Surgery is essential to cancer treatment, but skilled surgeons are unevenly geographically distributed. Autonomous robotic surgery has the potential to increase access to skilled surgery, improve consistency of some types of procedures compared to unaided human surgeons, and unlock new types of procedures that human surgeons cannot do due to difficulties in anatomy and visibility. SARRTS aims to demonstrate a supervised autonomous kidney resection, propelling us towards a future state where a general surgeon could supervise a resection robot in a rural hospital, and patients would no longer have to travel to major oncology centers for the best outcomes. Using a CT scan of the area registered to the 3D point cloud generated by the robot’s RGB-Depth camera, the robot plans and executes the incision and resection. While the robot generates the surgical plan, the surgeon approves the surgical plan and can stop, adjust, and replan the surgery at any time. The surgery will be tested and demonstrated in realistic kidney phantoms created for the project. The intent is to demonstrate the feasibility of a supervised autonomous tumor resection and to develop enabling technologies that facilitate the advancement and generalization of this autonomous tumor resection system and other autonomous robotic surgery capabilities.