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Small animal models have shown that a distance of 4 cm between ports may be feasible depending on the intra-abdominal area of interest that needs to be dissected. Also, the depth of the trocars (not at remote center necessarily) does change the intra-abdominal area of coverage reachable with the arms without clashing. We also notice that in small animal models the distance between trocars changes significantly if you measure and place the trocars with the abdomen distended by the pneumoperitoneum at different pressures and no distension at all.