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| US5954731 | 29 Jul 1997 | 21 Sep 1999 | | Surgical instrument with multiple rotatably mounted spreadable end effectors |
| US5954733 | 22 Apr 1998 | 21 Sep 1999 | | Suturing instrument with rotatably mounted needle driver and catcher |
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| US6017358 | 1 May 1997 | 25 Jan 2000 | InBae Yoon | Surgical instrument with multiple rotatably mounted offset end effectors |
| US6080180 | 1 May 1997 | 27 Jun 2000 | | Surgical instrument with rotatably mounted offset end effector and method of using the same |
| US6086601 | 28 Apr 1999 | 11 Jul 2000 | | Instrument and method for suturing anatomical tissue and tying suture material |
| US6126651 | 11 Aug 1998 | 3 Oct 2000 | | Motorized motion-canceling suture tool holder |
| US6143005 | 1 May 1997 | 7 Nov 2000 | | Suturing instrument with rotatably mounted offset needle holder and method of using the same |
| US6214028 | 5 Aug 1999 | 10 Apr 2001 | InBae Yoon | Surgical instrument with multiple rotatably mounted offset end effectors and method of using the same |
| US6261307 | 5 May 2000 | 17 Jul 2001 | | Method of using surgical instrument with rotatably mounted offset end effector |
| US6277064 | 29 Dec 1998 | 21 Aug 2001 | | Surgical instrument with rotatably mounted offset endoscope |
| US7354443 | 25 Mar 2002 | 8 Apr 2008 | Karl Storz GmbH & Co. KG | Surgical suturing machine |
