We report herein the pre-clinical development of a novel minibody against Prostate Membrane-Specific Antigen (PSMA), and its first-in-man use after conjugation with the fluorophore IRDye800CW-NHS ester, coupled with an in-house optical system developed to image simultaneously NIR and white light in an attempt to image extra-prostatic cancer cells during RARP. Here, FOLH1 is linked to prostate carcinoma.