TUBULAR INSERTION SYSTEM

摘要

The endoscopic system (10), which is a tubular insertion system, comprises an insertion part (20) with a bending part (23) that bends, and a bending mechanism (39) that operates the bending part (23). The endoscopic system (10) also comprises: a curvature amount detection and computation mechanism (61), which detects the curvature amount of the bending mechanism (39) and computes curvature amount data that represents the curvature amount; a curvature shape detection and computation mechanism (71), which detects the actual shape of the bent bending part (23) and computes curvature shape data that represents the curvature shape; and a first operation-assisting data acquiring unit (151), which acquires first operation-assisting data that assists in the operation of the bending part (23) based on at least either the curvature amount data or curvature shape data.