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, 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 ...


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 (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 ...


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, 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 ...


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, 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 ...


6
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, Irell & Manella, June 12, 2001: US06244809 (136 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 ...


7
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 (93 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 R Uecker, Keith Phillip Laby, Jeff Wilson, Steve Jordan, James Wright: Method and apparatus for performing minimally invasive cardiac procedures. Intuitive Surgical, July 11, 2006: US07074179 (72 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 R Uecker, Keith Phillip Laby, Jeff Wilson, Steve Jordan, James Wright: Method and apparatus for performing minimally invasive cardiac procedures. Intuitive Surgical, Townsend&Townsend, February 7, 2006: US06994703 (65 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 R Uecker, Keith Phillip Laby, Jeff Wilson, Steve Jordan, James Wright: Method and apparatus for performing minimally invasive cardiac procedures. Intuitive Surgical, Townsend and Townsend and Crew, April 11, 2006: US07027892 (45 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 ...