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To clarify a bit Scott, the tube from the catheter was long enough to go out the bottom of my seat pants for the night bag. The day bag was taped to my leg. You can not even tell there is a catheter or bag present when wearing the small day bag. I was able to walk around the neighborhood daily.
There is a list of useful items for RP on the Yana site at http://www.yananow.net/rprx.htm This might include items that are not strictly speaking neccesssary for a Da Vinci procedure, but I hope you find it helpful.
Long time survivor wrote a humorous but useful guide to handling a Catheter which you can read at http://www.yananow.net/Catheter.htm
I wore boxers while the catheter was in, and boxer briefs for another couple of weeks after that (found them more comfortable than briefs). I slept in boxers only because of the large overnight bag (which I stored in a clean garbage pail on the floor next to the bed). During the day I wore sweatpants for the most part since my surgery was in winter but I think flannel sleep pants would be very good as well. Just make sure that your sweatpants cuff is stretchy enough to pull out by around 2-3" along one side so you can pull it up to empty the small bag.