Fig. 1

A Schema of the port placement in the right chest. Ports 1–4 are for the robotic arm. The other part (a) is for the assistants. B Preoperative design of port placement in the right chest. The line over the ports 1–3 is the incision performed in the case of emergency open thoracotomy. The patient’s head is at the top of the picture and the anterior chest is to the right of the picture