Overcoming Abdominal and Pelvic Cavity Workspace Constraints in Robotic-Assisted NOTES. - Chung-Kwong Yeung; Kwok-Wai Lam; Jo Lai-Ken Cheung; Adelina Tjokronegoro; Chuk Shing Jones Law; Satwinder Singh; Chi-Chung Foo; Biji Sreedhar; Xuyen Dai Hoa (J. Robotics, 2020)