Dr Warner at the Mayo Clinic had an interesting approach which he told me about. He challenged the surgeons that they did not need such steep Trendelenburg. They argued that they did. He asked them how come "these other surgeons" can do it with 20 degrees, but you need steep T-burg. He called their surgical talents into question and said that with each case, they would lessen the degree of T-burg by 5-10%. He said that after a slow progression, the surgeons learned to do the surgery without the non physiologic positioning that most robotic surgeons think is a requirement because they learned it that way. He said their trendelenburg is now quite modest and they have lessened the risk to the patient significantly. I wish I could say that we had solved it where I am. We do a lot of padding and a preformed bean bag contoured to provide some shoulder support without impingement. It is a complex ritual, but I think it works pretty well. No disasters...yet.