1
Yulun Wang, Darrin Uecker, Keith Laby, Jeff Wilson, Charles Jordan, James Wright, Modjtaba Ghodoussi: Method and apparatus for performing minimally invasive surgical procedures. Computer Motion, Irell & Manella, August 20, 2002: US06436107 (751 worldwide citation)

A surgical system that may include a remotely controlled surgical instrument. The surgical instrument may be coupled to a tool driver that can spin and actuate the instrument. The instrument may include an actuator rod that is coupled to an end effector and detachably connected to a push rod. The pu ...


2
Yulun Wang, Darrin R Uecker, Charles S Jordan, James W Wright, Keith Phillip Laby, Jeff D Wilson: Method and apparatus for performing minimally invasive cardiac procedures. Computer Motion, January 5, 1999: US05855583 (742 worldwide citation)

A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles ...


3
Yulun Wang, Keith P Laby, Darrin R Uecker, Amante A Mangaser, Modjtaba Ghodoussi: Automated endoscope system for optimal positioning. Computer Motion, Kenneth L Stein, March 2, 1999: US05878193 (680 worldwide citation)

A robotic system that moves a surgical instrument in response to the actuation of a control panel that can be operated by the surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly whic ...


4
Yulun Wang, Darrin R Uecker, Keith Phillip Laby, Jeff Wilson, Steve Jordan, James Wright: Method and apparatus for performing minimally invasive cardiac procedures. Computer Motion, Blakely Sokoloff Taylor & Zafman, June 9, 1998: US05762458 (539 worldwide citation)

A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles ...


5
Yulun Wang, Darrin R Uecker, Keith P Laby, Jeff D Wilson, Charles S Jordan, Modjtaba Ghodoussi, James W Wright: Method and apparatus for performing minimally invasive surgical procedures. Computer Motion, Irell & Manella, May 16, 2000: US06063095 (442 worldwide citation)

A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissues. The robotic arms are coupled to a pair of master handle ...


6
Yulun Wang, Darrin R Uecker, Charles S Jordan, James W Wright, Keith Phillip Laby, Jeff D Wilson, Modjtaba Ghoudoussi: Method and apparatus for performing minimally invasive cardiac procedures. Computer Motion, Irell & Manella, October 10, 2006: US07118582 (429 worldwide citation)

A medical system which has a robotic arm that can move a surgical instrument. The surgical instrument is coupled to a tool driver of the arm that allows for a quick connect and disconnect of the instrument. The system does not require any tools to attach the surgical instrument to the tool driver. T ...


7
Yulun Wang, Keith Phillip Laby: Automated endoscope system for optimal positioning. Computer Motion, Blakely Sokoloff Taylor & Zafman, May 25, 1999: US05907664 (325 worldwide citation)

A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assemb ...


8
Yulun Wang, Keith P Laby: Automated endoscope system for optimal positioning. Computer Motion, Blakely Sokoloff Taylor & Zafman, June 4, 1996: US05524180 (289 worldwide citation)

A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assemb ...


9
Yulun Wang, Darrin Uecker, Keith P Laby, Jeff D Wilson, Charles S Jordan, James W Wright, Modjtaba Ghodoussi: Medical robotic system. Computer Motion, Irell & Manella, August 15, 2000: US06102850 (288 worldwide citation)

The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to pr ...


10
Yulun Wang, Keith Phillip Laby: Automated endoscope system optimal positioning. Computer Motion, Blakely Sokoloff Taylor & Zafman, August 12, 1997: US05657429 (285 worldwide citation)

A robotic system that moves a surgical instrument in response to the actuation of a control panel that can be operated by a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which ...