A Study for Ureter Visualization, Using ASP5354 in Subjects Undergoing Laparoscopic/Minimally Invasive Colorectal Surgery

Inclusion Criteria: * Subject is scheduled to undergo laparoscopic/minimally invasive colorectal surgery. * Subject will need visualization of the ureter(s). * Female subject is not pregnant and at least 1 of the following conditions apply: * Not a woman of childbearing potential (WOCBP) * WOCBP who agrees to follow the contraceptive guidance from the time of informed consent through at least 30 days after final study treatment administration. * Female subject must agree not to breastfeed starting at screening and throughout the study period. * Female subject must not donate ova starting at first dose of investigational product (IP) and throughout the study period and for 30 days after final study treatment administration. * Male subject with female partner(s) of childbearing potential (including breastfeeding partner) must agree to use contraception throughout the treatment period and for 30 days after final study treatment administration. * Male subject must not donate sperm during the treatment period and for 30 days after final study treatment administration. * Male subject with pregnant partner(s) must agree to remain abstinent or use a condom for the duration of the pregnancy throughout the study period and for 30 days after final study treatment administration. * Subject agrees not to participate in another interventional study while participating in the present study. * Subjects enrolled after optimal dose determination: Subject has any of the following values at screening: * Body mass index \> 25 * Estimated glomerular filtration rate (eGFR) ≥ 15 mL/min/1.73 m\^2 and \< 60. Subjects with an eGFR ≥ 60 mL/min/1.73 m\^2 may be considered after discussion with the medical monitor. Exclusion Criteria: * Subject is anticipated to require ureteral stenting during surgery. * Subject has a history of known retroperitoneal fibrosis. * Subject has an active urinary tract infection. * Subject has received any investigational therapy within 28 days or 5 half-lives, whichever is longer, prior to screening. * Subject has any condition that makes the subject unsuitable for study participation. * Subject has a known or suspected hypersensitivity to ASP5354, indocyanine green (ICG) or any components of the formulation used. * Subject has had previous exposure to ASP5354. * Subject has moderate to severe cardiac disease that limits daily functioning (New York Heart Association Class III-IV) or other medical conditions that the investigator feels would impact safety or study compliance. * Subject has a mean resting heart rate ≤ 45 bpm or ≥ 115 bpm, mean systolic blood pressure (SBP) ≥ 160 mmHg or mean diastolic blood pressure (DBP) ≥ 100 mmHg on day -1. If the mean blood pressure exceeds the limits above, repeat readings can be taken. Subject who has adequately controlled blood pressure is eligible. * Subject has a mean corrected QT interval (Triplicate electrocardiogram \[ECG\]) using Fridericia's formula (QTcF) \> 430 msec (for male subjects) and \> 450 msec (for female subjects) on day -1. If the mean QTcF exceeds the limits above, the mean of 1 additional triplicate ECG may be taken. * Subject has any of the following screening laboratory values: * Hemoglobin ≤ 9 g/dL * Absolute neutrophil count ≤ 1500/µL * Platelet count ≤ 100000/µL * eGFR \< 60 mL/min/1.73 m\^2 (Not applicable to subjects enrolled after optimal dose determination.) * Serum bilirubin ≥ 2 × upper limit of normal (ULN) * Aspartate aminotransferase (AST) or serum glutamic oxaloacetic transaminase ≥ 2.5 × ULN * Alanine aminotransferase (ALT) or serum glutamic pyruvic transaminase ≥ 2.5 × ULN * Subject has taken ICG or other near-infrared fluorescence (NIR)-F imaging agents within 48 hours prior to study treatment administration. * Subject has taken diuretics or inhibitors of renal transporters defined by Food and Drug Administration (FDA) within 48 hours prior to study treatment administration. * Subject has used any illicit drugs, unless legally prescribed and is not being abused (amphetamines, barbiturates, benzodiazepines, cannabinoids, cocaine and opiates) within 1 month prior to day -1. * Subject has a history of alcohol abuse. Subject should not have consumed any alcohol within 48 hours of surgery.