An endoscopic surgical robotic system, comprising: an endoscope pre-selected according to a lesion inside of an organ, wherein the endoscope comprises a fluid inlet channel for flowing an irrigation fluid to the organ; a sheath (308, 405) for guiding the endoscope; a suction channel located within the sheath (308, 405) for removing the irrigation fluid from the organ; a pressure measuring channel located along the sheath (308, 405), and connected to a pressure detector constructed to measure a pressure within the organ; a pressure relief valve in fluid communication with the sheath (308, 405), wherein once the pressure reaches a threshold, the pressure relief valve opens to allow removal of the irrigation fluid in the suction channel, thereby lowering pressure within the organ; wherein the endoscopic surgical robotic system is characterized in that the endoscopic surgical robotic system comprises: a first holder for holding the sheath (308, 405), wherein the first holder is connected to the sheath (308, 405) with a first latch; a second holder for holding the endoscope, wherein the second holder is connected to the endoscope with a second latch, and wherein the first holder and the second holder are designed to move co-axially so as to move the endoscope in and out of the sheath (308, 405); a robotic arm for controlling a movement of the sheath (308, 405), wherein the robotic arm is connected to the first holder; and a holder bar for hanging the first holder and the second holder such that the first holder and the second holder are movable back and forth along the holder bar to move co-axially, wherein the robotic arm is connected to the holder bar via a connector. an endoscope pre-selected according to a lesion inside of an organ, wherein the endoscope comprises a fluid inlet channel for flowing an irrigation fluid to the organ; a sheath (308, 405) for guiding the endoscope; a suction channel located within the sheath (308, 405) for removing the irrigation fluid from the organ; a pressure measuring channel located along the sheath (308, 405), and connected to a pressure detector constructed to measure a pressure within the organ; a pressure relief valve in fluid communication with the sheath (308, 405), wherein once the pressure reaches a threshold, the pressure relief valve opens to allow removal of the irrigation fluid in the suction channel, thereby lowering pressure within the organ; wherein the endoscopic surgical robotic system is characterized in that the endoscopic surgical robotic system comprises: a first holder for holding the sheath (308, 405), wherein the first holder is connected to the sheath (308, 405) with a first latch; a second holder for holding the endoscope, wherein the second holder is connected to the endoscope with a second latch, and wherein the first holder and the second holder are designed to move co-axially so as to move the endoscope in and out of the sheath (308, 405); a robotic arm for controlling a movement of the sheath (308, 405), wherein the robotic arm is connected to the first holder; and a holder bar for hanging the first holder and the second holder such that the first holder and the second holder are movable back and forth along the holder bar to move co-axially, wherein the robotic arm is connected to the holder bar via a connector. a first holder for holding the sheath (308, 405), wherein the first holder is connected to the sheath (308, 405) with a first latch; a second holder for holding the endoscope, wherein the second holder is connected to the endoscope with a second latch, and wherein the first holder and the second holder are designed to move co-axially so as to move the endoscope in and out of the sheath (308, 405); a robotic arm for controlling a movement of the sheath (308, 405), wherein the robotic arm is connected to the first holder; and a holder bar for hanging the first holder and the second holder such that the first holder and the second holder are movable back and forth along the holder bar to move co-axially, wherein the robotic arm is connected to the holder bar via a connector.