US Patent 10172600 Insertion apparatus

An insertion apparatus according to an aspect of the present invention includes: an insertion portion to be inserted into a subject; a bending operation apparatus to be moved by an operator to input an operation instruction; a bending drive section that generates a drive force based on the movement of the bending operation apparatus; a pulling member to be pulled by the drive force from the bending drive section; a bending portion provided in the insertion portion, the bending portion being connected to the pulling member and being bent upon the pulling member being pulled; and a haptic section that connects the pulling member and the bending operation apparatus via an elastic portion.