Robot-assisted surgery (RAS) has raised concerns within human-computer interaction, particularly regarding the socio-material configurations of robotic systems and their impact on surgical practices. To investigate these configurations in the context of the da Vinci robotic system, we used a research-through-design approach. Through this approach, we developed six Visual RAS (ViRAS) scenarios derived from RAS observations. These scenarios represent different configurations of interacting surgical team members and the robotic system in distinct adverse RAS events. In ViRAS-guided interviews with experienced RAS surgeons, we found that ViRAS scenarios help reflect on surgical practices and the specific material and spatial properties of RAS. Our findings indicated that the team’s cognitive engagement during surgery could be improved by providing sensory augmentation to facilitate task perception and individual skill development. Through our research, we show how ViRAS scenarios, as a tool for reflection, can reveal opportunities for designing socio-material configurations in RAS and beyond.