1
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 (730 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 ...


2
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 (670 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 ...


3
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 (534 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 ...


4
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 (433 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 ...


5
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 (422 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 ...


6
Yulun Wang, Kenneth Grace, Darrin R Uecker, Sudipto Sur: Motion minimization and compensation system for use in surgical procedures. Computer Motion, Blakely Sokoloff Taylor & Zafman, October 26, 1999: US05971976 (229 worldwide citation)

A system for maintaining a substantially fixed distance between a localized surface of the heart and the distal end of a surgical device for use in endoscopic surgical procedures. The system comprises a stabilizer for minimizing localized motion of the heart in attached communication with a sensor f ...


7
James Wright, Hamid Wasti, Darrin R Uecker: Head cursor control interface for an automated endoscope system for optimal positioning. Computer Motion, Blakely Sokoloff Taylor & Zafman, June 8, 1999: US05911036 (212 worldwide citation)

An interface that allows a surgeon to remotely control surgical devices and conditions of an operation room. The surgeon views a video image that is displayed by a monitor. The monitor may be coupled to a video device such as a laparoscopic camera that is attached to the end of an endoscope. Static ...


8
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, December 14, 1999: US06001108 (192 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 ...


9
Yulun Wang, Charles S Jordan, Darrin R Uecker, Charles C Wooters: General purpose distributed operating room control system. Computer Motion, Irell & Manella, December 17, 2002: US06496099 (178 worldwide citation)

A medical system that can be used to perform a surgical procedure. The system includes a network gateway that can retrieve remotely located patient data and display the data on a monitor at the surgical site.


10
Gang Wang, Joseph F Hahn, Amante Mangaser, David B Roe, Charles P Steiner, Darrin R Uecker: Method and apparatus for accessing medical data over a network. The Cleveland Clinic Foundation, Intuitive Surgical, Fish & Richardson P C, June 28, 2005: US06911916 (172 worldwide citation)

A method and apparatus for retrieving, accessing, and storing medical data relating to a patient during a medical procedure. The invention provides a single interface to many disparate forms of medical data, which is accessible over a local area network, wide area network, direct connection, or comb ...