"lack judgement,.. touch isn't as refined.., they're expensive,.. lack the ability to improvise.
But what you've built one of you can build hundreds (or 1000s) of.
Note that fact the laparoscopic robot could be used autonomously and has been around for 2 decades but is not allowed to be.
Surgeons are a well financed and well organized trade union (amongst other things) and most of them will fight this.
OTOH hospital administrators will be eyeing up massive (potential) reductions in malpractice insurance, 24/7/365 availability and better than average survival rates (I'm hearing an Austrian voice saying "BONES 1 performs first autonomous operation under supervision on August 3rd 20xx. It continues to operate with a perfect patient safety record for ten years. A decade later all hospitals have them installed. Surgical graduate numbers have dropped by ninety percent as they cannot perform to the standard set by the robot").
Personally I think the developers of these ideas have gone for grandiose visions which antagonize surgeons. It is an astonishingly complex environment to deal with.
A better approach IMHO would have been to identify sub tasks the surgeons would be happy to outsource, so they can get onto the next patient. Opening up and closing up come to mind. Assistance with placing,tracking and removing surgical equipment and consumables in the patient also come to mind, allowing a very small team to act like a much larger number of hands and eyes.
My instinct is it would be better if such robots could use conventional surgical instruments, but possibly not with conventional "hands," to ensure more precise translations and rotations. Then again keyhole surgery already uses specialized instruments the surgeon has limited direct control over.
I suspect, like human surgeons, surgical bots will specialize. Ideally they will share a common mounting (not necessarily in the floor) with different sizes depending on how heavy the work involved is will be. I can imaging the orthopedic 'bots being quite hefty, to cope with joint replacements, likewise heart operations for chest cracking. OTOH going for other major organs slimmer, lighter appendages would be possible.