The invention relates to an assisting apparatus (2) for assisting a user in moving an insertion element (11) like a catheter to a target element within, for instance, a person (8). A target element representation representing the target element within the object in its three-dimensional position and three-dimensional orientation and with its size is generated based on a provided target element image. Moreover, a three-dimensional position of the insertion element is tracked, while the insertion element is moved to the target element, and the target element representation and the tracked position of the insertion element are displayed. The three-dimensional position and orientation of the target element relative to the actual position of the insertion element can therefore be shown to the user, while the insertion element is moved to the target element, which allows the user to more accurately and faster move the insertion element to the target element.