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Robotic open-thoracotomy-view approach using vertical port ..:

Sakakura, Noriaki ; Nakada, Takeo ; Shirai, Suguru...
Interactive CardioVascular and Thoracic Surgery.  33 (2021)  1 - p. 60-67 , 2021
Link: https://doi.org/10.1093/icvts/ivab033