It VERY frustrating! I have used it for doing lap choles. It's also the same thing used in Sandmans clip for SS hysterectomy. The set up can be longer than doing the lap chole. The DaVinci Si was never designed for SS and it has very limited range of motion. Imagine trying to tie your shoes with your wrists tied together. It was kind of cool being the first surgeon to do a SS robotic cholecystectomy in the hospital but after a while I didn't think it was worth the time and effort when I could do the same surgery in a fraction of the time with three small incisions. Now I will only do it if a thin young patient is very concerned about cosmesis.
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