Despite early enthusiasm in robotic-assisted NOTES, several technical challenges exist. Various spinopelvic anatomical constraints\ncan significantly act as obstacles and affect entry and space availability for the deployment of straight and rigid\ntransvaginal/transanal NOTES instruments. Anatomical constraints such as the sacral slope, position, and distance to the target\norgans are defined. Transvaginal access to the surgical site required a high insertion angle between............
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