The Virtuoso System has four main sub-components: the Surgeon Input Device, the Surgeon Workstation, the Endoscope/Motorpack, and the System Holding Arm. The first sub-component to reach “design freeze” is the Surgeon Input Device. Having the sub-component meet design freeze means that it is ready for final fabrication, testing, and submission to the Food & Drug Administration for approval. The remaining three sub-components are expected to reach their design-freeze milestones by the end of 2022.