An endoscope system includes: an image processing portion that constructs three-dimensional data based on preoperative multi-slice image data and extracts a predetermined luminal organ a position detection that acquires position information of an image pickup portion a position alignment portion that makes position information of the image pickup portion correspond to coordinates of the three-dimensional data and an image processing portion that generates trail information based on the position information of the image pickup portion, and based on a result of the position alignment portion, creates an image in which past trail information, insertion shape information including current distal end position information with respect to the image pickup portion, and determination information obtained by determining whether or not the image pickup portion passes through a duct in three-dimensional data of the predetermined luminal organ are superimposed in a distinguishable manner on three-dimensional image information of the predetermined luminal organ.
