A sound field estimation method based on a physics-informed convolutional neural network (PICNN) using spline interpolation is proposed. Most of the sound field estimation methods are based on wavefunction expansion, making the estimated function satisfy the Helmholtz equation. However, these methods rely only on physical properties; thus, they suffer from a significant deterioration of accuracy when the number of measurements is small. Recent learning-based methods based on neural networks have advantages in estimating from sparse measurements when training data are available. However, since physical properties are not taken into consideration, the estimated function can be a physically infeasible solution. We propose the application of PICNN to the sound field estimation problem by using a loss function that penalizes deviation from the Helmholtz equation. Since the output of CNN is a spatially discretized pressure distribution, it is difficult to directly evaluate the Helmholtz-equation loss function. Therefore, we incorporate bicubic spline interpolation in the PICNN framework. Experimental results indicated that accurate and physically feasible estimation from sparse measurements can be achieved with the proposed method.