| 摘要 |
<p>PROBLEM TO BE SOLVED: To enable external force from all directions to be acquired as operation support information while hardly affecting the size and rigidity of a tubular insertion portion having a flexible portion when the tubular insertion portion is inserted into a lumen.SOLUTION: A tubular insertion portion has a bending portion being a flexible portion with flexibility in a predetermined part, and bending sensing parts 5-1 to 5-4 of a plurality of bending sensors are distributed and arranged in the bending portion. An operation support information calculating unit 100 extracts operation support information including at least external force information regarding external force applied at least to the tubular insertion portion by a combinational calculation of detection information from the plurality of bending sensors.</p> |
