Three-dimensional images acquired as CT images, ultrasound images, etc., of observation targets, the shape and arrangement of which is different for each individual subject and the shape of which changes in accordance with the insertion state of an insertion body, are conventionally not utilized in a practical manner in endoscope diagnosis. This insertion body support system is provided in a tubular insertion system. With previously obtained two- or higher-dimensional images relating to the lumen of a subject to be observed, the insertion body support system creates, on the basis of luminal information which includes image information of three-dimensional images or three-dimensional tomographic images, luminal information that includes the shape and arrangement of the lumen and utilizes this as support information for inserting the insertion body of an endoscope, etc., into the lumen. The shape and arrangement of the lumen is different for each subject and the shape of the lumen changes in accordance with the shape of the insertion body inserted, and the support information is corrected and updated in accordance with said changes in the lumen of the subject benefitting from the insertion body support system.Des images tridimensionnelles acquises sous forme d'images TDM, images échographiques, etc., de cibles d'observation, dont la formule agencement est différent pour chaque sujet individuel et dont la forme change en fonction de l'état d'insertion d'un corps d'insertion, ne sont conventionnellement pas utilisées d'une manière pratique en diagnostic endoscopique. La présente invention concerne un système de support de corps d'insertion qui est disposé dans un système d'insertion tubulaire. Avec des images bidimensionnelles et de dimensions supérieures relatives à la lumière d'un sujet à observer, le système de support de corps d'insertion crée, sur la base d'informations luminales qui comprennent des informations d'image d'images tridimensionnelles ou d'images tomog
