| 摘要 |
Provided is an insertion device, comprising: an insertion part (10); a power spiral tube (17), further comprising a spiral fin part (18) which is disposed elongated in a spiral shape, said power spiral tube (17) being disposed upon the outer circumference direction side of the insertion part (10) so as to be capable of rotation about the longitudinal axis with respect to the insertion part (10); a first motor (23) which generates a drive power which rotates the power spiral tube (17); a manipulation part (11) which is disposed on the base end side of the insertion part (10); a second motor (27) which generates a drive power which rotates the insertion part (10) which is rotatably retained by the manipulation part (11); a first motor drive circuit (33) which computes a current value which drives the first motor (23); a torque sensor circuit (34) which, from the result of the computation, computes the torque which acts on the power spiral tube (17); and a second motor drive circuit (35) which, in response to the result of the computation, controls so as to supply the current which rotates the second motor (27). |
