fig2
Figure 2. Robotic port placement for the thoracic phase of the RAMIE. Red: right arm; Green: camera; Black: left arm; Blue: assistant port; Yellow: accessory arm. Images provided by: © Nadja Baltensweiler and Ned. Anatomen Vereniging, license: Creative Commons Attribution-Noncommercial-ShareAlike[35]. RAMIE: Robotic assisted minimally invasive esophagectomy.
