Fig. 2

The pictures of operation. a Port placement of minimal invasive IUR. b Intraoperative navigation by 3D models in robotic surgery; c the length of the ileal segment was measured; d the side-to-side anastomosis was created at the edge of the anti-mesentery by a linear stapler; e the anti-reflux nipple valve was made; f ileovesical anastomosis; g schematic diagram of the anti-reflux nipple valve