The tubular insertion device

The tubular insertion device comprising: a tubular insertion portion (1), having a designated portion of the flexible portion (3); a plurality of bend sensors (5), located in the flexible section (3) is arranged; and an operation support information calculating unit ( 100). The operation support information calculating unit (100) by combining the plurality of operation information detecting bending sensor (5), the auxiliary information extraction operation, the operation support information includes at least an external force to the tubular insertion portion (1) related to the applied The first external force information.