| 摘要 |
A flexible tube inserting device (10) has: an inserting unit (40), which is divided into a plurality of segments (50) that are aligned in a row in the axis direction, and is to be inserted into a tract (200); and a plurality of stiffness variable units (51), which are provided in the segments (50), respectively, and change hardness. The flexible tube inserting device (10) also has: a start instruction unit (160) that outputs start instructions when the inserting unit (40) advances in the tract (200), said start instructions being instructions for starting to change, at a relative position of the inserting unit (40) with respect to the tract (200), the stiffness of the segments (50); a state calculation unit (121) that calculates a state change of the tract (200), said state change occurring in the tract (200); and a control device (120), which detects the segments (50) to correspond to the state change on the basis of the state change calculated by the state calculation unit (121), and controls a change of the hardness of the stiffness variable units (51) that are provided in thus detected segments (50). |
