Your question is Preventing Priority Inversion in RTOS. Take a moment with it on the right.
Talk me through your thinking if you like. When you're confident, submit your answer and I'll grade it like a real screen (7/10 or better passes).
Explain the concept of priority inversion in an RTOS like QNX or Embedded Linux, and describe how you would prevent it for Intuitive Surgical.
Keep your answer focused on how the inversion happens, why it is dangerous in real-time control paths, and which synchronization or scheduling mechanisms you would use to avoid it.