Fig. 4From: Stapler port position determination using 3-dimensional virtual simulation software in robot-assisted thoracic surgeryDifferences in operability in the chest cavity due to port position (right). Two-headed arrow: Distance between port and hilum. Two-headed arrow (dotted): Ideal distance between the port and hilum. Green area: Range of motion of the instrument at the caudal side port. Red area: Range of motion of the instrument at the cranial side portBack to article page