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|1. (WO2018221017) SELF-PROPELLING ENDOSCOPIC DEVICE AND CONTROL DEVICE THEREFOR|
|Title:||SELF-PROPELLING ENDOSCOPIC DEVICE AND CONTROL DEVICE THEREFOR|
This endoscope (100) is provided with: a rotation speed detection unit (2032) which detects the rotation speed of a motor (112) on the basis of an encoder signal from an encoder (114); a rotation abnormality determination unit (2033) which determines whether or not the rotation of a rotation case (104) is abnormal according to the rotation speed detected by the rotation speed detection unit (2032); and an LPF (2031) provided directly in front of the rotation speed detection unit (2032), wherein, among signals input by the rotation speed detection unit (2032), the LPF only allows signals having frequencies outside of a frequency band of high-frequency signals of a high-frequency treatment tool (20) to pass through as encoder signals. When it is detected that the motor (112) is rotating even though the motor (112) has been controlled to stop, the rotation abnormality detection unit (2033) determines that the rotation of the rotation case (104) is abnormal.