fig2

Figure 2. Several variations for the thoracic trocar placement during the thoracic portion of RAMIE. The variations illustrated are for patients positioned in the left lateral decubitus position. (A) and (B) both describe two assistant port arrangements, which are both 12-mm trocars, with Arm 1-4 as 8-mm robotic trocars. The camera is placed in Arm 2 (A) or Arm 3 (B); (C) illustrates a single assistant port set-up with a 12-mm assistant trocar. Arm 2 is designated for the camera through an 8-mm robotic trocar, Arm 3 as a 12-mm robotic trocar, and Arm 1 and 4 through 8-mm robotic trocars; (D) notes a linear trocar assekmbly by Shen et al., with Arm 3 as a 12-mm trocar designated for the camera, a 12-mm assistant port, and the remaining arms are docked to 8-mm robotic trocars^[17]. RAMIE: Robotic-assisted minimally invasive esophagectomy.