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  <xs:element id="isrg_LongLivedAssetsMaintainedInTheUnitedStatesPercent" abstract="false" name="LongLivedAssetsMaintainedInTheUnitedStatesPercent" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:percentItemType"/>
  <xs:element id="isrg_EquipmentAndFurnitureMember" abstract="true" name="EquipmentAndFurnitureMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_EnterpriseWideSoftwareMember" abstract="true" name="EnterpriseWideSoftwareMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_PurchasedSoftwareMember" abstract="true" name="PurchasedSoftwareMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_HighCreditRatingMember" abstract="true" name="HighCreditRatingMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_ModerateCreditRatingMember" abstract="true" name="ModerateCreditRatingMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
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  <xs:element id="isrg_CashandCashEquivalentsandDebtSecuritiesAvailableforsaleAmortizedCost" abstract="false" name="CashandCashEquivalentsandDebtSecuritiesAvailableforsaleAmortizedCost" nillable="true" xbrli:periodType="instant" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_CashandCashEquivalentsandDebtSecuritiesAvailableforsaleFairValue" abstract="false" name="CashandCashEquivalentsandDebtSecuritiesAvailableforsaleFairValue" nillable="true" xbrli:periodType="instant" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_EquitySecuritiesWithoutReadilyDeterminableFairValueUnrealizedGainLoss" abstract="false" name="EquitySecuritiesWithoutReadilyDeterminableFairValueUnrealizedGainLoss" nillable="true" xbrli:periodType="duration" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
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  <xs:element id="isrg_ScheduleOfAvailableForSaleAndHeldToMaturitySecuritiesDomain" abstract="true" name="ScheduleOfAvailableForSaleAndHeldToMaturitySecuritiesDomain" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_IntangibleAndOtherAssetsNetMember" abstract="true" name="IntangibleAndOtherAssetsNetMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_FairValueLevel2RollForward" abstract="true" name="FairValueLevel2RollForward" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:stringItemType"/>
  <xs:element id="isrg_EquitySecuritiesWithoutReadilyDeterminableFairValueSalesPurchasesAndOtherAdjustments" abstract="false" name="EquitySecuritiesWithoutReadilyDeterminableFairValueSalesPurchasesAndOtherAdjustments" nillable="true" xbrli:periodType="duration" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_TradeAccountsReceivableCurrent" abstract="false" name="TradeAccountsReceivableCurrent" nillable="true" xbrli:periodType="instant" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_UnbilledReceivablesAndOtherReceivablesCurrent" abstract="false" name="UnbilledReceivablesAndOtherReceivablesCurrent" nillable="true" xbrli:periodType="instant" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_SalesReturnsAndAllowances" abstract="false" name="SalesReturnsAndAllowances" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_SalesTypeLeaseNetInvestmentInLeaseCurrent" abstract="false" name="SalesTypeLeaseNetInvestmentInLeaseCurrent" nillable="true" xbrli:periodType="instant" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_ComputerAndOfficeEquipment" abstract="false" name="ComputerAndOfficeEquipment" nillable="true" xbrli:periodType="instant" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_InstrumentsandAccessoriesMember" abstract="true" name="InstrumentsandAccessoriesMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_SystemsMember" abstract="true" name="SystemsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_VariableLeaseRevenueUsageBasedArrangementsMember" abstract="true" name="VariableLeaseRevenueUsageBasedArrangementsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_SalesTypeLeaseGrossInvestmentInLease" abstract="false" name="SalesTypeLeaseGrossInvestmentInLease" nillable="true" xbrli:periodType="instant" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_SalestypeLeaseDeferredSellingProfit" abstract="false" name="SalestypeLeaseDeferredSellingProfit" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_DaVinciAndIonDistributionMember" abstract="true" name="DaVinciAndIonDistributionMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_PaymentsForAssetAcquisitions" abstract="false" name="PaymentsForAssetAcquisitions" nillable="true" xbrli:periodType="duration" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_CommonStockRepurchaseProgramMember" abstract="true" name="CommonStockRepurchaseProgramMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_AggregateReductionInCommonStockDuringStockRepurchases" abstract="false" name="AggregateReductionInCommonStockDuringStockRepurchases" nillable="true" xbrli:periodType="duration" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_AmountChargedToRetainedEarningsDuringStockRepurchases" abstract="false" name="AmountChargedToRetainedEarningsDuringStockRepurchases" nillable="true" xbrli:periodType="duration" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_A2010IncentiveAwardPlanMember" abstract="true" name="A2010IncentiveAwardPlanMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_AmendedAndRestatedTwentyTenStockIncentivePlanMember" abstract="true" name="AmendedAndRestatedTwentyTenStockIncentivePlanMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_AmendedAndRestatedTwentyZeroNineStockIncentivePlanMember" abstract="true" name="AmendedAndRestatedTwentyZeroNineStockIncentivePlanMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_TwoThousandNonEmployeeDirectorsStockOptionPlanMember" abstract="true" name="TwoThousandNonEmployeeDirectorsStockOptionPlanMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_TwoThousandEmployeeStockPurchasePlanMember" abstract="true" name="TwoThousandEmployeeStockPurchasePlanMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_AnnualGrantOptionsMember" abstract="true" name="AnnualGrantOptionsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_NewHireOptionsMember" abstract="true" name="NewHireOptionsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_InitialGrantOptionsMember" abstract="true" name="InitialGrantOptionsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_PerformanceShareUnitsPSUsMember" abstract="true" name="PerformanceShareUnitsPSUsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_NonvestedStockOptionMember" abstract="true" name="NonvestedStockOptionMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_EmployeeMember" abstract="true" name="EmployeeMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_FebruaryGrantMember" abstract="true" name="FebruaryGrantMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_AugustGrantMember" abstract="true" name="AugustGrantMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_ShareBasedCompensationArrangementByShareBasedPaymentAwardNumberOfMilestones" abstract="false" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardNumberOfMilestones" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:integerItemType"/>
  <xs:element id="isrg_StockOptionsGrantedInitialVestingPeriod" abstract="false" name="StockOptionsGrantedInitialVestingPeriod" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:durationItemType"/>
  <xs:element id="isrg_MinimumHoursEmployedPerWeekToParticipateInEmployeeStockPurchasePlan" abstract="false" name="MinimumHoursEmployedPerWeekToParticipateInEmployeeStockPurchasePlan" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:durationItemType"/>
  <xs:element id="isrg_MinimumMonthsEmployedPerYearToParticipateInEmployeeStockPurchasePlan" abstract="false" name="MinimumMonthsEmployedPerYearToParticipateInEmployeeStockPurchasePlan" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:durationItemType"/>
  <xs:element id="isrg_MaximumPercentageOfEmployeesOnStockholdersToParticipateInEmployeeStockPurchasePlan" abstract="false" name="MaximumPercentageOfEmployeesOnStockholdersToParticipateInEmployeeStockPurchasePlan" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:percentItemType"/>
  <xs:element id="isrg_MaximumPercentageOfPayrollDeductionUnderEspp" abstract="false" name="MaximumPercentageOfPayrollDeductionUnderEspp" nillable="true" xbrli:periodType="instant" substitutionGroup="xbrli:item" type="dtr-types:percentItemType"/>
  <xs:element id="isrg_OfferingPeriodEmployeeStockPurchasePlans" abstract="false" name="OfferingPeriodEmployeeStockPurchasePlans" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:durationItemType"/>
  <xs:element id="isrg_OfferingPeriodNumberofPurchasePeriodsOfferingDividedIntoEmployeeStockPurchasePlans" abstract="false" name="OfferingPeriodNumberofPurchasePeriodsOfferingDividedIntoEmployeeStockPurchasePlans" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:integerItemType"/>
  <xs:element id="isrg_OfferingPeriodPeriodOfferingDividedIntoEmployeeStockPurchasePlans" abstract="false" name="OfferingPeriodPeriodOfferingDividedIntoEmployeeStockPurchasePlans" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:durationItemType"/>
  <xs:element id="isrg_PeriodofLookBackThatCouldCauseOfferingPeriodtoResetEmployeeStockPurchasePlans" abstract="false" name="PeriodofLookBackThatCouldCauseOfferingPeriodtoResetEmployeeStockPurchasePlans" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:durationItemType"/>
  <xs:element id="isrg_SharebasedCompensationArrangementbySharebasedPaymentAwardEquityInstrumentsOtherthanOptionsExpectedtoVestNumber" abstract="false" name="SharebasedCompensationArrangementbySharebasedPaymentAwardEquityInstrumentsOtherthanOptionsExpectedtoVestNumber" nillable="true" xbrli:periodType="instant" substitutionGroup="xbrli:item" type="xbrli:sharesItemType"/>
  <xs:element id="isrg_ShareBasedCompensationArrangementByShareBasedPaymentAwardActualUnitsEarnedPercentageOfTargetUnits" abstract="false" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardActualUnitsEarnedPercentageOfTargetUnits" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:percentItemType"/>
  <xs:element id="isrg_ShareBasedCompensationArrangementByShareBasedPaymentAwardEquityInstrumentsOtherThanOptionsPerformanceChange" abstract="false" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardEquityInstrumentsOtherThanOptionsPerformanceChange" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:sharesItemType"/>
  <xs:element id="isrg_ShareBasedCompensationArrangementByShareBasedPaymentAwardEquityInstrumentsOtherThanOptionsPerformanceChangeWeightedAverageGrantDateFairValue" abstract="false" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardEquityInstrumentsOtherThanOptionsPerformanceChangeWeightedAverageGrantDateFairValue" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:perShareItemType"/>
  <xs:element id="isrg_ShareBasedCompensationArrangementByShareBasedPaymentAwardOptionsWeightedAverageExercisePriceAbstract" abstract="true" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardOptionsWeightedAverageExercisePriceAbstract" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:stringItemType"/>
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  <xs:element id="isrg_RangeTwoMember" abstract="true" name="RangeTwoMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_RangeThreeMember" abstract="true" name="RangeThreeMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_RangeFourMember" abstract="true" name="RangeFourMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_RangeFiveMember" abstract="true" name="RangeFiveMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_RangeSixMember" abstract="true" name="RangeSixMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_RangeSevenMember" abstract="true" name="RangeSevenMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_RangeEightMember" abstract="true" name="RangeEightMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_RangeNineMember" abstract="true" name="RangeNineMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_RangeTenMember" abstract="true" name="RangeTenMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_CostOfSalesProductsAxis" abstract="true" name="CostOfSalesProductsAxis" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrldt:dimensionItem" type="xbrli:stringItemType"/>
  <xs:element id="isrg_CostOfSalesProductsDomain" abstract="true" name="CostOfSalesProductsDomain" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_CapitalizedIntoInventoryMember" abstract="true" name="CapitalizedIntoInventoryMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_SellingGeneralAndAdministrativeMember" abstract="true" name="SellingGeneralAndAdministrativeMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_ResearchAndDevelopmentMember" abstract="true" name="ResearchAndDevelopmentMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_ConsolidatingReportingAxis" abstract="true" name="ConsolidatingReportingAxis" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrldt:dimensionItem" type="xbrli:stringItemType"/>
  <xs:element id="isrg_ConsolidatingReportingDomain" abstract="true" name="ConsolidatingReportingDomain" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_CostOfSalesProductMember" abstract="true" name="CostOfSalesProductMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_CostOfSalesServiceMember" abstract="true" name="CostOfSalesServiceMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_ResearchTaxCreditCarryforwardStateMember" abstract="true" name="ResearchTaxCreditCarryforwardStateMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
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  <xs:element id="isrg_DeferredTaxAssetsTaxCreditCarryforwardsSwissTaxCredits" abstract="false" name="DeferredTaxAssetsTaxCreditCarryforwardsSwissTaxCredits" nillable="true" xbrli:periodType="instant" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_SwitzerlandCantonalMember" abstract="true" name="SwitzerlandCantonalMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_EffectiveIncomeTaxRateReconciliationExcessTaxBenefitAmount" abstract="false" name="EffectiveIncomeTaxRateReconciliationExcessTaxBenefitAmount" nillable="true" xbrli:periodType="duration" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_EffectiveIncomeTaxRateReconciliationExcessTaxBenefitPercent" abstract="false" name="EffectiveIncomeTaxRateReconciliationExcessTaxBenefitPercent" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:percentItemType"/>
  <xs:element id="isrg_EffectiveIncomeTaxRateReconciliationUnrecognizedTaxExpenseBenefitShareBasedPaymentArrangement" abstract="false" name="EffectiveIncomeTaxRateReconciliationUnrecognizedTaxExpenseBenefitShareBasedPaymentArrangement" nillable="true" xbrli:periodType="duration" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_IncomeTaxReconciliationUnrecognizedTaxBenefitsReductionsResultingFromLapseOfApplicableStatuteOfLimitations" abstract="false" name="IncomeTaxReconciliationUnrecognizedTaxBenefitsReductionsResultingFromLapseOfApplicableStatuteOfLimitations" nillable="true" xbrli:periodType="duration" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_DeferredTaxAssetsOperatingLeaseLiability" abstract="false" name="DeferredTaxAssetsOperatingLeaseLiability" nillable="true" xbrli:periodType="instant" xbrli:balance="debit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="isrg_DeferredTaxLiabilitiesRightOfUseAsset" abstract="false" name="DeferredTaxLiabilitiesRightOfUseAsset" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
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  <xs:element id="isrg_BrianE.MillerPh.D.RuleTradingArrangementCommonStockMember" abstract="true" name="BrianE.MillerPh.D.RuleTradingArrangementCommonStockMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="isrg_BrianE.MillerPh.D.RuleTradingArrangementStockOptionsMember" abstract="true" name="BrianE.MillerPh.D.RuleTradingArrangementStockOptionsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
</xs:schema>
