For the da Vinci Xi Firefly^TM endoscope platform (Intuitive Surgical Inc., Sunnyvale, California, USA), henceforth called System 1, a 736nm NIR laser excitation source was used and emission signals were collected from 600-900nm. The VisionSense Iridium^TM exoscope system (VisionSense, Philadelphia, Pennsylvania, USA), henceforth called System 2, has demonstrated high NIR sensitivity in prior studies⁶and uses a 785nm laser excitation source and a high-sensitivity NIR camera with an 800-835nm filter. Real-time videos were captured in 720p and displayed at 1080p.