The economics of the 10-yr ISRG JV are not great as many have learned - ISRG got a sweetheart deal - not much more than OEM cost for the Firefly equip and $200-250 to NVDQ on consumables. Nothing like what NVDQ makes going direct or w/ KCI/Lifecell. That said, benefit is the technology gets widely distributed and surgeons get familiarity with it for use in SPYElite + Pinpoint which is great.