A robotic system for flexible endoscopy comprising: a manipulator insertable into a tool channel of an endoscope, the manipulator comprising: an arm; a flexible member comprising a tendon sheath system including a tendon in a sheath, the tendon deformable within the sheath such that the tendon and the sheath can exert forces upon and react against each other, the flexible member configured to be coupled to an endoscope, the flexible member having a first end and a second end, the first end of the flexible member being connected to the arm such that the arm is movable by the flexible member; and an end effector connected to and movable by the arm; an actuator comprising a set of motors coupled to the second end of the flexible member and a set of sensors configured for sensing parameters at the second end of the flexible member related to flexible member elongation and force applied at the end effector, wherein the actuator allows a physical movement of the arm to be controllable by a physical movement of a controller that is configured for transmitting signals to the actuator; and an end effector force prediction unit corresponding to the controller, characterized in that: the end effector force prediction unit is configured to predict, as a function of the flexible member parameters sensed at the second end of the flexible member, (a) tendon elongation at the first end of the flexible member, and (b) force experienced by the end effector, without requiring any sensor at the manipulator other than the set of sensors configured for sensing parameters at the second end of the flexible member. a manipulator insertable into a tool channel of an endoscope, the manipulator comprising: an arm; a flexible member comprising a tendon sheath system including a tendon in a sheath, the tendon deformable within the sheath such that the tendon and the sheath can exert forces upon and react against each other, the flexible member configured to be coupled to an endoscope, the flexible member having a first end and a second end, the first end of the flexible member being connected to the arm such that the arm is movable by the flexible member; and an end effector connected to and movable by the arm; an arm; a flexible member comprising a tendon sheath system including a tendon in a sheath, the tendon deformable within the sheath such that the tendon and the sheath can exert forces upon and react against each other, the flexible member configured to be coupled to an endoscope, the flexible member having a first end and a second end, the first end of the flexible member being connected to the arm such that the arm is movable by the flexible member; and an end effector connected to and movable by the arm; an actuator comprising a set of motors coupled to the second end of the flexible member and a set of sensors configured for sensing parameters at the second end of the flexible member related to flexible member elongation and force applied at the end effector, wherein the actuator allows a physical movement of the arm to be controllable by a physical movement of a controller that is configured for transmitting signals to the actuator; and an end effector force prediction unit corresponding to the controller, characterized in that: the end effector force prediction unit is configured to predict, as a function of the flexible member parameters sensed at the second end of the flexible member, (a) tendon elongation at the first end of the flexible member, and (b) force experienced by the end effector, without requiring any sensor at the manipulator other than the set of sensors configured for sensing parameters at the second end of the flexible member. the end effector force prediction unit is configured to predict, as a function of the flexible member parameters sensed at the second end of the flexible member, (a) tendon elongation at the first end of the flexible member, and (b) force experienced by the end effector, without requiring any sensor at the manipulator other than the set of sensors configured for sensing parameters at the second end of the flexible member.