Intuitive Surgical updated their co-exclusive rights to certain of Hansen Medical‘s patent portfolio for a fee of $20 million. Intuitive also purchased $10 million of Hansen Medical’s stock.

The deal extends a 2005 agreement and adds Hansen patents filed subsequent to that date.

Hansen Medical provides a line of intravascular robotics products; Intuitive Surgical produces the da Vinci Surgical System.

Hansen Medical’s stock has been on a steady slide since its 2012 high of $3.90 in early February.