Endoscope manipulator and method for controlling the same

An endoscope manipulator for performing robot-assisted endoscope manipulation, comprising:

• a movable robot base with a hollow trunk and a vertical lifting joint;
• a passive joint set with one end mounted to an upper end of the vertical lifting joint, for manually setting an initial pose of an endoscope;
• an active joint set mounted to another end of the passive joint set, for adjusting pose control of the endoscope intra-operatively;
• a compliant endoscope holder mountable to an end-effector of the active joint set, which passively changes to a compliant state upon an external force exceeding a threshold being applied to an endoscopic lens held by the compliant endoscope holder;
• and
• an adapter unit provided between the passive joint set and the active joint set, the adapter unit including a male plate and a female plate for mounting the passive joint set and the active joint set respectively, wherein the adapter unit has a pair of mounting plates that mechanically and electrically connect the active joint set to the passive joint set with a three-step quick installation process:
• inserting, rotating and screw tightening.