Electromotive warping type endoscope with velocity control

An electromotive warping type endoscope apparatus comprising:

• an insertion portion capable of being inserted into a subject to be inspected and including a warp-enabled portion;
• a warping mechanism for warping said warp-enabled portion.;
• driving means connected to said warping mechanism for driving said warping mechanism;
• quantity of warp instruction means for instructing said driving means to warp said warp-enabled portion wherein said instruction includes the direction of warp;
• detecting means for detecting a state of said insertion portion;
• and
• warping velocity control means for supplying a control signal for automatically controlling the warping velocity, including at least one of warping speed and warping direction, of said warp, enabled portion to said driving means according to the state of said insertion portion detected by said detecting means,
• wherein said control signal consists of one of a deceleration control, a stoppage control, and a control of moving in a direction which is different from the warping direction instructed by said quantity of warp instruction means,
• wherein said control signal is formed according to the state of said insertion portion with priority given over said instruction output by said quantity of warp instruction means,
• wherein said detecting means includes an electric quantity detecting means for detecting an electric quantity for driving said driving means for determining the state of said insertion portion, wherein said warping velocity control means determines that said insertion portion comes in contact with said subject to be inspected in accordance with a function of the level of the electric quantity detected by said detecting means and supplies said control signal for controlling the warping velocity of said warp-enabled portion to said driving means,
• wherein said detecting means further includes angle of warp detecting means for detecting the angle of warp of said warp-enabled portion and said warping velocity control means makes a comparison between the electric quantity detected by said electric quantity detecting means and a predetermined electric quantity determined in accordance with the angle of warp detected by said angle of warp detecting means to control the warping velocity of said warp-enabled portion,
• wherein said warping velocity control means includes storage means for storing a predetermined electric quantity determined in accordance with the angle of warp of said warp-enabled portion as data and controls the warping velocity of said warp-enabled portion if the ratio of data in said storage means and said angle of warp detected by the angle of warp detecting means is larger than a predetermined value.