**3.2 Endomaster**

Endomaster (Endomaster Pte Ltd., Singapore) has also two articulating robotic instruments. It has "shoulder" and "elbow" joints in its instruments instead that all other platforms have consecutive bending section. The prototype (**Figure 8**) uses a conventional two channel endoscope but latest version uses custom made

endoscope. This company is a spin-off of Nanyang Technological University, Singapore. HOYA Corporation, Japan, one of the endoscope manufacturers joined the project. It is still under development. ESD, endoscopic full thickness dissection, NOTES trials in animal model, and a human trial have been carried out [36–40].
