Intraoperative fluorescence imaging (IFI) is the usage of a fluorescence-emitting contrast agent with a companion imaging system to enhance and improve a surgeon’s ability to better perform an operation. Indocyanine green (ICG), is the most commonly used fluorescent agent. ICG use in robotic surgery has expanded over the past decade. The ability to provide live, on-site imaging of critical anatomy has led to expansion of its use into many realms of robotic thoracic surgery. Pulmonary parenchymal mapping during lung resection, and vascular perfusion of the gastric conduit during esophagectomy, are just a few of its vital uses and has led to refinements in surgical technique and improved surgical outcomes.