A support apparatus (100) for supporting insertion and removal of a flexible insertion body (203) into a subject includes a tangential direction acquisition section (171), a movement direction acquisition section (172), a determination section 173). Based on the shape of the insert (203), the tangential direction acquisition unit (171) acquires the tangential direction of at least one point set at a predetermined position in the longitudinal direction of the insert. The movement direction acquisition unit (172) acquires the movement direction of the point. The judgment unit (173) judges the state of the insert (203) or the subject based on the tangential direction and the movement direction.
