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Port placement and robot positioning. (A) “Five on a dice” port placement for right upper lobectomy (1, robot port for arm 1 of the robot; 2, robot port for arm 2; 3, robot port for arm 3; 4, robot port for arm 4; A, 12-mm Airseal port for an assistant); (B) image of the Xi robot docked on the ports. The front part of the boom is parallel with ports 1, 3 and 4. This minimalizes collision between arm 1 and 2.
