1. An endoscope system, comprising: a storage portion that stores image information for constructing three-dimensional image information relating to a subject that is previously acquired; a luminal organ extraction portion that, by constructing the three-dimensional image information based on the image information, extracts a predetermined luminal organ that is present in the three-dimensional image information; an image pickup portion that picks up an image of inside the subject; a position information acquisition portion that acquires position information of the image pickup portion; a position alignment portion that makes the position information acquired by the position information acquisition portion correspond to position information of three-dimensional image coordinates of the predetermined luminal organ; 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 current distal end position information of the image pickup portion and determination information indicating a place that an image pickup portion distal end reaches inside the predetermined luminal organ and a place that the image pickup portion distal end has not reached, which are determined from the trail information, in different display forms are superimposed in a distinguishable manner on three-dimensional image information of the predetermined luminal organ.