Fig. 4

The placement of multiport trocars in a triangular configuration. For surgeries in the anterior mediastinum in the supine position, while the trocar for the camera was placed just below the sternum xiphoid, trocars for arm 1, 2, and assistant were put bilaterally. 1, 2: robotic arms 1 and 2 (each 8 mm); Asst: assistant port or trocar, valved at 12 mm, assistant surgeon use this port to assist during the operation; camera: camera port