CONTROL APPARATUS AND CONTROL METHOD OF INSERTION APPARATUS, INSERTION APPARATUS HAVING CONTROL APPARATUS, CONTROL PROGRAM FOR INSERTION APPARATUS, AND CONTROLLING INTEGRATED ELECTRONIC CIRCUIT OF INSERTION APPARATUS
A control apparatus of an insertion apparatus in which a state specifying unit specifies a state of an insertion member to carry out vibration control depending on the state, thereby removing getting-stuck of a tip of the insertion member with a vibration having such a proper magnitude as not to cause an overload in a case where the tip of the insertion member is gotten stuck.
