Question: when was the da vinci robot first used
[{'answer': '2000', 'provenance': [{'wikipedia_id': '18005554', 'title': 'Da Vinci Surgical System', 'start_paragraph_id': 1, 'start_character': 161, 'end_paragraph_id': 1, 'end_character': 165, 'bleu_score': 1.0, 'section': 'Section::::Abstract.'}]}, {'provenance': [{'wikipedia_id': '18005554', 'title': 'Da Vinci Surgical System', 'start_paragraph_id': 1, 'start_character': 0, 'end_paragraph_id': 1, 'end_character': 620, 'bleu_score': 0.980097014099621, 'meta': {'yes_no_answer': 'NONE', 'annotation_id': 10048572092305525243}, 'section': 'Section::::Abstract.'}]}]