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          Fig. 18 The da Vinci SP EndoWrist instruments’ design. (A) Configuration of three
          articulating instruments and camera. (B) Variable instruments. Obtained with
          permission from Shin, H. J., et al., 2020. Robotic single-port surgery using the da Vinci
            ®
          SP  surgical system for benign gynecologic disease: a preliminary report, Taiwan.
          J. Obstet. Gynecol. 59(2), 243–247. doi: 10.1016/j.tjog.2020.01.012, Copyright Elsevier, 2020.
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