**3.6 Kyushu University ESD robot**

We have also been developing flexible endoscopic platforms for ESD in manually driven version [47, 48] (**Figure 10**) and motorized version [49] (**Figure 11**). They composed of conventional flexible endoscope, two 2.6-mm articulating instruments, and an additional channel. By using standard endoscope for ESD, total system cost is minimized. The diameter of instruments is very thin because the standard endoscope has 2.8 mm channel. Control part on a stand is designed, so that both handles of the instruments and endoscope are close to the operator. Animal experiments have been carried out [47, 48].
