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 (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 ...


2
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 ...


3
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 ...


4
Yulun Wang, Darrin Uecker, Keith P Laby, Jeff D Wilson, Charles S Jordan, James W Wright, Modjtaba Ghodoussi: Medical robotic arm that is attached to an operating table. Intuitive Surgical, Townsend and Townsend and Crew, August 1, 2006: US07083571 (317 worldwide citation)

A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with 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 to produce a correspo ...


5
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 ...


6
Yulun Wang, Darrin Uecker, Keith P Laby, Jeff D Wilson, Charles S Jordan, James W Wright, Modjtaba Ghodoussi: Method and apparatus for performing minimally invasive surgical procedures. Computer Motion, Mark D Barrish, Townsend & Townsend & Crew, March 2, 2004: US06699177 (241 worldwide citation)

A system for performing minimally invasive medical procedures. This system includes one or more robotic arms that can be attached to the operating table. The robotic arms can be controlled by input devices such as handles and a foot pedal to perform a minimally medical procedure.


7
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, Blakely Sokoloff Taylor & Zafman, December 28, 1999: US06007550 (160 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 ...


8
Yulun Wang, Darrin Uecker, Keith P Laby, Jeff D Wilson, Charles S Jordan, James W Wright, Modjtaba Ghodoussi: Method and apparatus for performing minimally invasive surgical procedures. Intuitive Surgical, Townsend and Townsend and Crew, Mark D Barrish, June 14, 2005: US06905460 (118 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, Darrin R Uecker, Charles S Jordan, James W Wright, Keith Phillip Laby, Jeff D Wilson: Method and apparatus for performing minimally invasive cardiac procedures. Intuitive Surgical, April 11, 2006: US07025064 (98 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 ...


10
Yulun Wang, Darrin Uecker, Keith P Laby, Jeff D Wilson, Charles S Jordan, James W Wright, Modjtaba Ghodoussi: Medical robotic system with different scaling factors. Intuitive Surgical, April 13, 2010: US07695481 (40 worldwide citation)

A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with 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 to produce a correspo ...