Step 2. Development of the paravesical space A. Mattei, Christoph Würnschimmel, Pietro Grande, Giovanni Battista Di Pierro

The medial border of the incised peritoneum is gently retracted medially using the fourth robotic arm, and the lateral underlying tissue is bluntly divided to find the avascular plane between the bladder and prostate on the median side and the lymphatic and fatty tissue on the lateral side. Because this plane is mostly avascular, bleeding can be a sign that the surgeon is developing the wrong plane. As soon as the right plane is found, it is developed further caudally until it joins the pubic bone and the pelvic floor and dorsally to the medial border of the internal iliac artery. The surface of the pubic bone medially to the external iliac vessels is freed.