Endoscopic procedures have gained widespread use due to their ability to facilitate accurate diagnosis and treatment through minimally invasive surgery. While traditional bimanual platforms are commonly utilized, the use of secondary hand traction assisted devices offers additional benefits including precise and flexible tissue manipulation. In this work, a novel handheld endoscopic platform, namely EndoGRASP is proposed. EndoGRASP is a handheld endoscopic platform that includes a flexibility-retaining robotic overtube and an integrated actuation unit. This system features dedicated channels for instruments and endoscopes, including a biopsy channel and an active bending section. The biopsy channel enables free translation of instruments, while the active bending overtube compensates for the loss of flexibility in the endoscope and provides rigid support for the instruments and endoscope to bend independently. EndoGRASP improved the