Problem to be solved: to provide a flexible tube inserting apparatus capable of changing its bending rigidity (hardness) according to the insertion state (bending state) of the insertion portion.Problem to be solved: to provide a tube shaped insertion part inserted into the subject and a plurality of segments in the longitudinal axis direction of the insertion part, with a variable rigidity part for changing the bending rigidity of the insertion part by segment, and a rigidity variable control unit for controlling the change of the flexural rigidity of the insertion part by the rigidity variable part This is a flexible tube insertion device.The rigidity variable control portion is a first variable region for changing the bending rigidity in the region in which the direction along the longitudinal axis direction of the insertion portion is changed at the time of insertion of the insertion part, and the bending rigidity is controlled so as to generate a plurality of different rigid regions in the first variable region.Diagram【課題】挿入部の挿入状態（湾曲状態）に応じてその曲げ剛性（硬度）を変化させることができる可撓管挿入装置を提供する。【解決手段】被検体に挿入される管状の挿入部と、挿入部の長手軸方向にとった複数のセグメントを対象とし、挿入部の曲げ剛性をセグメント単位で変更する剛性可変部と、剛性可変部による挿入部の曲げ剛性の変更を制御する剛性可変制御部とを具備する可撓管挿入装置である。剛性可変制御部は、挿入部の挿入時において、挿入部の長手軸方向に沿った方向が変化している領域を曲げ剛性を変更する第一可変領域とし、第一可変領域内に複数の異なる剛性領域を発生させるように曲げ剛性を制御する。【選択図】図１
