fig1
Figure 1. Robotic port placement for the abdominal phase of the RAMIE. Red: right arm; Green: camera; Black: left arm; Blue: assistant port; Yellow: accessory arm; Purple: liver retractor. Images provided by: Ron Slagter, license: Creative Commons Attribution-noncommercial-ShareAlike[34]. RAMIE: Robotic assisted minimally invasive esophagectomy.