title: Maximizing console surgeon independence during robot-assisted renal surgery by using the Fourth Arm and TilePro.
abstract: OBJECTIVE
  We describe multiple uses of the fourth robotic arm and TilePro on the da Vinci S surgical system to maximize console surgeon independence from the assistant during robot-assisted renal surgery.
  
  
  METHODS
  We prospectively evaluated the use of the fourth robotic arm and TilePro on the da Vinci S during robot-assisted radical nephrectomy (RRN) and robot-assisted partial nephrectomy (RPN). The fourth robotic arm was used to provide kidney retraction, place the renal hilum on stretch, control vascular structures, apply and remove bulldog clamps during partial nephrectomy, and secure renal capsular stitches. TilePro was used to project intraoperative ultrasonography and preoperative CT images onto the console screen.
  
  
  RESULTS
  From January 2006 to June 2008, 90 robot-assisted kidney procedures were performed, of which the fourth robotic arm was used in 46 cases (RRN, 18; RPN, 24; nephroureterectomy, 4). The fourth robotic arm facilitated consistent kidney retraction for dissection of the renal hilum and mobilization of the kidney. The robotic Hem-o-Lok clip applier effectively controlled renal hilar vessels during eight RPN cases and secured renal capsular stitches during two RPN cases. Bulldog clamps were successfully applied to the renal artery during RPN using the fourth arm in two cases. TilePro was used during 22 RPN cases to project intraoperative ultrasonographic images and preoperative CT images onto the console screen as a picture-on-picture image to guide tumor resection.
  
  
  CONCLUSIONS
  Robotic instruments used with the fourth robotic arm may give the console surgeon greater independence from the assistant during robot-assisted kidney surgery by facilitating steps such as kidney retraction, hilar dissection, and vascular control. The TilePro feature of the da Vinci S can be used to project intraoperative ultrasonography and preoperative imaging onto the console screen, potentially guiding tumor localization and resection during RPN without the need to leave the console to view external images.
authors.affiliation: Vattikuti Urology Institute, Henry Ford Hospital, Detroit, Michigan 48202-2689, USA. Crogers2@hfhs.org
authors.forename: Craig G
authors.initials: CG
authors.lastname: Rogers
authors.forename: Rajesh
authors.initials: R
authors.lastname: Laungani
authors.forename: Akshay
authors.initials: A
authors.lastname: Bhandari
authors.forename: Louis Spencer
authors.initials: LS
authors.lastname: Krane
authors.forename: Daniel
authors.initials: D
authors.lastname: Eun
authors.forename: Manish N
authors.initials: MN
authors.lastname: Patel
authors.forename: Ronald
authors.initials: R
authors.lastname: Boris
authors.forename: Alok
authors.initials: A
authors.lastname: Shrivastava
authors.forename: Mani
authors.initials: M
authors.lastname: Menon
mesh_terms: D006801:Humans; D007668:Kidney / Q000601:surgery*; D009392:Nephrectomy / Q000295:instrumentation*; D010820:Physicians; D012371:Robotics / Q000295:instrumentation*; D013525:Surgical Instruments