| 摘要 |
The endoscope includes an insertion section having a bending portion (24) near a distal end of the insertion section, a manipulating unit (36) that manipulates bending of the bending portion, a pulling unit (60,62) that couples the manipulating unit to the bending portion and pulling the bending portion (24) to bend in response to manipulation by the manipulating unit (36), an auxiliary unit (72,74) that assists in the pulling of the bending portion (24) by the pulling unit (60,62), a sensing unit (78) that senses a manipulative force applied to the manipulating unit (36) and a control unit (76) that controls the assisting in the pulling of the bending portion (24) by the auxiliary unit (72,74) in accordance with the manipulative force sensed by the sensing unit (78).
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