Fluorescence Imaging on the da Vinci Surgical System for Intraoperative Near Infrared Imaging

Inclusion Criteria: * Ages of 18 to 80 years. * Urine pregnancy test negative for women of childbearing potential prior to surgery * Subject is able to comply with the study procedures * A CT or MRI preoperative assessment of renal cortical tumor * The renal tumor must be stage T1a-b - T2 * Written informed consent. Exclusion Criteria: * Subject has significant liver disease, cirrhosis or liver insufficiency with abnormal liver function tests, as total bilirubin \>1.5 X normal and/or SGOT \>2X normal * Subject has uremia, serum creatinine \>2.0 mg/dl. * Subject has a previous history of adverse reaction or allergy to ICG, iodine, shellfish or iodine dyes * Subject in whom the use of x-ray dye or ICG is contraindicated including development of adverse events when previously or presently administered * Subject has any medical condition, which in the judgment of the Investigator and/or designee makes the subject a poor candidate for the investigational procedure * Subject is pregnant or lactating * Subjects actively participating in another drug, biologic and/or device protocol * The presence of medical conditions contraindicating general anesthesia or standard surgical approaches.