Endometriosis is when the tissue lining the uterus (known as endometrium) is found outside the uterus. Common symptoms include pain with periods, pain with sex, painful urination or painful bowel movements during periods, and infertility. Treatment options include hormone therapy with oral contraceptive pills, progesterone and GnRH agonists (DepoLupron); pain medications; and surgical intervention. Conservative surgery to cauterize or remove endometrial implants can be done with laparoscopy with or without the aid of the da Vinci robot.