Controller and insertion apparatus

A controller configured to be connected to a self-propelled mechanism of an endoscope, the endoscope comprising an elongated insertion section, the self-propelled mechanism having a spiral-shaped projection rotatably disposed relative to the insertion section for generating a force that inserts the insertion section into or removes the insertion section from a subject, the controller comprising:

• at least one circuit configured to:
• control an inspection operation of the self-propelled mechanism, the inspection operation including controlling, by the circuit, the self-propelled mechanism to inhibit the insertion of the insertion section and to permit the removal of the insertion section;
• control a usual operation of the self-propelled mechanism, the usual operation including controlling, by the circuit, the self-propelled mechanism to permit both the insertion of the insertion section and the removal of the insertion section;
• determine whether or not the inspection operation has been performed for the endoscope when the self-propelled mechanism of the endoscope has been connected to the controller;
• and
• if the inspection operation has not been performed, perform the inspection operation and then perform the usual operation.