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The egg-sized tumour was discovered when he attended hospital for a routine x-ray and minor operation to repair lung damage caused by a rib injury sustained in a skiing accident in February.
Although apparently eager to resume his duties, Staunton feels it will be in Robson's best interests if he remains at home while he and the Ireland squad undertake a four-day training camp in Portugal ahead of a Lansdowne Road friendly with Chile on May 24.
"It's never nice to hear about something like what has happened to Bobby," said Staunton of the former England manager.
"But as it has turned out, it is very fortunate he had that skiing accident. He has now been given a clean bill of health, but despite that, I have told him not to even think about heading out to Portugal.
"Knowing Bobby he will be determined, and depending on how he is feeling, he will probably come in for the Chile game."
Staunton has also confirmed Stephen Carr is to come out of retirement, although has not included the Newcastle right-back in a 29-man squad on this occasion.
Carr, who quit last year following Ireland's failure to qualify for the World Cup this summer, will instead return for the friendly with Holland in August.
"I've spoken to him (Carr) and he is ready to come back, confirmed Staunton. "But I've told him to leave it for this squad and return for our game with Holland."