PROBLEM TO BE SOLVED: To acquire external force from all directions as operation support information almost without affecting the size and hardness of a tubular insertion part having a flexible part when inserting the tubular insertion part into a tube cavity.SOLUTION: The tubular insertion part has a curve part which is a flexible part at a prescribed portion, and curve detection parts 5-1 to 5-4 of a plurality of curve sensors are distributed and arranged at the curve part. An operational assist information calculation part 100 extracts operational assist information including at least external force information regarding the external force applied to the tubular insertion part by combined calculation of detection information of the plurality of curve sensors.COPYRIGHT: (C)2013,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
