An image processing device includes a processor including hardware, the processor being configured to execute: estimating an operation state of a medical apparatus in a lumen of a subject based on information sequentially input from the medical apparatus, the medical apparatus including an imaging device, and an insertion portion inserted into the lumen, and the information including at least an intraluminal image obtained by the imaging device capturing an image inside the lumen； and performing processing corresponding to the operation state of the medical apparatus in the lumen based on an estimation result.
