Nasotracheal　intubation　(NTI)　is　an　advanced　airway　management　technique,　in　which　a　flexible　endoscope　is　inserted　into　the　patient＇s　trachea　from　the　nasal　cavity.　Due　to　the　hand-eye　coordination　requirement,　the　operation　of　the　flexible　endoscope　in　a　narrow　workspace　is　a　challenge,　even　for　experienced　surgeons.　In　this　study,　a　novel　robotic　nasotracheal　intubation　system　(RNIS)　is　proposed　to　automatically　steer　the　endoscope　along　the　upper　respiratory　tract.　The　configuration　of　the　RNIS　meets　the　motion　requirement　of　the　flexible　endoscope.　A　lumen　center　detection　method　with　Kalman　filter　is　designed　to　determine　the　position　of　the　lumen　center　in　endoscopic　images.　Then,　a　fuzzy　logic-based　control　strategy　is　developed　to　enable　the　RNIS　to　achieve　automatic　endoscope　steering.　Control　parameters　are　updated　online　using　a　fuzzy　logic　algorithm　to　handle　uncertainty.　Movements　in　three　degrees　of　freedom　of　the　endoscope　are　controlled　by　the　RNIS　using　visual　feedback.　Finally,　experiments　based　on　a　motion　simulator　and　a　training　mannequin　are　conducted.　Results　demonstrate　that　the　proposed　RNIS　can　successfully　steer　the　flexible　endoscope　along　the　upper　respiratory　tract.　Automated　robotic　endoscopes　outperform　manual　operations　in　terms　of　operational　accuracy.