https://connect.mayoclinic.org/discussion/good-video-on-rarp-and-nerve-sparing/
Good video on anatomy of prostate, encapsulating layers, nerves, and some goals of nerve-sparing surgery.

My Surgeon has indicated:

-In Surgery, Surgeon cannot tell the difference in cancer cells and normal prostate tissue.

-Surgeon is trying to peel away prostate from wall (like in the video). Again, without being able to distinguish between cancer cells and normal cells. Surgeon has to use MRI, Biopsy, and how the prostate peels away during surgery, etc to decide how much to cut out.

-Watching the video reminds me of the joke of Why the surgeon charges more per hour than the auto mechanic.

Mechanic says he works on very complicated equipment similar to the surgeon.

Surgeon says, try changing a starter thru the muffler with the engine still running.

Amazing how skilled surgeons operate the robotic attachments.

Best wishes.