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. 2017 Sep 15;12(3):433–436. doi: 10.1007/s11701-017-0752-7

Fig. 1.

Fig. 1

Port positions. Ports R1–R4 are placed on a straight line 7 cm apart. A mark is drawn 4 cm from the umbilicus on a straight line from the target area towards the umbilicus. The straight line where the ports are inserted needs to be lateral to this mark