Fig. 3.

The surgical context of robot-assisted sentinel lymph node procedures—DROP-IN vs. fluorescence. Preoperative (a) CT, (b) SPECT/CT and (c) a volume rendered SPECT/CT give the surgeon information about the anatomical location of the sentinel nodes (SNs). (d) The surgeon operates the robotic console distant from the patient bed (in the background), but autonomously positions the DROP-IN probe towards a SN. The DROP-IN console provides a radioactive count number and acoustic signal as read-out. (e) As insert the Firefly™ fluorescent image of the SN identified using the DROP-IN