'esotropic' originates from Greek, specifically the elements 'eso-' and 'tropos', where 'eso-' meant 'within, inward' and 'tropos' meant 'a turning'.

'esotropic' developed from the New Latin medical term 'esotropia' (from Greek), with the English adjective 'esotropic' appearing in medical usage in the late 19th century.

Initially it described the inward turning of the eye ('turning inward'); over time it has remained a specialized medical adjective referring to inward deviation of the eye (esotropia).