You can find this in countless Sci-Fi works: Big Starships which don't land on any planet, but establish an orbit around a planet if necessary. If crew want to land on a planet, they use shuttle pods or teleportation or something else.
This is a very good and smart concept. Mankind can use it in real world, too.
Which Sci-Fi work introduced this idea?
I am limiting the question to interstellar travel only. That's because only then the usefulness of the idea really comes into picture.
The Starship involved can be anything so long as its motion is controlled by an intelligent life and it is used as a tool for interstellar travel.
Although I want to know the first Sci-Fi which mentioned it, you can also include non-fiction work which originated the idea.