Flexible tube insertion apparatus comprising insertion section to be inserted into subject and method of operating thereof

A flexible tube insertion apparatus comprising:

• a flexible insertion section configured to be inserted into a subject;
• an insertion section state detecting sensor configured to detect a current state of the insertion section as detection information when the insertion section is inserted into a subject;
• and
• at least one controller configured to:
• predict, using the detection information, a future propulsion state of a distal end of the insertion section and a corresponding state of the subject if the insertion section is further advanced in the subject from the current state of the insertion section;
• and
• produce an output based on the prediction;
• wherein the at least one controller predicts the propulsion state of the distal end of the insertion section and the corresponding state of the subject by one or more of:
• using a calculation model of the insertion section and a calculation model of the subject, and
• using the calculation model of the insertion section and the calculation model of the subject and an insertion pattern created based on past insertion data;
• and
• the at least one controller estimates an external force applied to the insertion section from the subject, creates the calculation model of the subject based on the detection information and information on the estimated external force, and performs the prediction of the propulsion state of the distal end of the insertion section using the information on the external force and the calculation model of the subject.