On the basis of displacement amount information that relates to an insertion part (31) inserted into an insertion receiving object (2) and is inputted from a fiber-shaped sensor (4) and an insertion/rotation detection unit (5), a relative position information acquisition unit (61) acquires information relating to the relative position of a portion, the position of which is to be detected, of the insertion part with respect to the insertion receiving object. Using the relative position and shape information relating to the insertion receiving object and acquired by an insertion receiving object shape acquisition unit (62), an image pickup position calculation unit (63) calculates an image pickup position (P) that is at least one among an image pickup region (83) which is a region of the insertion receiving object and an image of which is picked up by an image pickup unit (34), a region (84) which is a portion of the image pickup region, and a point within the image pickup region. A display calculation unit (64) calculates weighting information relating to the image pickup position (P) on the basis of a weighting index parameter, and sets a display form on the basis of the weighting information. An output unit (65) outputs, as display information, the display form and the image pickup position (P).En se basant sur des informations de quantité de déplacement concernant un élément dinsertion (31) inséré dans un objet destiné à accueillir linsertion (2) et provenant dun capteur en forme de fibre (4) et dune unité de détection dinsertion/rotation (5), une unité dacquisition dinformations sur la position relative (61) acquiert des informations concernant la position relative dune partie de lélément dinsertion dont la position par rapport à lobjet destiné à accueillir linsertion doit être détectée. En utilisant les informations sur la position relative et sur la forme de lobjet destiné à accueillir linsertion, acquises par une unité dacquisition de la forme de lobjet destin
