Remember, Medtronic is also Covidien and they have several patents. Interesting find tonight is that it appears Medtronic/Covidien bought the license to Mirosurge/DLR and they are said to be using several of their ideas into Medtronic’s new system. Both Titan and Mirosurge use the same controls “Force Dimension” Swiss co. as well. However, I’m still unsure what is what. ???????