PROBLEM TO BE SOLVED: To provide an insertion driving device with high design freedom in which linear body insertion driving force has been improved.SOLUTION: An insertion driving device includes: a pair of driving rollers 5 and 6 that hold a delivery wire 104； a driving unit 7 including at least one motor that rotates each of the pair of driving rollers 5 and 6； a transmission mechanism 50 for transmitting the rotation force of the driving unit 7 to the driving rollers 5 and 6； a housing body； and a lid 10. A rotation shaft of the driving roller 5 and the rotation shaft of the driving roller 6 are parallel to each other. The driving roller 6 can rotate around a shaft of a hinge 11 together with the lid 10. The shaft of the hinge 11 is parallel to the rotation shaft of the driving roller 5, and is different from the rotation shaft of the driving roller 5 and the rotation shaft of the driving roller 6.SELECTED DRAWING: Figure 7【課題】設計自由度が高く、かつ線状体の挿入駆動力が向上した挿入駆動装置を提供する。【解決手段】挿入駆動装置は、デリバリーワイヤ１０４を挟持する一対の駆動ローラ５，６と、一対の駆動ローラ５，６の各々を回転させる少なくとも１つのモータを含む駆動部７と、駆動部７の回転力を駆動ローラ５，６に伝達する伝達機構５０と、筐体本体と、蓋１０とを含む。駆動ローラ５の回転軸と、駆動ローラ６の回転軸とは互いに平行である。駆動ローラ６は、蓋１０と共に蝶番１１の軸の回りに回動可能である。蝶番１１の軸は、駆動ローラ５の回転軸と平行であって駆動ローラ５の回転軸および駆動ローラ６の回転軸とは異なる軸である。【選択図】図７
