Table 1.

System comparison.

System	Body	Carrier	Instruments	Application
HARP	Flexible	Robotic	Manual	Natural orifice
LESS	Flexible	Robotic	Manual	Single port
MASTER	Flexible	Manual	Robotic	Endoscopy
IREP	Rigid	Robotic	Robotic	Single port
STRASS	Flexible	Manual	Robotic	Endoscopy
$i^{2}Snake$	Flexible	Robotic	Robotic	Endoscopy