terine laparoscopy in sarcoma ablation risks the spread of cancer cells in the abdominal cavity because of the Laparoscopic Power Morcellator (LPM). To adapt the ablation procedure, transvaginal uterine biopsy has been proposed in pre-operative diagnosis. Based on a robot assisted transrectal prostate biopsy, this paper studies the adaptability of the robot to the transvaginal uterine biopsy procedure in order to enhance the precision of the surgeon's movements.