Fig. 2

The placement of multiport trocars in a triangular configuration in the left side for operations in the lateral thoracic cavities such as lobectomy, esophagectomy, esophageal cyst, or muscle benign tumor resection, or posterior mediastinal tumor resection. 1,2: robotic arms 1 and 2; wound retractor: 1.5 cm assistant port, acting as a working incision; camera: camera port