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. 2022 Jan 17;40(4):1019–1026. doi: 10.1007/s00345-021-03920-1

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© The Author(s) 2022

Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 2 — Trocar placement for nephrectomy portion and management of the bladder cuff. A Illustration of port arrangement with Hasson trocar (Nr.1), standard 8-mm DaVinci^R-trocar (Nr.2 + 3 + 4) and 12-mm assistant port (Nr.5). B Trocar placement for four-arm configuration for nephrectomy portion with camera view towards cranial. C Trocar placement for three-arm configuration for dissection of the bladder cuff with camera view towards caudal after re-docking and 180° turnaround of the main robotic joint