Figure 1.

Port positions for robotic lingulectomy (after docking). A, As described within the text, 4 robotic ports (labeled arms 1-4) are placed in the eighth or ninth interspace and an assistant port (AP) triangulated between arm 1 and arm 2. Proper spacing is critical to maximize mobility and minimize collision of robotic arms. B, Illustration of port placement for lingulectomy. The scapular tip is marked with a yellow “X,” the spine is marked with a red dashed line, and costal margin is marked with a purple solid line. AAL, Anterior axillary line; MAL, mid-axillary line; PAL, posterior axillary line; Asst, Assistant Port.