For the manipulation safety of teleoperation in complicated space environments, a fast generation algorithm for the smooth virtual tube is proposed based on the path points. An improved Depth-first Search algorithm of virtual tube＇ s static-planning and a dynamic amendment method are also presented, thus realizing tube＇ s avoidance of static and dynamic obstacles. Virtual tube can provide the feedback of vision and tactility for the operator to adjust its operation. By moving inside the tube, the manipulation objective can achieve the goal safely and swiftly. Compared with the methods of following the trajectory of path planning to avoid obstacle, the proposed method improve manipulation flexibility and efficiency. The effectiveness of the algorithms is demonstrated through several obstacle avoidance experiments by using CHAI 3D.