PROBLEM TO BE SOLVED: To enable external force from all directions to be acquired as operation support information while hardly affecting the size and rigidity of a tubular insertion portion having a flexible portion when the tubular insertion portion is inserted into a lumen.SOLUTION: A tubular insertion portion has a bending portion being a flexible portion with flexibility in a predetermined part, and bending sensing parts 5-1 to 5-4 of a plurality of bending sensors are distributed and arranged in the bending portion. An operation support information calculating unit 100 extracts operation support information including at least external force information regarding external force applied at least to the tubular insertion portion by a combinational calculation of detection information from the plurality of bending sensors.COPYRIGHT: (C)2015,JPO&INPIT【課題】可撓部を有する管状挿入部の管空への挿入時に、管状挿入部の大きさや硬さに殆ど影響を与えることなく、あらゆる方向からの外力を操作支援情報として取得可能とすること。【解決手段】管状挿入部は、所定部分に可撓性を有る可撓部である湾曲部を有し、該湾曲部に複数の湾曲センサの湾曲検出部5-1~5-4が分布して配置される。操作支援情報演算部100は、それら複数の湾曲センサの検出情報の組み合わせ演算により、少なくとも管状挿入部に加わる外力に関する外力情報を含む操作支援情報を抽出する。【選択図】図2
