INSERTION DEVICE CONTROL DEVICE AND CONTROL METHOD, INSERTION DEVICE PROVIDED WITH CONTROL DEVICE, INSERTION DEVICE CONTROL PROGRAM, AND INSERTION DEVICE CONTROL INTEGRATED ELECTRONIC CIRCUIT

摘要

Provided is an insertion device control device (104), whereby a state of an insertion member (302) is identified with a state identification unit (108). By carrying out an oscillation control according to the state, when a leading end (302a) of the insertion member is blocked, a blockage is removed with an oscillation of a suitable size without an excess load being caused thereupon.