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parathyroid thyroid thyroidectomy gland mass cancer growth surgery procedure surgeon operating room nerve damage hoarseness raspy voice vocal problems complication paralysis unilateral bilateral resection papillary carcinoma biopsy pathology anaplastic breathy stridor hematoma endocrine endoscopic minimally invasive small scar robot robotic risks thyroid surgery hemithyroidectomy thyroid removal tumor video partial complete total thyroid procedure thyroid cancer thyroid mass