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Upper quadrant port placement for robot-assisted renal surgery: implementation of the Floating Arm and the XL Protype.

Totonchi S, Elgin R, Monahan M, Johnston WK. Upper quadrant port placement for robot-assisted renal surgery: implementation of the Floating Arm and the XL Protype. J Endourol. 2014 Aug; 28(8):900-5.

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