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Phase IV—robotic dissection of the first rib and disarticulation of the SC joint. A 30-degree down viewing robotic camera is introduced through incision #1. A hook cautery is placed in the right robotic arm in incision #2, and a second hook cautery is placed in the left robotic arm in incision #3. The hook in the left arm is used to put downward traction on the rib. SC, costo-sternal.
