The invention discloses an auxiliary endoscope holding robot for nasal cavity operation. The auxiliary endoscope holding robot comprises three parts including a machine frame, a robot body and an endoscope, wherein in a direction from top to bottom, the robot body comprises an endoscope horizontal moving mechanism, an endoscope rotating mechanism, an endoscope swinging mechanism and an endoscope vertical moving mechanism in sequential connection; and four freedom degrees in the horizontal plane and vertical direction of the robot body are formed. The four moving mechanisms of the robot body are respectively driven by independent servo motors; the movement among all mechanisms does not have mutual interference; and each servo motor controls the endoscope moving track and realizes the positioning and aerial posture control by an externally connected computer control system by using a three-dimension image navigation technology. The auxiliary endoscope holding robot has the advantages that the movement harmony and synchronism of each moving part are good; the four freedom degrees are realized; the auxiliary operation requirements of a nasal cavity operation endoscope can be sufficiently met; the integral structure is simple and compact; the layout is reasonable; the positioning is accurate; the precision is high; and the aerial posture regulation is flexible.