fig1
From: Robotic Heller myotomy
Figure 1. Location of ports for robotic Heller myotomy. LR: liver retractor port; L: port for left robotic arm (arm 1); C: camera port (arm 2); R: port for right robotic arm (arm 3); Ac: port for accessory robotic arm (arm 4); As: port for bedside assistant. Image created using public domain photo from Wikipedia Commons, 2008[23]
