| Drive robot to patient and dock robotic arms to each trocar |
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| Optimize clearance of arms and joints |
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| Manipulate robotic arms using the port and instrument clutches |
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| Load and insert robotic instruments and sponge rolls |
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| Burp, pull out, or push in trocar to facilitate ease of operation |
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| Exchange robotic instruments and camera safely |
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| Insert new, or upsize trocar |
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| Suction in the surgical field without causing injury, or causing the lung to reinflate |
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| Provide effective retraction |
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| Remove specimens with a grasper (lymph nodes) |
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| Remove specimens with a bag (lung) |
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