The insertion apparatus (1) includes an elongated-shaped insertion section (110), a rotational cylinder (132) provided on an outer peripheral surface of the insertion section (110) to be rotatable about a longitudinal axis , a motor (150) that rotates the rotational cylinder (132), a fin (134) formed on an outer peripheral surface of the rotational cylinder (132) as a spiral shape, and arranged to allow the insertion section (110) to move in an insertion direction or a removal direction, along with rotation of a power spiral tube (132), and a controller (202) that designates a rotational direction and a rotational speed of the motor (150) . The controller (202) limits the rotational direction of the motor (150) to allow the insertion section (110) to move only in the removal direction when inspection control is initiated.
