Overcoming Abdominal and Pelvic Cavity Workspace Constraints in Robotic-Assisted NOTES

Figure 1

Routes for instrument placement for a transvaginal or transanal NOTES procedure. Location 1 indicates the access route from the vaginal orifice or the anal canal. Location 2 indicates the incision at the posterior fornix or the rectosigmoid junction at which the instruments needs to pass through. Location 3 indicates the spinal segments which the rigid instruments need to avoid.