| 摘要 |
<P>PROBLEM TO BE SOLVED: To acquire external force from all directions as operation support information almost without affecting the size and hardness of a tubular insertion part having a flexible part when inserting the tubular insertion part into a tube cavity. <P>SOLUTION: The tubular insertion part has a curve part which is a flexible part at a prescribed portion, and curve detection parts 5-1 to 5-4 of a plurality of curve sensors are distributed and arranged at the curve part. An operational assist information calculation part 100 extracts operational assist information including at least external force information regarding the external force applied to the tubular insertion part by combined calculation of detection information of the plurality of curve sensors. <P>COPYRIGHT: (C)2013,JPO&INPIT |
