Fig. 2.

Schematic overview of the Click-On gamma probe vs. the DROP-IN gamma probe. a The DROP-IN gamma probe is inserted into the abdominal cavity through the assistant trocar (12 mm) then the surgeon picks it up with the surgical instrument, allowing for 6 degrees of freedom. b The Click-On gamma probe mounted on the ProGrasp instrument is inserted together with the instrument through a standard 12-mm trocar preserving the 6 degrees of freedom of maneuverability and leaving the assistant trocar completely free. The 3D trajectories are reconstructed for probe movements using the marker-based vision tracking system