Fig. 3

Port placement image. A mini-thoracotomy (for assist port: A) was placed in the anterior axial line in the right fifth intercostal space. A 12-mm port (for fourth robotic arm: 4) was placed on the anterior axillary line in the ninth intercostal space. From there, at equal intervals of 6 cm toward the back, an 8-mm port (for the third robotic arm: 3) was placed in the ninth intercostal space, a 12-mm port (for second robotic arm: 2) was placed in the tenth intercostal space, and an 8-mm port (for first robotic arm: 1) was placed in the ninth intercostal space