Objective: The authors describe an endoscopic navigation system for intraoral approach to accessing the mandibular condyle and explore the feasibility of this technique for the precise excision of a benign tumor in the condyle.Methods: The junction between the osteochondroma and the condyle was recognized and defined as the osteotomy line in a CT-based surgery planning software, and the surgical plan was then exported to a navigation system.A 4-mm diameter 30-degree endoscope was placed in the wound with direct access to the entire condyle.The view provided by the endoscope can be integrated into the navigation system user interface.Based on constant feedback from the navigation system in multi-planar and 3D views, the landmarks of the osteotomy line were identified, and precise tumor resection was achieved.