The hyper-redundant robot with high flexibility and large aspect ratio structure is a feasible way to accomplish the intelligent operation of deep cavity tasks in the process of manufacturing, assembly and maintenance of aviation equipment. Aiming at the problem of efficient and safe operation of the hyper-redundant robot in complex deep cavity space, a path-following motion method for hyper-redundant robot suitable for real-time teleoperation was proposed. The simulation results show that the average solution time of the path-following method is 0.413 ms, and the maximum deviation of the conical spiral curve path movement is 0.011 mm, which meet the requirements of real-time movement and safe and precise operation. A virtual teleoperation simulation platform based on ROS-Gazebo is developed, which provides a low-cost means of virtual training and simulated operation. The experimental results show that the path-following method ensures the efficient and safe movement of the hyper-redundant robot in the complex deep cavity.