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The angle created by the triangular positioning of trocars 1, the camera, and 2 was ≥90o. The distance between the trocars position, including the wound retractor, was more than 4 fingers wide, resulted in the robot arms to freely approach all the intrathoracic lesions easily without interfering with the assistant port. 1,2: robotic arms 1 and 2; wound retractor: 1.5 cm assistant port, acting as a working incision; camera: camera port
