1. Laparoendoscopic single-site and natural orifice surgery in gynecology
Pedro F. Escobar, M.D., David Starks, M.D., Amanda Nickles Fader, M.D., Michelle Catenacci, M.D., Tommaso Falcone, M.D. 
Fertility and Sterility 
Volume 94, Issue 7, Pages (December 2010)
DOI: /j.fertnstert
Copyright © 2010 American Society for Reproductive Medicine Terms and Conditions

2. Figure 1
(A) Flexible laparoscope. (B) Flexible grasper and suturing device.
Fertility and Sterility  , DOI: ( /j.fertnstert )
Copyright © 2010 American Society for Reproductive Medicine Terms and Conditions

3. Figure 2
General concept for a single port device where there is a separate entry site for the laparoscope and instruments.
Fertility and Sterility  , DOI: ( /j.fertnstert )
Copyright © 2010 American Society for Reproductive Medicine Terms and Conditions

4. Figure 3
Robotic single port prototype where the trocars are curved so that instruments cross over to allow proper triangulation. The robot adjusts for the reversal in the movement of the hands.
Fertility and Sterility  , DOI: ( /j.fertnstert )
Copyright © 2010 American Society for Reproductive Medicine Terms and Conditions