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Res."],"published-print":{"date-parts":[[2025,12]]},"abstract":"<jats:p> Autonomous robotic systems hold potential for improving renal tumor resection accuracy and patient outcomes. We present a fluorescence-guided robotic system capable of planning and executing incision paths around exophytic renal tumors with a clinically relevant resection margin. Leveraging point cloud observations, the system handles irregular tumor shapes and distinguishes healthy from tumorous tissue based on near-infrared imaging, akin to indocyanine green staining in partial nephrectomy. Tissue-mimicking phantoms are crucial for the development of autonomous robotic surgical systems for interventions where acquiring ex-vivo animal tissue is infeasible, such as cancer of the kidney and renal pelvis. To this end, we propose novel hydrogel-based kidney phantoms with exophytic tumors that mimic the physical and visual behavior of tissue, and are compatible with electrosurgical instruments, a common limitation of silicone-based phantoms. In contrast to previous hydrogel phantoms, we mix the material with near-infrared dye to enable fluorescence-guided tumor segmentation. Autonomous real-world robotic experiments validate our system and phantoms, achieving an average margin accuracy of 1.44 mm in a completion time of 69 s. <\/jats:p>","DOI":"10.1142\/s2424905x25500114","type":"journal-article","created":{"date-parts":[[2025,6,20]],"date-time":"2025-06-20T05:17:37Z","timestamp":1750396657000},"source":"Crossref","is-referenced-by-count":0,"title":["Towards Fluorescence-Guided Autonomous Robotic Partial Nephrectomy on Novel Tissue-Mimicking Hydrogel Phantoms"],"prefix":"10.1142","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-1399-2811","authenticated-orcid":false,"given":"Ethan","family":"Kilmer","sequence":"first","affiliation":[{"name":"Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-9497-0617","authenticated-orcid":false,"given":"Joseph","family":"Chen","sequence":"additional","affiliation":[{"name":"Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8336-1837","authenticated-orcid":false,"given":"Jiawei","family":"Ge","sequence":"additional","affiliation":[{"name":"Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-9247-4041","authenticated-orcid":false,"given":"Preksha","family":"Sarda","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Software Engineering, Rose-Hulman Institute of Technology, Terre Haute, IN 47803, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2169-1464","authenticated-orcid":false,"given":"Richard","family":"Cha","sequence":"additional","affiliation":[{"name":"Sheikh Zayed Institute for Pediatric Surgical Innovation, Childrens National Hospital, Washington, DC 20010, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9809-4823","authenticated-orcid":false,"given":"Kevin","family":"Cleary","sequence":"additional","affiliation":[{"name":"Sheikh Zayed Institute for Pediatric Surgical Innovation, Childrens National Hospital, Washington, DC 20010, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0926-1587","authenticated-orcid":false,"given":"Lauren","family":"Shepard","sequence":"additional","affiliation":[{"name":"Department of Urology, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4325-1446","authenticated-orcid":false,"given":"Ahmed Ezzat","family":"Ghazi","sequence":"additional","affiliation":[{"name":"Department of Urology, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8079-1425","authenticated-orcid":false,"given":"Paul Maria","family":"Scheikl","sequence":"additional","affiliation":[{"name":"Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8169-075X","authenticated-orcid":false,"given":"Axel","family":"Krieger","sequence":"additional","affiliation":[{"name":"Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2025,7,25]]},"reference":[{"issue":"1","key":"S2424905X25500114BIB001","first-page":"7","volume":"69","author":"Siegel R. 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