Systems and methods for mapping a cavernous nerve near an organ. The system includes: one or more processors; and a memory that is communicatively coupled to the one or more processors and stores one or more sequences of instructions, which when executed by one or more processors causes steps to be performed comprising: applying an excitation signal to an electrode at a tip of an laparoscope, the tip being configured to contact a point on a tissue near an organ; responsive to the excitation signal, measuring a change in a signal from a pair of electrodes configured to be installed on the penis, the change in the signal being associated with an erectile function of the penis; and based on the change in the signal from the pair of electrodes, determining a distance between the point on the tissue and a cavernous nerve near the organ.