A control apparatus 200 for a continuum robot 100 including a curved portion that is curved by driving a wire with a driving mechanism includes an image DB/torsional-amount acquisition unit 210 that obtains the torsional amount of the continuum robot 100 and a kinematic operation unit 230 that sets the driving displacement amount of the wire driven by the driving mechanism on the basis of the torsional amount obtained by the image DB/torsional-amount acquisition unit 210.
