An endoscopic form detection device includes a sensor tentative position detecting section configured to detect a tentative position of each sensor unit on the assumption that a portion between the respective sensor units is a linear tentative link whose dimension is equal to an inter-sensor dimension. The endoscopic form detection device includes a sensor position correcting section configured to correct a position of each sensor unit from the tentative position to a final position based on an absolute value of a difference between an arc length of each tentative arc and the inter-sensor dimension, and a final curve form detecting section configured to perform curve interpolation between the final positions of the respective sensor units by using a final arc to detect a final curve form of an inserting section.