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(a) Medial camera trocar arrangement. (b) The view offered by the medial trocar configuration. This approach allows for simple visualization of surrounding structures and tracking of instruments, although at the expense of a more distant viewing distance. Note that adjacent structures, including the bowel and the liver, are easily viewed with this approach.C = camera port (12 mm); R = robotic port (8 mm); a = assistant port (12 mm, placed at one of the indicated locations).
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