| 摘要 |
PROBLEM TO BE SOLVED: To provide an insertion device that enables an operator to recognize a shape and a position of an insertion part.SOLUTION: An insertion device comprises: an insertion part 112 that is inserted into a body P subject to insertion; a body 102 that is a reference part arranged outside the body P subject to insertion; a connection cable 108 that has a movable part capable of moving continuously and that connects the insertion part 112 and the body 102 together; and a first shape sensor 204 that detects a cable shape based on the body 102, by detecting the amount of curvature of the connection cable 108. |
