Recently added a review about this to 2020s in computing, I think it probably needs quite a bit of time until this moves to practice (at least as much as the title implies):

>A review suggests only surgical robot platforms "that can effectively communicate their intent and explain their decisions to their human companions will find their way into the operating room of the future", defines levels of autonomy and suggests "positive evidence will soon emerge and build up" that would motivate "transition to clinical trials".