PROBLEM TO BE SOLVED: To provide an operation control device for an insertion instrument which appropriately operates a distal end arm part without causing troubles in the insertion instrument while movements of a joint part are regulated.SOLUTION: An operation control device for an insertion instrument includes a plurality of movement regulation determining parts which respectively determine whether corresponding joint parts are in a non-regulated state where the joint parts are movable or in a regulated state where movements of the corresponding joint parts are regulated based on a driving state of corresponding driving members. The operation control device includes a driving control part which does not drive the driving member corresponding to the joint part that is determined to be in the regulated state, or controls to drive the respective driving members in a second control mode in which a driving speed is less than that of a first control mode when the one or more joint parts are determined to be in the regulated state in the first control mode.COPYRIGHT: (C)2015,JPO&INPIT【課題】ある関節部の移動が規制された状態で、挿入機器に不具合が生じることなく、適切に先端腕部を動作させる挿入機器の動作制御装置を提供すること。【解決手段】挿入機器の動作制御装置は、対応する駆動部材の駆動状態に基づいて、対応する関節部が移動自在な非規制状態であるか、又は、対応する前記関節部の移動が規制される規制状態であるか、をそれぞれが判定する複数の移動規制判定部を備える。前記動作制御装置は、第1の制御モードにおいて1つ以上の前記関節部が前記規制状態と判定された場合に、前記規制状態と判定された前記関節部に対応する前記駆動部材を、駆動しない、又は、前記第1の制御モードより駆動速度が小さくする第2の制御モードで、それぞれの前記駆動部材を駆動制御する駆動制御部を備える。【選択図】図6
