**4. Robot positioning**

Another important step is the positioning of the Da Vinci surgical system itself. The Xi system, which has better range of motion, can be angled on either right or left side facing towards the patient's hip and the overhead boom is rotated into place. If using the Si system, the robot must be positioned directly between the patient's legs leaving enough space for the bottom assistant. The right and left arms of the Si system are bent at the first joint and locked into place to allow for instrument triangulation.
