title: Modified transperitoneal ports configuration and docking technique for renal surgeries with the da Vinci Surgical System Xi.
authors.affiliation: Department of Urology, Changi General Hospital, Singapore. terence_lim@cgh.com.sg.
authors.forename: Sey Kiat
authors.initials: SK
authors.lastname: Lim
authors.affiliation: Department of Urology, Changi General Hospital, Singapore.
authors.forename: Foo Cheong
authors.initials: FC
authors.lastname: Ng
authors.affiliation: Department of Urology, Changi General Hospital, Singapore.
authors.forename: Wai Loon
authors.initials: WL
authors.lastname: Yam
authors.affiliation: Department of Urology, Urological Science Institute, Yonsei University College of Medicine, Seoul, South Korea.
authors.forename: Koon Ho
authors.initials: KH
authors.lastname: Rha
mesh_terms: D006801:Humans; D007668:Kidney / Q000601:surgery*; D010535:Laparoscopy; D065287:Robotic Surgical Procedures