In the present invention, an insertion device is provided with: an insertion part (110); a motor (150) for rotating a spiral tube (132); a drive control unit (202) for controlling drive of the motor (150) by supplying a drive current to the motor (150); a drive current detection unit (2021) for detecting the drive current that flows to the motor (150); a torque limit value holding unit (203) for holding a torque limit value; a temperature sensor (118) for detecting the temperature in the vicinity of the spiral tube (132); a temperature measurement unit (204) for measuring the temperature in the vicinity of the spiral tube (132) from the detection results of the temperature sensor (118); and a torque limit value correction unit (205) for correcting the torque limit value according to the temperature measured by the temperature measurement unit (204).
