1. An insertion support system comprising: a virtual image generating unit for generating virtual images of a duct in a body cavity in a subject on the basis of image data of a three-dimensional region in the subject; a route start point setting unit for setting a start point of an insertion route for inserting an endoscope into the duct in the body cavity in the subject; an interest region setting unit for setting a region of interest location in the subject; and a route end point extracting unit for extracting an end point of the insertion route for inserting the endoscope into the duct in the body cavity in the subject, on the basis of the region of interest location.