Flesh & Bones, the online newsletter of National Museum of Health and Medicine, Wash. DC, writes in their August-September 2005-issue:
National Museum of Health and Medicine announces the opening of its newest exhibition: “Penelope: The World’s First Autonomous, Vision-guided, Intelligent, Robotic, Surgical Instrument Server.” A robotic scrub nurse assistant with speech recognition, machine vision, and robotic arm path planning and targeting, Penelope was developed by Robotic Surgical Tech, Inc., a Columbia University spin-out enterprise … Penelope is comprised of 4 major hardware and software components: the robotic arm, the instrument platform, the system stand and the system control software.
Read more.: http://www.nmhm.washingtondc.museum/news/robotic_surgical.html
