An endoscope system includes: a virtual endoscopic image generating section that generates a virtual endoscopic image an image pickup section picking up an image of an inside of the lumen a position information obtaining section that obtains information on a position of a distal end of an insertion portion of an endoscope a distance calculating section that calculates a distance from the obtained position of the distal end of the insertion portion to a feature region a distance comparing section that determines whether or not the calculated distance is within a set distance via comparison a variation amount detecting section that detects a variation amount of a feature of a structure of an organ in the picked-up endoscopic image and an information recording section that records the position of the distal end of the insertion portion based on a result of the comparison by the distance comparing section.
