Code help please

Can someone please help me with the CPT and ICD9 code for a "Da Vinci robot assisted right thoracospic resection of a paraspinous tumor." In the body of the description it notes identifying the mediastinal structures and incising the pleura over the mass. I was looking at 32662 but am thrown by the paraspinous description. Also not sure if there is a code for the robot assist. Thanks