fig2

Figure 2. Indocyanine green-guided automatic augmented reality RAPN. With the kidney fully exposed from the perirenal fat, a solution of ICG is injected intravenously, allowing the Firefly camera to visualize the kidney, which appears as a bright green organ surrounded by the dark operative field. Subsequently, dedicated software based on computer vision technology automatically anchors the 3D virtual model to the real organ. RAPN: Robot-assisted radical prostatectomy; ICG: indocyanine green; 3D: three-dimensional.