inserted.

Specifically, the portion of the first coil 102 from its substantially central position to the front end is inserted into the retaining cylinder 108 made of a resin material, and the portion from the central position to the rear end is an insulating tube. It is inserted inside the 106. The retaining cylinder 108 can be inserted into the extending portion 110c of the tip holding cylinder 110, and is formed to be larger than the inner diameter of the reduced diameter portion 110a. By doing so, the retaining cylinder 108 inserted into the extending portion 110c of the tip holding cylinder 110 can be moved to the front side of the reduced diameter portion 110a, but can be moved to the rear side of the reduced diameter portion 110a. Limited by.

The insulating tube 106 covers the portion from the center position to the rear end of the first coil 102, the connection portion between the lead wire of the coil 102 and the lead wire set 103, and a part of the tip end portion of the lead wire set 103. It is formed along the axial direction so as to. The insulating tube 106 is inserted through the diameter-reduced portion 110a so that its tip abuts on the retaining cylinder 108. Then, in order to increase the stability of the first coil 102 and the strength of the connection portion between the lead wire of the coil 102 and the lead wire set 103, a resin adhesive is used inside the retaining cylinder 108 and the insulating tube 106. Is filled. Here, the insulating tube 106 and the retaining tube 108 correspond to the "electrically insulated portion" described in the claims.

Of the eight coils 102, the remaining coils 102 (that is, the second to eighth coils 102) except for the first coil are all covered with an insulating tube (electrically insulated portion) 104. The insulating tube 104 extends from a position slightly before the front end of the core material 102a of the coil 102 to the entire length of the coil 102, extends beyond the connection portion between the lead wire of the coil 102 and the lead wire set 103, and is a part of the lead wire set 103. It is formed in the range up to. A resin adhesive is also filled inside the insulating tube 104 in order to increase the stability of the coil 102 and the strength of the connection portion between the lead wire of the coil 102 and the lead wire set 103.

As shown in FIG. 4, the number of lead wire sets 103 provided for each coil 102 increases toward the rear side along the axial direction. Specifically, the first lead wire set 103 electrically connected to the first coil 102 shown in the upper part of FIG. 4 is connected to the second coil 102 after passing through the second coil 102. It merges with the second lead wire set 103 that is electrically connected (see the middle section of FIG. 4). Confluence in the present embodiment does not mean that a plurality of lead wire sets 103 are combined into one, but that the plurality of lead wires are extended in parallel as they are.

The merged first and second lead wire sets 103 merge with the third lead wire set 103 that is electrically connected to the third coil 102 after passing through the third coil 102 (. See the bottom of FIG. 4). In this way, the lead wire sets 103 are sequentially merged each time the coil 102 is passed, so that the number of the lead wire sets 103 to be merged increases steadily.

In the present embodiment, when there are a plurality of lead wire sets 103 on only one of the front side and the rear side of the insulating tube 104 in the axial direction of the insertion portion 11, one side, the front side and the rear side of the insulating tube 104. When there are a plurality of lead wire sets 103 on both sides of the above, thread winding portions (binding portions) 105 for binding the plurality of lead wire sets 103 are provided on both front and rear sides thereof.

Specifically, as shown in the middle part of FIG. 4, the insulation covering the second coil 102, the connection portion between the lead wire of the coil 102 and the lead wire set 103, and a part of the lead wire set 103. Tube 104 (hereinafter, in order to avoid complication of description, "insulating tube 104 that covers the coil 102, the connection portion between the lead wire of the coil 102 and the lead wire set 103, and a part of the lead wire set 103". The first lead wire set 103 and the second lead wire set 103 that merges with the first lead wire set 103 are extended behind the "insulated tube 104 corresponding to the coil 102", that is, the lead wire set. There are two 103s. Then, on the rear side of the insulating tube 104 corresponding to the second coil 102, thread winding portions 105 for binding the first and second lead wire sets 103 are provided at two places. On the other hand, since there is only the first lead wire set 103 on the front side of the insulating tube 104 corresponding to the second coil 102, the spool portion 105 is not provided. The bobbin 105 is formed by, for example, being strongly tied with a nylon thread so as to fix a plurality of lead wire sets 103.

Further, the first and second lead wire sets 103 are extended on the front side of the insulating tube 104 corresponding to the third coil 102 shown in the lower part of FIG. 4, and these lead wire sets 103 are provided. A bobbin winding portion 105 for binding is provided at one place. On the other hand, in addition to the first and second lead wire sets 103, a third lead wire set 103 is joined to the rear side of the insulating tube 104 corresponding to the third coil 102. Thread winding portions 105 for binding the three lead wire sets 103 are provided at two locations.

In addition, on the rear side of the retaining cylinder 108 corresponding to the first coil 102 and the insulating tube 106, only the first lead wire set 103 is provided on the rear side of the insulating tube 104 corresponding to the second coil 102, as on the front side. Since there is no thread winding portion 105, the thread winding portion 105 is not provided.

Further, as shown in the lower part of FIG. 4, the spool portion 105 is provided at one position on the front side of the insulating tube 104 corresponding to the third coil 102, but the spool portion 105 is provided on the rear side of the insulating tube 104. Are provided in two places. That is, with respect to the insulating tube 104 corresponding to the third coil 102, there are many places where the bobbin winding portion 105 is provided on the rear side rather than the front side thereof.

This is because it is necessary to prevent the lead wire sets 103 from unraveling on the front side of the insulating tube 104, whereas the lead wire sets 103 connected to the third coil 102 are further merged and bound on the rear side. This is because the position of the insulating tube 104 is likely to shift due to the influence of the lead wire set 103. By increasing the number of places where the bobbin winding portion 105 is provided on the rear side of the insulating tube 104 rather than on the front side, the lead wire sets 103 to be merged can be reliably fixed to each other and the misalignment of the insulating tube 104 can be suppressed. ..

In the present embodiment, the distance between the front spool portion 105 and the rear spool 105 adjacent to each other with the insulating tube 104 corresponding to the third coil 102 sandwiched is 1 with respect to the length of the insulating tube 104. .2 to 5 times. By doing so, it is possible to prevent the lead wire set 103 from being loosened while preventing the lead wire set of the coil 102 from being broken at the connection portion with the lead wire set 103 (that is, the lead wire sets 103a and 103b). .. The adjacent front spool portion 105 and the rear spool portion 105 refer to the front spool portion 105 and the rear spool portion 105 that are closest to each other with the insulating tube 104 in between.

Here, at 1.2 times the lower limit, when the distance between the adjacent front and rear spools 105 is smaller than that, the load on the connection with the lead wire assembly 103 is large due to the binding of the spools 105. Therefore, it is set in consideration of the possibility that the lead wire of the coil 102 is broken. On the other hand, at 5 times the upper limit, if the distance between the adjacent front and rear spools 105 is larger than that, the lead wire sets 103 are likely to be loosened even if the spool 105 is provided, and the insulating tube 104 It is set in consideration of the possibility that the unraveled lead wire set 103 may get caught and entangled.

Preferably, the distance between the adjacent front spool portion 105 and the rear spool portion 105 is 3 to 4 times the length of the insulating tube 104. In this way, the effect of preventing disconnection of the lead wire of the coil 102 at the connection portion with the lead wire set 103 and the effect of suppressing loosening of the lead wire sets 103 can be further enhanced.

Since the 4th to 8th coils 102 and the lead wire set 103 electrically connected to them are the same as the 3rd coil 102 and the lead wire set 103, duplicate description will be omitted.

In the endoscope insertion shape detecting device 50 configured as described above, the thread winding portion 105 that binds the first and second lead wire sets 103 to the rear side of the insulating tube 104 corresponding to the second coil 102, Thread winding portions 105 for bundling a plurality of lead wire sets 103 are provided on the front side and the rear side of each insulating tube 104 corresponding to the third and subsequent coils 102, respectively. By fixing the positions of the plurality of lead wire sets 103 using these spools 105, it is possible to prevent loosening of the lead wire sets 103 and misalignment of the insulating tube 104, and as a result, the position of the coil 102. The deviation can be suppressed. Further, by fixing the positions of the plurality of lead wire sets 103 at the spool portion 105, the lead wire set 103 adds to the connection portion between the lead wire of the coil 102 and the lead wire set 103 (that is, the lead wires 103a, 103b). It is possible to reduce the load applied and suppress the occurrence of stress concentration. Therefore, it is possible to prevent the coil lead wire from being broken at the connection portion, and it is possible to improve the durability of the coil 102. Further, when the insulating tube 104 is transparent, the position of the coil 102 can be visually recognized, so that the position of the coil 102 can be easily grasped. Further, according to the endoscope system 1 provided with the endoscope insertion shape detecting device 50 described above, the misalignment of the coil 102 can be suppressed, and the disconnection of the coil lead wire at the connection portion with the lead wire set 103 can be prevented. ..

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various designs are designed without departing from the spirit of the present invention described in the claims. You can make changes.

For example, in the above-described embodiment, when there are a plurality of lead wire sets 103 on both the front side and the rear side of the insulating tube 104 (that is, the third to eighth insulating tubes 104), thread windings are wound on both front and rear sides thereof. Although it has been described that the portion 105 is provided, the bobbin winding portion 105 may be provided only on one side of both the front and rear sides. Further, the location where the spool portion 105 is provided is not limited to the above-mentioned contents, and may be appropriately changed as necessary. Further, in the above-described embodiment, the example of the bobbin winding portion has been described as the binding portion for binding a plurality of lead wire sets, but the binding portion using an adhesive, the binding portion using a metal fitting such as a pinch, and the like. Is also good.

Further, in the above-described embodiment, a method of detecting a magnetic field generated by a magnetic field generator 30 provided outside the endoscope 10 by a coil 102 arranged inside the insertion portion 11 of the endoscope 10 is mentioned. As described above, the present invention is also applied to a method in which a magnetic field is generated from a coil arranged inside the insertion portion of the endoscope, and the magnetic field is detected by a magnetic field detection device provided outside the endoscope. ..

1 Endoscope system 10 Endoscope 11 Insertion part 11a Tip part 12 Operation part 13 Universal cable 14 Insertable flexible tube 15 Curved part 20 Video processor 30 Magnetic field generator 40 Shape detection unit 50 Endoscope insertion shape detection device 100 Position Detection probe 101 Protective tube 102 Coil 103 Lead wire set 103a, 103b Lead wire 104 Insulated tube (electrically insulated part)
105 Thread winding part (binding part)
106 Insulation tube (electrical insulation)
108 Retaining cylinder (electrical insulation)

Claims (6)

It is an endoscope insertion shape detection device that detects the shape of the insertion part of the endoscope that is inserted inside the subject.
A plurality of coils arranged inside the insertion portion at predetermined intervals along the axial direction of the insertion portion,
A lead wire set provided for each coil, which is electrically connected to the two lead wires of the coil and is composed of two lead wires extending in the axial direction.
Each coil is provided with at least an electrically insulating portion that covers the coil and the connection portion between the lead wire of the coil and the lead wire set and extends in the axial direction.
When there are a plurality of lead wire sets on only one of the front side and the rear side of the electrically insulated portion in the axial direction, the lead wires are on one side of the lead wires and on both sides of the front side and the rear side of the electrically insulated portion. set of its front and rear sides when a plurality of bundling unit for bundling a plurality of the lead wire assembly is provided,
The binding portion is a spool portion and
An endoscope insertion shape detecting device characterized in that the thread winding portion is located at a position away from the coil and is provided between a plurality of adjacent coils . The distance between the front SL front binding portion adjacent across the electrically insulating portion and the rear side of the bundling unit claims, characterized in that said a 1.2-5 times the length of the electrically insulating portion The endoscope insertion shape detection device according to 1. The second aspect of claim 2, wherein the distance between the front binding portion adjacent to the electrically insulating portion and the rear binding portion is 3 to 4 times the length of the electrically insulating portion. Endoscope insertion shape detection device. The endoscope insertion shape detecting device according to claim 2 or 3, wherein the binding portion is provided more frequently on the rear side than on the front side of the electrically insulating portion. The endoscope insertion shape detecting device according to any one of claims 1 to 4, wherein the lead wire set is a stranded wire obtained by twisting two lead wires together. An endoscope system comprising the endoscope insertion shape detecting device according to any one of claims 1 to 5 .

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