RCS - as for kidney surgery, nope, they go through the front door.
It's good to hear that your surgeon was able to work around those obstructions.
Yooper - Surgery is my first choice. Given everything I know, and have learned, surgery is still option #1 for me. If we get into the surgery prep, and RALP is definitely not an option, I might reconsider, but given what I know right now, this is the best path for me.