There was even a short paper published in the Journal of Surgical Endoscopy (DOI 10.1007/s00464-007-9416-4). Here's a brief excerpt:
We prepared square sheets of paper (2 cm by 2 cm), and folded crane origami using the da Vinci surgical system. Scaling was kept constant, as ‘‘ultra ﬁne’’ mode, throughout the maneuver with zero degree scope of 10 times magniﬁcation, and EndoWrist black diamond forceps were mounted on both robotic arms. Folding of the crane origami was done in the same way as in the traditional Japanese manual method. The time to successful completion and all maneuvers were recorded. On the ﬁrst two occasions we failed to fold the origami because we tore the paper. The third trial was successful, the total folding time being 23 minutes.