The medical image processing device comprises a detection part, a storage part, an image generation part, and a display-control part. The detection part detects positions and directions of an endoscope. The storage part stores medical image data showing tubular tissues generated by a medical imaging device different from the endoscope. The image generation part generates virtual endoscopic image data showing the internal portion of the tubular tissues based on the medical image data having a position that is a predetermined distance away from the position of the endoscope as a viewpoint. The display-control part receives endoscopic image data showing the internal portion of the tubular tissues generated by the endoscope and displays an endoscopic image based on the endoscopic image data and a virtual endoscopic image based on the virtual endoscopic image data on a display part.