Trocar positions for robotic pelvic surgery

Robotic trocar positions for da Vinci Si. A: umbilical incision for the robotic camera; B, C, and D: lateral 8 mm ports for robotic trocars; E: 10 mm accessory port for the bedside assistant. For the da Vinci Xi, the trocars are placed in a linear fashion at the level of the umbilicus.