# US 6,371,952 (USPTO)

Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity. Foundational EndoWrist wristed-instrument patent (Madhani & Salisbury) underpinning the da Vinci system's articulated minimally-invasive instruments.

## Key facts

- Jurisdiction: uspto
- Status: granted
- Number: US 6,371,952
- Grant date: 2002-04-16
- Verification posture: verified

## Parties (1)

- **assignee**: [Intuitive Surgical](/companies/intuitive-surgical.md) (verified)

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