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Flexible endoscope has been widely used in diagnosis and treatment of digestive tract disease due to minimal damage and Visual inspection. However, it is difficult to master such flexible endoscopes. So flexible endoscope intervention robot was developed to assist endoscopists with endoscope operation. During the operation of endoscope intervention surgery, human physiological activity increases the difficulty of endoscope manipulation. Aimed the influence of human physiological activity onto position of lesion target, the kinematic model of flexible endoscope intervention robot is developed based the analysis of bending section structure, the fuzzy PID control strategy is introduced to adapt the influence of uncertain factors such as indeterminate human anatomical structure and endoscope parameters. The endoscope is controlled to follow the lesion target automatically, avoiding the repetitive and small-scale operation and increasing operation accuracy. Simulation results indicate that, compared with traditional PID control algorithm, the fuzzy PID control algorithm could accelerate the system response and decrease the system static error.