. Author manuscript; available in PMC: 2016 Sep 1.

Published in final edited form as: J Robot Surg. 2015 Jul 21;9(3):223–233. doi: 10.1007/s11701-015-0520-5

Table 2.

Results from animal phantom experiments

Experiment		Specimen mm³	Margin mm³	Tumor mm³	Excess mm³	Margin/ specimen	Excess ratio	Resection ratio	Tumor/ margin	Tumor/ideal tumor
Set 1	CEV1	2959.82	0.00	0.00	2959.82	N/A	1.00	N/A	N/A	0.00
	VEV1	8059.67	2960.45	257.99	3365.42	0.37	0.42	0.71	0.09	0.49
	FIV1	19602.55	1832.28	280.17	10613.50	0.09	0.54	0.44	0.15	0.54
	VIV1	13450.55	3410.59	583.45	6756.12	0.25	0.50	0.81	0.17	1.11
Set 2	CEV2	2474.34	0.00	0.00	2474.34	N/A	1.00	N/A	N/A	N/A
	VEV2	5485.52	3646.92	307.47	943.32	0.66	0.17	0.87	0.08	0.59
	FIV2	6656.81	2429.50	323.08	1926.02	0.36	0.29	0.58	0.13	0.62
	VIV2	22287.22	4199.81	220.32	16422.70	0.19	0.74	1.00	0.05	0.42

Ideal margin: a sphere of radius = 10 mm

Ideal tumor: a sphere of radius = 5 mm

Excess: specimen − (tumor + margin + cylinder at margin depth)