Fig. 1

A The conventional port placements of robotic liver surgery; High segment of liver of the IVC were dissociated in “left-right-superior” order. B The left short hepatic vessel was severed successively to the level of the second porta hepatis (SPH) (left). C After that, the right triangular ligament, coronal ligament and hepatorenal ligament were incised in turn (right). D Opening the fibrous connection between the diaphragm and the inferior vena cava, entered the mediastinum from the foot side. E if necessary, the ventral diaphragm and pericardium of the second hepatic hilum were opened longitudinally to expose the IVC, atrium and ventricle of the whole liver atrium, then dissociated the suprahepatic and subatrial segments of the IVC