Fig. 2

a Port placement for robotic left S9–10 segmentectomy through a pulmonary ligament approach. A assistant port, 1 port 1, C camera port, 3 port 3, 4 port 4. b–g Comparison of the actual surgical field of vision and the three-dimensional model for a patient. b, e The lateral basal vein (V9) and posterior basal vein (V10) are exposed. c, f After the V9 and V10 were transected and the dissection was performed along the intersegmental septum, the lateral basal bronchus (B⁹) and posterior basal bronchus (B¹⁰) were exposed. d, g After the B⁹ and B¹⁰ were transected, the lateral basal artery (A9) and posterior basal artery (A10) were exposed and transected. h Intersegmental planes were identified with an intravenous injection of indocyanine green dye. i The identified intersegmental planes were transected by robot staplers. A8 anterior basal artery, Ao aorta, S8 anterior basal segment.