An integrated tool is provided, having a tissue-type sensor, for determining the
tissue type at a near zone volume of a
tissue surface, and a distance-measuring sensor, for determining the distance to an interface with another
tissue type, for (i) confirming an existence of a clean margin of
healthy tissue around a malignant tumor, which is being removed, and (ii) determining the depth of the clean margin. The integrated tool may further include a
position tracking device and an incision instrument. The
soft tissue may be held within a
fixed frame, while the tumor is being removed. Additionally a method for malignant
tumor removal is provided, comprising, fixing the
soft tissue within a frame, performing imaging with the hand-held, integrated tool, from a plurality of locations and orientations around the
soft tissue, reconstructing a three-dimensional image of the soft tissue and the tumor within, defining a desired clean margin on the reconstructed image, calculating a recommended incision path, displaying the recommended path on the reconstructed image, and
cutting the tissue while determining its type, at the near zone volume of the incision surface. The method may further include continuously imaging with the
cutting, continuously correcting the reconstructed image and the recommended incision path, and continuously determining the
tissue type, at the near zone volume of the incision surface.