CPC A61B 1/0057 (2013.01) [A61B 1/00078 (2013.01); A61B 1/0684 (2013.01); A61B 2562/02 (2013.01)] | 9 Claims |
1. A flexible tube insertion apparatus, comprising:
a flexible insertion section having a distal end and a proximal end, configured to be inserted into a subject from the distal end, and further configured to bend by receiving a reaction force from the subject when the insertion section comes into contact with the subject;
an actuator provided at least partially in the insertion section and configured to change a stiffness of the insertion section in a position where the actuator is provided;
a shape detection sensor configured to detect a bent shape of the insertion section; and
a processor, wherein the processor is configured to:
acquire a distribution of values of reaction forces applied to the flexible insertion section distal to an apex of the bent shape of the flexible insertion section and specify a maximum reaction force position at which the value of the reaction force is at a maximum; and
control a stiffness of the actuator so as to increase a stiffness of only the actuator positioned between the apex and the maximum reaction force position.
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