insertion device, one end of which is fixed to the curved portion provided in the insertion portion a pulling member, a bending drive portion having a drive shaft for outputting a driving force for bending operation of the bending portion, and is fixed to the Ki drive shaft, a pivot member that pulling member is wound, thereby bending operation the bending portion a bending operation device for inputting an operation instruction, and based on the input instruction detection unit outputs the detection to the operation input instruction signal an instruction inputted by the bending operation device, and outputs the input instruction detector input instruction signal Te, and a control unit for outputting to the bending driving section calculates a drive signal for pulling the pulling member in order to bending operation the bending portion is temporarily fixed to the towing member or the rotating member and the other end to the bending operation device and it is fixed to and a force sense presenting section including a resilient portion for elastically stretched.挿入装置は、挿入部に設けられた湾曲部に一端が固定された牽引部材と、湾曲部を湾曲動作させる駆動力を出力する駆動軸を有する湾曲駆動部と、記駆動軸に固設され、牽引部材が巻回される回動部材と、湾曲部を湾曲動作させる操作指示を入力するための湾曲操作装置と、湾曲操作装置によって入力された指示を検出して操作入力指示信号を出力する入力指示検出部と、入力指示検出部から出力された入力指示信号に基づいて、湾曲部を湾曲動作させるために牽引部材を牽引する駆動信号を算出して湾曲駆動部に出力する制御部と、牽引部材又は回動部材に一端が固定され、他端が湾曲操作装置に固定されており、弾性的に伸長する弾性部を備える力覚提示部と、を具備する。
