· Co-Director, BioRobotics Lab, Stanford University2003–2016
· Professor, by Courtesy, Department of Mechanical Engineering, Stanford University2002–2017
· Professor (Research) of Computer Science and of Surgery (Anatomy), Emeritus, Stanford University2000–
· Acting Professor (Research), Stanford University1999–2000
· Visiting Scholar, Stanford University1999–1999
· Fellow and Scientific Advisor, Intuitive Surgical, Inc.1997–2003
· Lecturer, MIT1985–1991
· Senior Research Scientist, MIT1982–2000
· President and Founder, Salisbury Robotics, Inc.1982–1997
· PhD, Mechanical Engineering, Stanford University1982–
· MS, Mechanical Engineering, Stanford University1977–
· BS, Electrical Engineering, Stanford University1975–