Insertion device
An insertion device includes a thin and elongated insertion section, a rotating body which is rotated to advance or retreat the insertion section, a driving force supply source which supplies a driving force to the rotating body, a variable stiffness section provided for the insertion section and permitting stiffness of the insertion section to be varied, a stiffness detector which detects the stiffness of the insertion section varied by the variable stiffness section, and a controller which controls the driving force supply source in accordance with the stiffness of the insertion section detected by the stiffness detector.
1. An insertion device comprising:
a thin and elongated insertion section;
a rotating body which is rotated to advance or retreat the insertion section;
a motor which supplies a driving force to the rotating body;
a variable stiffness section provided for the insertion section, the variable stiffness section including a wire configured to be pushed or pulled to vary a stiffness of the insertion section;
a stiffness sensor which detects the stiffness of the insertion section varied by the variable stiffness section;
a controller which controls the motor in accordance with the stiffness of the insertion section detected by the stiffness sensor; and
a drive shaft which is provided in the insertion section and transmits the driving force from the motor to the rotating body,
wherein the controller corrects a torque limit value, which corresponds to an upper limit value of a torque of the rotating body, in accordance with the stiffness of the insertion section detected by the stiffness sensor, and controls the motor in accordance with the corrected torque limit value.
2. The insertion device according to claim 1 , wherein the controller corrects the torque limit value such that the torque limit value increases in accordance with an increase in the stiffness of the insertion section detected by the stiffness sensor.
3. The insertion device according to claim 1 , further comprising:
an operation unit which receives an operation causing the variable stiffness section to vary the stiffness of the insertion section,
wherein the variable stiffness section varies the stiffness of the insertion section in accordance with an operation amount of the operation unit.
4. The insertion device according to claim 1 , wherein the controller stops the motor when a torque of the motor exceeds the corrected torque limit value.