Editing Robot-assisted Laparoscopic Prostatectomy (section)

=== Port Planning ===
* '''Number of ports: 6''' (variations possible, depending on institution equipment and surgeon preference)
* '''Location of ports:'''
** General considerations for robotic port placement
***Port placement through the rectus muscle risks damage to the epigastric vessels.[https://www.auanet.org/documents/education/blus-handbook.pdf]
**** The epigastric vessels travel near the lateral edge of the rectus muscles in the lower abdomen and travel closer to the midline in the upper abdomen where they join the internal mammary arteries.[https://www.auanet.org/documents/education/blus-handbook.pdf]
**** Generally if trocars are not placed in the midline, they should be placed at least 6cm lateral to the midline to prevent epigastric injury.[https://www.auanet.org/documents/education/blus-handbook.pdf]
***>8 cm distance is recommended between robotic ports[https://www.laparoscopyhospital.com/docking-in-robotic-surgery.html]
****10-20 cm distance should be maintained between the ports and target anatomy
*****10 cm distance from TA is good but 20 cm distance is better
***For accessory ports, maintain at least 5 cm from the other ports[https://fcc.report/FCC-ID/2AAZF-CHB01/2607925.pdf]
**Configuration 1
***Camera (12 mm): center, above umbilicus
*** Robotic Arm 1 (8 mm): 6-8 cm right medial of camera
*** Robotic Arm 2 (8 mm): 6-8 cm left medial of camera
*** Robotic Arm 3 (8 mm): 6-8 cm left lateral of Robotic Arm 2
*** Assistant 1 (5 mm): cephalad of other ports, in between camera and arm 1
*** Assistant 2 (12 mm): 5 cm right lateral of Robotic Arm 1
***Xi capable of having ports all in the same transverse line as camera; Si will require ports in an arc, with the lateral ports being more inferior (minimum 3 fingerbreadths medial and 3 fingerbreadths superior to the anterior superior iliac spine).
**In tall males (72 inches), port sites should not be more than 18cm from the pubis[https://pubmed.ncbi.nlm.nih.gov/15333225/]