A first positional information derivation unit derives first positional information indicating at least one first position related to the insertion of an insertion structure into a target structure in a subject from a preoperative image acquired before a medical procedure for the subject. A second positional information derivation unit derives second positional information indicating at least one second position on the insertion structure from an intraoperative image acquired during the medical procedure for the subject. A display control unit displays, on a display unit, a positional information screen including at least one of a distance between the first position and the second position or an angle related to the first position and the second position on the basis of the first positional information and the second positional information in a coordinate system common to a coordinate system of the preoperative image and a coordinate system of the intraoperative image.