DRIVE DEVICE, MEDICAL DEVICE PROVIDED WITH DRIVE DEVICE, AND TRAINING DEVICE

摘要

A drive device is provided for driving a flexible linear body (1). The drive device is provided with a first roller (3); a motor (4), which feeds the linear body (1) in a stretching direction of the linear body (1) by rotating a first roller (3) by directly transmitting a rotating force to the first roller (3); a motor drive section (7) for driving the motor (4) by supplying the motor (4) with a current; and a control section (8) which calculates a force that is in the stretching direction and operates to the linear body (1), based on the current supplied to the motor (4).