Track-Guided Ultrasound Scanning for Tumour Margins Outlining in Robot-Assisted Partial Nephrectomy

Abstract

Robot-Assisted Partial Nephrectomy (RAPN) is a
\nmedical procedure in which part of a kidney is removed,
\ntypically because of the presence of a tumour. RAPN is
\nthe second most diffused robotically assisted surgical
\nprocedure worldwide after prostatectomy [1]. The
\nadvantages of this robot-assisted procedure are detailed
\nin [2], and in [3] it is argued that RAPN can be used in
\nplace of open surgery or total nephrectomy in some
\ncomplex renal tumour cases. The RAPN procedure is
\nthoroughly described in [4]. Methods used for the
\nidentification of the tumour include pre-operative
\nComputer Tomography (CT) scans, Magnetic Resonance
\n(MR) imaging and intraoperative Ultrasound (US) scans.
\nThe use of drop-in US probes for RAPN procedures is
\nwidely recognized as the golden standard for the intraoperative
\ndetection and margins outlining of the mass
\ntargeted. In [5] the authors show that the use of US dropin
\nprobes guided by robotic laparoscopic tools rather than
\nstandard laparoscopic tool is beneficial for the surgeon as
\nit significantly increases the dexterity, hence, the field of
\nview of the system.