A tubular insertion device includes a tubular insertion portion (1) including a flexible portion (3) in a predetermined part, bending sensors (5) distributed and arranged in the flexible portion (3), and an operation support information calculating unit (100). The operation support information calculating unit (100) extracts operation support information including at least first external force information regarding an external force applied to the tubular insertion portion (1) by a combinational calculation based on detection information from the bending sensors (5).
