| 摘要 |
Provided is an insertion device (1), comprising: an insertion part which is formed along a longitudinal axis running from a base end side to a leading end side; a base tube which is disposed so as to be capable of rotation about the longitudinal axis of the insertion part, and which has a spiral fin which is disposed in a spiral shape along the longitudinal axis of the insertion part; a motor (150) which rotates the base tube; a motor control unit (2042) which supplies a motor current for driving the motor (150) and controls the drive of the motor (150); and a torque limit determination unit (2045) which, by comparing an average value or an effective value of the motor current with a prescribed torque limit setting value, determines whether the torque of the motor (2042) is in a limit state. |
