Fig. 3

The patient position and port placement for robot-assisted laparoendoscopic single-site surgery. a Single-site port used for docking with da Vinci Si system. b Modified left lateral decubitus position with a 60°–70° bump. c Two 12 mm trocars are placed on the upper and lower symmetrical position, and two 8 mm trocars are placed on the left and right symmetrical position. d The abdominal incision after operation