Fig. 6.

a The schematic diagram and real image of port placement, showing the four incision points (R1 and R2 were used for robotic instruments, A0 was used for the laparoscope, and the last A1 was the working channel of a manual instrument, which was used to assist the robot in carrying out the surgery). b The schematic diagram and scene of the operating room arrangement during MicroHand SII robot-assisted sleeve gastrectomy (MIISG). c Gastrolysis was performed using a MicroHand ultrasonic scalpel