PROBLEM TO BE SOLVED: To provide an endoscope device and the like that can accurately mark a position of a prescribed target object found during endoscopic observation.SOLUTION: An endoscope device includes: an endoscope 1 having an imaging part 11； a three-dimension model image generating part 22 for generating a three-dimension model image M3 of a subject； a position calculation part 26 for calculating a position of an object inside the subject on the basis of a position and orientation information of the endoscope 1 at the time of imaging and the three-dimension model image M3； and a first image processing part 23a for displaying the position of the object on the three-dimension model image M3.SELECTED DRAWING: Figure 1【課題】内視鏡観察中に発見した所定の対象物の位置を正確にマーキングできる内視鏡装置等を提供する。【解決手段】撮像部１１を有する内視鏡１と、被検体の３次元モデル画像Ｍ３を生成する３次元モデル画像生成部２２と、撮像時の内視鏡１の位置および方位情報と３次元モデル画像Ｍ３とに基づき被検体の内部の対象物の位置を算出する位置算出部２６と、対象物の位置を３次元モデル画像Ｍ３上に表示する第１画像処理部２３ａと、を備える内視鏡装置。【選択図】図１
