An endoscope system includes: an endoscope whose insertion portion is inserted into a predetermined organ in a subject； an image pickup section provided in the endoscope, the image pickup section picking up an inside of the predetermined organ； an image pickup information acquiring section detecting position information and gaze information about the image pickup section； a developed image generating section generating a planar model image obtained by planarly developing a model image corresponding to the predetermined organ； and an image pasting/presenting section pasting an image of the inside of the predetermined organ based on the position information about the image pickup section onto the planar model image generated by the developed image generating section and changing a method for presenting the planar model image based on the position information.
