Volume 63, Issue 2, Pages 266-280 (February 2013) Current Status and Future Directions of Robotic Single-Site Surgery: A Systematic Review  Riccardo Autorino, Jihad H. Kaouk, Jens-Uwe Stolzenburg, Inderbir S. Gill, Alex Mottrie, Ash Tewari, Jeffrey A. Cadeddu  European Urology  Volume 63, Issue 2, Pages 266-280 (February 2013) DOI: 10.1016/j.eururo.2012.08.028 Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 1 Preferred Reporting Items for Systematic Reviews and Meta-analysis flow diagram. LESS=laparoendoscopic single-site surgery. European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 2 Current publications in the field of robotic single-site surgery (top) per year and study type and (bottom) per surgical specialty. * Including case reports. European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 3 Concept of “chopstick” surgery applied to robotic laparoendoscopic single-site surgery: (a) standard configuration and (b) chopstick configuration to minimize external clashing. European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 4 Access devices to perform robotic laparoendoscopic single-site surgery: (a) SILS Port (Covidien), (b) GelPoint (Applied), and (c) TriPort (Olympus). Courtesy of Jihad Koauk, Cleveland Clinic, Cleveland, OH, USA. European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 5 The da Vinci Single-Site platform. European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 6 Schematic explanation of the restored triangulation achieved through assignment of the Si system software that enables the surgeon's right hand to control the screen right instrument and, reciprocally, the left hand to control the screen left instrument. European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 7 The da Vinci Single-Site instrumentation: (a) the multichannel port; (b) the range of instruments; and (c) the setup including the 8.5-mm camera, the two 5-mm robotic instruments through the curved cannulas, and the 5-mm assistant port. European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 8 The continuum of robotic single-site surgery. LESS=laparoendoscopic single-site surgery; 2D=two-dimensional; 3D=three-dimensional; R-LESS=robotic laparoendoscopic single-site surgery. European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 9 (a) SPRINT (Single-port Laparoscopy Bimanual Robot): bimanual robot with umbilical access coupled with the external manipulator—ARAKNES (Array of Robots Augmenting the Kinematics of Endoluminal Surgery) consortium (courtesy of Paolo Dario, Scuola Superiore Sant’Anna, University of Pisa, Italy); (b) prototype robot for laparoendoscopic single-site surgery (LESS; courtesy of Yo Kobayashi, Waseda University, Japan); and (c) miniature robot for LESS (courtesy of Dmitry Oleynikov and Shane Farritor, University of Nebraska, Omaha, NE, USA, April 2012). European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions

Fig. 10 (a) The Insertable Robotic Effectors platform (courtesy of Nabil Simaan, ARMA Laboratory, Vanderbilt University, Nashville, TN, USA) and (b) the master/slave robot for single-site surgery (courtesy Dr. Yuki Horise, Osaka University, Japan). PC=personal computer. European Urology 2013 63, 266-280DOI: (10.1016/j.eururo.2012.08.028) Copyright © 2012 European Association of Urology Terms and Conditions