Controller and insertion apparatus

A controller configured to control an operation of a self-propelled mechanism provided in an elongated insertion section of an endoscope, the self-propelled mechanism including a motor configured to generate a force that causes the insertion section to be inserted into or removed from a subject, the controller comprising:

• an input device to which a first input to cause the motor to rotate in a normal direction and a second input to cause the motor to rotate in a reverse direction are provided,
• at least one circuit configured to:
• acquire a speed value corresponding to a rotation speed of the motor;
• acquire a torque value corresponding to a torque generated by the motor;
• control rotation of the motor by switching the control mode, the control mode including at least two of speed control that controls rotation of the motor based on the speed value and torque control that controls rotation of the motor based on the torque value;
• and
• stop the rotation of the motor if the torque value has exceeded a predetermined threshold value, perform the torque control when the rotation of the motor is resumed, and change the control mode from the torque control to the speed control when one of the first input and the second input that is different from an input provided when the control mode has been changed from the speed control to the torque control is provided.

A controller configured to control an operation of a self-propelled mechanism provided in an elongated insertion section of an endoscope, the self-propelled mechanism including a motor configured to generate a force that causes the insertion section to be inserted into or removed from a subject, the controller comprising:

• at least one circuit configured to:
• acquire a speed value corresponding to a rotation speed of the motor;
• acquire a torque value corresponding to a torque generated by the motor;
• control rotation of the motor by switching the control mode, the control mode including at least two of speed control that controls rotation of the motor based on the speed value and torque control that controls rotation of the motor based on the torque value;
• and
• stop the rotation of the motor if the torque value has exceeded a predetermined threshold value, perform the torque control when the rotation of the motor is resumed, and monitor the speed value to change the control mode from the torque control to the speed control after the speed value has exceeded a predetermined threshold value.