fig9

Figure 9. Surgical technique for retroperitoneal robot-assisted partial nephrectomy: (A) dissection of the pararenal fat to expose the psoas muscle and the posterior layer of renal fascia; (B, C) incision in the posterior layer of renal fascia just above and parallel to the psoas muscle, exposing the perirenal fat; (D) dissection of the perirenal fat from the kidney following the plane along the psoas muscle; and (E, F) isolation of the renal artery from the perirenal fat.