The endoscope system includes an insertion portion which is inserted into the tubular body, the distance measurement mechanism, an insertion path calculating unit and a presentation unit. Insert, and a bending portion driving surface and the distal end rigid portion is defined. While the distal end rigid portion of the insertion portion is disposed on the front side in the interior of the tubular body, ranging mechanism, the drive surface between the distal end rigid portion of the insertion portion and the inner wall of the rear side in the interior of the tubular body I want to get the distance information. Insertion path calculation unit calculates the insertable insertion path of the distal end of the insertion section in the back from the front side based on the distance information, the distal end portion of the insertion portion is disposed. Presentation unit presents the insertion path of the distal end portion of the insertion portion of toward the back side from the front side.内視鏡システムは、管状体の内部に挿入される挿入部と、測距機構と、挿入経路算出部と、提示部とを有する。挿入部は、先端硬質部と駆動面が規定された湾曲部とを有する。測距機構は、挿入部の先端硬質部が管状体の内部における手前側に配置された状態で、管状体の内部における奥側の内壁と挿入部の先端硬質部との間の駆動面上での距離情報を取得する。挿入経路算出部は、距離情報に基づいて、挿入部の先端部が配置された手前側から奥側に向けて挿入部の先端部を挿入可能な挿入経路を算出する。提示部は手前側から奥側に向けての挿入部の先端部の挿入経路を提示する。
