| 摘要 |
The endoscope is equipped with: a curving manipulation unit provided on the main body manipulating unit, for performing a manual operation which causes the curving portion; a curving drive unit for coupling the curving manipulation unit to the curving portion so as to curve the curving portion in response to a manipulation performed by the curving manipulation unit; a manipulating force detecting unit for detecting a manipulating force applied to the curving manipulation unit; a manipulation assisting power calculating unit for calculating manipulation assisting power corresponding to the manipulating force detected by the manipulating force detecting unit; and a rotation driving force generating unit for applying a driving force via a driving force transferring mechanism to the curving drive unit, so as to generate the manipulation assisting power calculated by the manipulation assisting power calculating unit; in which the rotation driving force generating unit is arranged in an appendix unit. |
