If you look back in one of my posts last week I mentioned that intuitive did not need to do human clinical trials on their new SP. They were able to use their original SP device, mostly the software as a predicate. They only were required to do bench trials, cadavers, human factor modeling, and porcine surgeries. What I am not sure is would FDA look at Titans software as needing further evaluation in human trials to verify safety, etc. Let's hope not. That could significantly move up the timelines.