The job instrument (30) the distal (2036) end (34) being the device which is arranged in the body region of the tube cavity and the like, the guide equipment (4) and the particular guide equipment (4) the tube cavity (8) the job instrument which is arranged inside (30) it has. The reciprocating motion type dither device (50), the aforementioned job instrument (30) with the aforementioned guide equipment (4) the proximal territory (35) with is connected mechanically, in order the aforementioned job instrument (30) to move vis-a-vis the aforementioned guide equipment (4) is constituted. This device has, in order the aforementioned job instrument (30) the distal (2036) end (34) to measure the power which catches, the fourth sensor which is formed (204) the load cell of 1 or more where it possesses (200). The processor (118), the load cell of the aforementioned 1 or more in load zero or no load circumstance (200) the fourth sensor (204) the fourth sensor of output and load circumstance (204) part being based on the comparison with the output at least, it calculates the power which is presumed the job instrument (30) the distal (2036) end (34) in.< Selective figure >Figure 1A管腔などの身体部位に作業器具(30)の遠位端部(34)を配置する装置であって、ガイド機器(4)と、当該ガイド機器(4)の管腔(8)内に配置された作業器具(30)を具える。往復運動型ディザー装置(50)が、前記作業器具(30)と前記ガイド機器(4)の近位領域(35)とに機械的に連結され、前記ガイド機器(4)に対して前記作業器具(30)を動かすよう構成される。この装置は、前記作業器具(30)の遠位端部(34)にかかる力を測定するよう構成されたフォースセンサ(204)を有する1以上のロードセル(200)を具える。プロセッサ(118)が、負荷ゼロまたは無負荷状況における前記1以上のロードセル(200)のフォースセンサ(204)の出力と、負荷状況のフォースセンサ(204)の出力との比較に少なくとも一部基づいて、作業器具(30)の遠位端部(34)において推定される力を算出する。【選択図】図1A
