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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.