A self-propelled mechanism (100) of an endoscope (100) comprising an elongated insertion part (110) and a self-propelled mechanism (101) for generating a force to insert or withdraw the insertion part (110) 101) includes an inspection control unit (202 a), a normal control unit (202 b), an endoscope connection detection circuit (206), and a control switching unit (202 d). The control device . The endoscope connection detection circuit (206) detects connection of the endoscope (100). When the endoscope (100) is connected, the control switching unit (202 d) judges whether or not an inspection operation related to the endoscope is being performed, and if it is being performed, the control switching unit (202 d) ) To perform the normal operation. If not, the inspection control unit (202a) causes the inspection operation to be performed, and thereafter the normal control unit (202b) performs the normal operation.細長形状の挿入部(110)と、挿入部(110)を被挿入体に挿入又は抜去するような力を発生させる自走機構(101)とを備える内視鏡(100)の自走機構(101)の動作を制御する制御装置(200)は、点検制御部(202a)と、通常制御部(202b)と、内視鏡接続検出回路(206)と、制御切替部(202d)とを備える。内視鏡接続検出回路(206)は、内視鏡(100)が接続されたことを検出する。制御切替部(202d)は、内視鏡(100)が接続されたときに当該内視鏡に係る点検動作が行われているか否かを判定し、行われているときは通常制御部(202b)に通常動作を行わせ、行われていないときは点検制御部(202a)に点検動作を行わせてその後通常制御部(202b)に通常動作を行わせる。
