Single-port robot-assisted perineal radical prostatectomy with the da Vinci XI system: initial experience and learning curve using the cumulative sum method by Chenhao Yu, Li Xu, Liyin Ye, Qiming Zheng, Haiyi Hu, Kangxin Ni, Chenghao Zhou, Dingwei Xue, Sheng Cheng, Hui Wang, Raymond Wei Pak, Gonghui Li

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