fig1

Figure 1. Building process of a 3D virtual reconstruction from standard bi-dimensional images and its application during an augmented reality procedure for both kidney and prostate tumor. (A) High-quality images (e.g., CT with < 3 mm slices) are processed manually using dedicated software, outlining the different portions of the organ and tumor in accordance with their radiological characteristics. (B) At the end of the process, the virtual model can be rendered and exported in pdf format. (C) Integration of the 3D virtual reconstruction in the da Vinci surgical console via TilePro, allowing the augmented reality procedure. During robot-assisted partial nephrectomy, the intraoperative US confirms the tumor location as indicated by the 3D virtual model superimposed onto the real anatomy. During robot-assisted radical prostatectomy, the tumor is overlayed over the bundle to perform selective biopsy. 3D: Three-dimensional; US: ultrasound.