A control system controls an endoscope probe in manual mode or robot mode. The system comprises a handle attached to the probe; a portable display controller connectable to the handle; a robotic controller in communication with the handle and/or the portable display controller; and a support platform to which the probe and the portable device controller are attachable according to control mode. In manual mode, the handle is detached from the platform and connected to the portable display controller such that the probe is manually navigated to a first position inside a lumen. In robot mode, the handle is attached to the platform such that the robotic controller cooperates with the handle to robotically navigate the probe to a second position inside the lumen. The portable display controller includes a control section for manipulating the probe and a display section for displaying images of the lumen acquired in both modes.