Insertion apparatus

摘要

An insertion apparatus includes a first drive control section controlling a drive state of a drive member in such a manner that a rotary unit rotates toward a first periaxial direction with a first rotation amount during a reference time. The insertion apparatus includes a second drive control section controlling the drive state of the drive member in such a manner that the rotary unit rotates toward a second periaxial direction with a second rotation amount smaller than the first rotation amount during the reference time.

主权项

1. An insertion apparatus comprising:
an inserting section which is extended from a proximal direction toward a distal direction along a longitudinal axis; a rotary unit which includes a spiral fin portion spirally extended around the longitudinal axis, and which is provided to an outer peripheral direction side of the inserting section in a state that the rotary unit is rotatable toward a first periaxial direction around the longitudinal axis and a second periaxial direction opposite to the first periaxial direction with respect to the inserting section; a drive member which is configured to generate a drive force of rotating the rotary unit; an operation unit which is configured to generate a first operation command based on an input of a first operation of rotating the rotary unit toward the first periaxial direction, which is configured to generate a second operation command based on an input of a second operation of rotating the rotary unit toward the second periaxial direction; a first drive control section which is configured to drive and control a drive state of the drive member in the first control mode based on generation of the first operation command in such a manner that the rotary unit rotates toward the first periaxial direction, the first drive control section being configured to adjust a first rotation amount during a reference time having a predetermined length or a first current amount of a current supplied to the drive member during the reference time in accordance with a first command value, which is a command value of the first operation command; and a second drive control section which is configured to drive and control the drive state of the drive member in the second control mode based on generation of the second operation command in such a manner that the rotary unit rotates toward the second direction, the second drive control section being configured to adjust a second rotation amount during the reference time or a second amount of the current supplied to the drive member during the reference time in accordance with a second command value, which is a command value the second operation command, the first drive control section and the second drive control section being configured to adjust the second rotation amount in the second control mode to be smaller than the first rotation amount in the first control mode or to adjust the second amount of the current in the second control mode to be smaller than the first amount of the current in the first control mode when the first command value and the second command value are set to have the same magnitude.