| 摘要 |
Provided is an endoscope device (1), comprising: an insertion part which further comprises a plurality of segments, and is inserted into a duct; a state quantity computing unit (63) which computes a segment state quantity for each segment; a plurality of rigidity variation elements (723) which respectively vary flexural rigidity for each segment; an origin specification unit (64) which, on the basis of the state quantity for each segment, specifies a segment to be an origin which sets a range of the segments for which the flexural rigidity is changed or the flexural rigidity; and an action control unit (66) which actuates each of the plurality of rigidity variation elements (723), and changes the flexural rigidities of the respective segments. The action control unit (66) sets the range of segments for which the flexural rigidity is changed or the flexural rigidity of the plurality of segments on the basis of the segment which is the origin, and lowers the flexural rigidity of two or more of the segments which are contiguous among the plurality of segments on the basis of the set range of segments or flexural rigidity. |
