Endoscopic　operation　is　one　of　the　most　difficult　parts　of　nasotracheal　intubation　(NTI),　a　surgical　procedure　used　to　secure　the　airway　of　a　patient.　Due　to　the　requirement　of　eye–hand　coordination,　manual　operation　of　a　flexible　endoscope　is　challenging,　even　for　an　experienced　surgeon.　To　enhance　intubation　efficiency,　this　paper　developed　a　master–slave　robotic　nasotracheal　intubation　system　(RNIS)　for　endoscopic　operation.　Movements　in　three　degrees　of　freedom　of　the　endoscope　are　controlled　by　the　RNIS.　An　assisted　teleoperation　control　strategy　is　designed　to　assist　the　operator　in　remotely　controlling　the　pose,　i.e.,　position　and　orientation,　of　the　endoscope　tip　via　a　joystick.　To　ensure　the　efficiency　of　intubation,　visual　feedback　assistance　is　hereby　proposed,　which　fine-tunes　the　orientation　of　the　endoscope　tip　as　needed.　The　proposed　system　and　methods　are　experimentally　validated　on　a　motion　simulator　and　a　phantom.　The　results　demonstrated　that　the　master–slave　RNIS　can　successfully　insert　the　flexible　endoscope　into　the　trachea　of　a　phantom　through　the　nasal　cavity.　©　2023　Elsevier　B.V.