Abstract: With the assistance of robot,reasonable cooperation could be accomplished between surgeon and robotic system,then,various advantages could be expected,such as improved surgery quality,better operation environment,realizing telesurgery etc. In this paper,concerning the harm of X ray to surgeons' health during flexible endoscopic surgery,robot-assisted endoscope surgery system is designed.Aided by this system,surgeon could teleoperate the robot in operating room to accomplish the manipulation of endoscope and surgical instruments,realizing the goal of diagnosis and therapy. In this paper,research background,system architecture,detailed prototype design and experiment of endoscope manipulator are introduced. Furthermore,some problems about medical robots such as human-machine interface,safety and clinical practice etc. are discussed.