Question: when was the da vinci surgical system created
[{'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.'}]}]