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To achieve precise laser projection in a confined workspace and avoid damage, a controller with high accuracy and stability is required. An effective way is to close the control loop. Therefore, a visual servo controller that allows automatic laser spot steering using soft manipulators is proposed. An epipolar geometry model is established to acquire the inverse transition mapping from image to actuation. With this mapping, a feedback controller is derived without prior information of tissue surface geometry. Experimental validation demonstrates accurate path following using a magnetic resonance\u2010safe manipulator, with root\u2010mean\u2010square (RMS) tracking errors &lt;4\u2009pixels (140\u2009\u03bcm) in the camera view. This is maintained even throughout 70 repeated cycles, with a maximum tracking error &lt;11.32\u2009pixels (\u2248396.2\u2009\u03bcm). The controller enables laser spot following of the mouse cursor with an RMS tracking error of 3.97\u2009pixels (\u2248180.5\u2009\u03bcm). Ex\u2009vivo tissue ablation tests are conducted to validate the laser ablation pattern, with an RMS tracking error of about 5.75\u2009pixels (\u2248201.3\u2009\u03bcm). A laser ablation test is conducted under magnetic resonance imaging (MRI) to validate the feasibility of MRI\u2010guided laser surgery.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200197","type":"journal-article","created":{"date-parts":[[2022,11,13]],"date-time":"2022-11-13T20:56:35Z","timestamp":1668372995000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Epipolar Geometry\u2010Based Visual Servoing of Soft Endoscopic Manipulator for Transoral Laser Ablation"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6104-7353","authenticated-orcid":false,"given":"Ge","family":"Fang","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong  Hong Kong 999077 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaomei","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong  Hong Kong 999077 China"},{"name":"Multi\u2010Scale Medical Robotics Center Ltd.  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