The times are skin to skin in the NIH article, not just the cut times. If you want to compare apples to apples, Senhance total hysterectomy times are about the same. It will also depend on how many procedures the surgeon has under his/her belt with whatever system is being used. The surgeon in the video you posted is excellent as the instruments move like it is part of her body, and she can probably do origami with her skills.
I agree wrt articulation, that the DV is more human like. However, with cables, you are limited on miniaturization and IMO Xi instruments are at limit. IMO Senhance articulation is good enough to address many procedures. DV will still be best for prostate, the other CEO has said so and stated in a conference call that if he had to undergo prostate resection, he would pick DV. The software change I wrote about is mostly regarding human motion vs lap motion.
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