Fumiyuki ONODA,Takashi YAMASHITA,Keijiro OMOTO,Kensuke MIYAKE,Kazuhiro HATA
申请号：
US15220844
公开号：
US20160331210A1
申请日:
2016.07.27
申请国别(地区):
US
年份:
2016
代理人:
摘要：
An insertion apparatus includes an insertion portion, a power spiral tube provided with a spiral fin portion configured to extend in a spiral shape, the power spiral tube being provided on an outer circumferential direction side of the insertion portion so as to be rotatable with respect to the insertion portion around a longitudinal axis, a first motor configured to generate a drive force to rotate the power spiral tube, an operation section provided on a proximal end side of the insertion portion, a second motor configured to generate a drive force to rotate the insertion portion pivotably held to the operation section, and a second motor drive circuit configured to calculate torque to be added to the power spiral tube and perform control so as to drive the second motor in accordance with torque added to the first motor.
