Credit to timesyours. Check out this patent by fowler and Columbia. Granted July 19 2016. Is this what will make the procedure referenced by the world leading liver surgeon possible? http://pdfpiw.uspto.gov/.piw?Docid=09393076&homeurl=http%3A%2F%2Fpatft.uspto.gov%2Fnetacgi%2Fnph-Parser%3FSect1%3DPTO2%2526Sect2%3DHITOFF%2526p%3D1%2526u%3D%25252Fnetahtml%25252FPTO%25252Fsearch-bool.html%2526r%3D2%2526f%3DG%2526l%3D50%2526co1%3DAND%2526d%3DPTXT%2526s1%3D%252522Columbia%252BUniversity%252522%2526s2%3DRobotic%2526OS%3D%252522Columbia%252BUniversity%252522%252BAND%252BRobotic%2526RS%3D%252522Columbia%252BUniversity%252522%252BAND%252BRobotic&PageNum=&Rtype=&SectionNum=&idkey=NONE&Input=View+first+page