Document:

Amendment to Secured Promissory Note and Payoff Letter

 Exhibit 10.78 
 AMENDMENT TO SECURED PROMISSORY NOTE AND 
 PAYOFF LETTER 

This Amendment to Secured Promissory Note and Payoff Letter (the “Amendment and Payoff Letter”) is entered into
effective as of May 18, 2011 (the “Effective Date”), by and between Luna Innovations Incorporated, a Delaware corporation and Luna Technologies, Inc., a Delaware corporation (individually and collectively, called the
“Borrower”) and Hansen Medical, Inc., a Delaware corporation (the “Lender”). 
 RECITALS

 A. Borrower issued to Lender a Secured Promissory Note dated January 12, 2010 in the principal amount of $5,000,000
(the “Note”). Borrower’s obligations under the Note are secured by certain collateral described in the Security Agreement (the “Security Agreement”) and Patent and Trademark Security Agreement (the “IP
Security Agreement”), each dated January 12, 2010. Capitalized terms not otherwise defined herein shall have the meanings given in the Note, the Security Agreement, or the IP Security Agreement, as applicable. 

B. As of the date hereof, the outstanding principal balance on the Note is $3,230,017.09, and the outstanding interest on the Note is
$14,330.98. 
 C. Lender has agreed to a discount on the Note in the amount of $190,000 to be applied against the outstanding
principal balance and accrued interest. 
 D. Borrower desires to pre-pay the remaining amounts due under the Note, after
applying the foregoing discount. 
 E. Contemporaneously with this Amendment and Payoff Letter, Borrower and Lender are entering
into an Amendment No. 3 to Development and Supply Agreement (the “Amendment”). The Amendment is contingent upon Borrower and Lender entering into this Amendment and Payoff Letter and Borrower making the payments to Lender set
forth below. 
 In consideration for the foregoing and for the mutual promises set forth below, Borrower and Lender agree as
follows: 
 AGREEMENT 
 1. Within four business days of the Effective Date, Borrower shall pay to Lender to the account specified on Exhibit A to the Note the amount of $3,054,348.07 (comprised of ((a) $3,230,017.09 (outstanding
principal balance), plus (b) 14,330.98, minus (c) $190,000.00 (the discount)), in immediately available funds, in full satisfaction of Borrower’s Obligations under the Note (the “Final Payment”).

 2. Upon receipt of the Final Payment in accordance with the preceding paragraph, (a) all amounts owing under the Note,
Security Agreement and IP Security Agreement shall have 

 
been paid in full, (b) Borrower shall have no further Obligations to Lender under the Note and all obligations, liabilities, covenants and agreements of Borrower, under or in connection with
the Note, Security Agreement and IP Security Agreement shall be terminated and canceled and are of no further force and effect, (c) all of Lender’s security interest in, security titles to and other liens on all real and personal assets
and property of Borrower shall be terminated automatically without any further action, (d) Borrower, and their attorneys and agents, are authorized to (1) file UCC-3 Termination Statements for each of the UCC-1 Financing Statements
previously filed by Lender against Borrower, (2) file releases of security interest in patents and trademarks previously filed with the United States Patent and Trademark Office, and(3) take such other action to release and terminate the
security interests and liens in favor of Lender, and (e) Lender shall promptly execute and deliver to each Borrower such documents and instruments reasonably requested by such Borrower as shall be necessary to evidence termination of all
security interests given by such Borrow to Lender under the Security Agreement or the IP Security Agreement. 
 3. This
Amendment and Payoff Letter shall be governed by the laws of the State of Delaware, without regard to conflicts of laws, or applicable federal laws as to a particular subject where federal law governs. 

4. This Amendment and Payoff Letter represents the entire agreement of the parties with respect to the subject matter hereof, and mergers
all prior agreements, whether written or oral. This Amendment and Payoff Letter will terminate and have no force or effect if the Final Payment is not received by Lender on or before four business days of the Effective Date. This Amendment and
Payoff Letter may be executed in one or more counterparts, each of which shall be an original and all of which taken together shall constitute one and the same instrument. 
 [Remainder of Page Left Intentionally Blank] 

 IN WITNESS WHEREOF, the parties hereto have duly executed this Amendment and Payoff Letter,
as of the date first above written. 

			
	Luna Innovations Incorporated
		
	By:	 	 /s/ My E. Chung

		 	 Name: My E. Chung
 Title:
President + CEO

  

			
	 One Riverside Circle, Suite 400
 Roanoke, VA 24016

	
	
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	Luna Technologies, Inc. 
		
	By:	 	 /s/ Scott A. Graeff

		 	 Name: Scott A. Graeff

Title: President

  

			
	 One Riverside Circle, Suite 400
 Roanoke, VA 24016

	
	
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	Hansen Medical, Inc.
		
	By:	 	 /s/ Bruce J Barclay

		 	 Name: Bruce J Barclay

Title: President and CEO

  

	
	 800 East Middlefield Road

Mountain View, CA 94043

	
	
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 Exhibit A 
 Hansen Wire InstructionsTermination of Security Interest in Trademarks and Patents

 Exhibit 10.79 
 TERMINATION OF SECURITY INTEREST IN TRADEMARKS AND PATENTS 
 WHEREAS, Luna
Innovations Incorporated, a Delaware corporation with its principal place of business at 2851 Commerce Street, Blacksburg, VA 24060 (the “Grantor”), is the owner of record of the trademarks and applications listed on the
attached Exhibit A, now issued or pending in the United States Patent and Trademark Office (the “Trademarks”); and is the owner of record of the patents and patent applications listed on the attached Exhibit B, now
issued or pending in the United States Patent and Trademark Office (the “Patents”); and 
 WHEREAS, the Grantor
entered into that certain Security Agreement dated as of January 12, 2010 (the “Security Agreement”), between the Grantor and Hansen Medical, Inc., (“Secured Party”), a true and correct copy of
which was recorded by the United States Patent and Trademark Office on January 14, 2010, at Ree14131, Frame 0984; 

WHEREAS, the Secured Party desires to release its security interest in the Trademarks and Patents and terminate the Security Agreement;

 NOW, THEREFORE, for good and valuable consideration, receipt of which is hereby acknowledged, Secured Party hereby:

 1. releases and reassigns to the Grantor any and all liens, security interests, right, title and interest of Secured Party
pursuant to the Security Agreement in the trademarks and applications more fully described on Exhibit A, without recourse or representation or warranty, express or implied; and 

2. releases and reassigns to the Grantor any and all liens, security interests, right, title and interest of Secured Party pursuant to
the Security Agreement in the patents and applications more fully described on Exhibit B, without recourse or representation or warranty, express or implied; and 
 3. authorizes and requests the Commissioner of Patents and Trademarks of the United States of America to note and record the existence of the release hereby given. 

IN WITNESS WHEREOF, Secured Party has caused this Termination of Security Interest in Trademarks and Patents to be signed by its duly
authorized representative as of this 18th day of May 2011. 
  

			
	 Secured Party:
  

Hansen Medical, Inc.

		
	By:	 	/s/ Bruce J Barclay
		
	Name:	 	Bruce J Barclay
		
	Title:	 	President and CEOOffer Letter by and between the Registrant and Peter Mariani

 Exhibit 10.80 
 May 27, 2011 
 Peter J. Mariani 
 Dear Pete: 
 Hansen Medical, Inc. (the “Company”) is pleased to offer
you employment on the following terms: 
 1. Position. Your title will be Chief Financial Officer. This position will report to the
Company’s President and Chief Executive Officer. This is a full-time position contingent upon successful completion of a background and references check. While you render services to the Company, you will not engage in any other employment~
consulting or other business activity (whether full-time or part-time) that would create a conflict of interest with the Company. By signing this letter agreement, you confirm to the Company that you have no contractual commitments or other legal
obligations that would prohibit you from performing your duties for the Company. 
 2. Cash/Stock Compensation. The Company will pay you
a starting salary of $270,000 per year, payable in accordance with the Company’s standard payroll schedule. Your compensation will be reviewed annually and will be subject to adjustment pursuant to the Company’s employee compensation
policies in effect from time to time. In addition, you will be eligible to participate on a pro rated basis in our 2011 incentive bonus program, consisting of performance-contingent restricted stock units granted under the Company’s 2006 Equity
Incentive Plan (the “Plan”). In this regard, you will be granted 36,000 restricted stock units pro rated for the portion of the year that you are employed (i.e., if you commence employment on June 20,2011, you would be granted 19,134
restricted stock units) that will vest in early 2012 to the extent our existing corporate (75%) and departmental (25%) milestones are successfully achieved. These performance restricted stock units will be subject to the terms and
conditions applicable to restricted stock unit awards granted under the Plan, as described in the Plan and the applicable Restricted Stock Unit Award Agreement. Finally, you will be eligible for an additional payment of $100,000 to assist you with
housing and relocation expenses incurred in connection with relocating to the San Francisco Bay Area, payable in 24 equal installments over the course of your first year as an employee in accordance with the Company’s standard payroll
procedures. Accordingly, no actual expenses related to your commute or relocation based on your current residence will be reimbursed by the Company. You will be expected to move to the San Francisco Bay Area with your family by the end of July,
2012, and should you voluntarily resign before then all of this additional payment shall be immediately repaid to the Company. 
 3. Employee
Benefits. As a regular employee of the Company, you will be eligible to participate in a number of Company-sponsored benefits. In addition, you will be entitled to four weeks paid vacation in accordance with the Company’s vacation policy,
as currently in effect. 
  

 Peter Mariani 
 May 27, 2011 
  Page
 2
 
  

 4. Stock Options. Subject to the approval of the Company’s Board of Directors or its
Compensation Committee, you will be granted an option to purchase 360,000 shares of the Company’s Common Stock. The exercise price per share will be equal to the fair market value per share on the date the option is granted. 

The Company intends to grant the option as an “inducement grant” (within the meaning of Nasdaq Marketplace Rule 5635(c)(4)). While the option
will be granted outside of the Company’s 2006 Equity Incentive Plan, the other terms and conditions applicable to the option will be consistent with those applicable to options granted under that Plan, as described in the applicable Stock
Option Agreement. You will vest in 25% of the option shares after 12 months of continuous service, and the balance will vest in equal monthly installments over the next 36 months of continuous service, as described in the applicable Stock Option
Agreement. 
 5. Retention Agreement. The Company will offer you the opportunity to enter into a Retention Agreement in the form of the
document attached hereto as Exhibit A. 
 6. Proprietary Information and Inventions Agreement. Like all Company employees, you will be
required, as a condition of your employment with the Company, to sign the Company’s standard Proprietary Information and Inventions Agreement, a copy of which is attached hereto as Exhibit B. 

7. Employment Relationship. Employment with the Company is for no specific period of time. Your employment with the Company will be “at
will,” meaning that either you or the Company may terminate your employment at any time and for any reason, with or without cause. Any contrary representations that may have been made to you are superseded by this letter agreement. This is the
full and complete agreement between you and the Company on this term. Although your job duties, title, compensation and benefits, as well as the Company’s personnel policies and procedures, may change from time to time, the “at will”
nature of your employment may only be changed in an express written agreement signed by you and a duly authorized officer of the Company (other than you). 
 8. Taxes. All forms of compensation referred to in this letter agreement are subject to reduction to reflect applicable withholding and payroll taxes and other deductions required by law. You are
encouraged to obtain your own tax advice regarding your compensation from the Company. You agree that the Company does not have a duty to design its compensation policies in a manner that minimizes your tax liabilities, and you will not make any
claim against the Company or its Board of Directors related to tax liabilities arising from your compensation. 
 9. Interpretation,
Amendment and Enforcement. This letter agreement and Exhibits A and B constitute the complete agreement between you and the Company, contain all of the terms of your employment with the Company and supersede any prior agreements, representations
or understandings(whether written, oral or implied) between you and the Company. This letter agreement may not be amended or modified, except by an express written agreement signed by both you and a duly authorized officer of the Company. The terms
of this letter agreement and the resolution of any disputes as to the meaning, effect, performance or validity of this letter 
  

 Peter Mariani 
 May 27, 2011 
  Page
 3
 
  

 agreement or arising out of, related to, or in any way connected with, this letter agreement, your
employment with the Company or any other relationship between you and the Company (the “Disputes”) will be governed by California law, excluding laws relating to conflicts or choice of law. You and the Company submit to the exclusive
personal jurisdiction of the federal and state courts located in Santa Clara County, California, in connection with any Dispute or any claim related to any Dispute. 
 Pete, we are excited about the possibility of you joining our Company. You may indicate your agreement with these terms and accept this offer by signing and dating both the enclosed duplicate original of
this letter agreement and the enclosed Retention and Proprietary Information and Inventions Agreements and returning them to me. This offer, if not accepted, will expire at the close of business on June 1,2011. As required by law, your
employment with the Company is contingent upon your providing legal proof of your identity and authorization to work in the United States. Your employment is also contingent upon your starting work with the Company by June 20, 2011. 

Thank you. If you have any questions, please call me at. 
 Very truly yours, 
 HANSEN MEDICAL, INC. 
 /s/ Bruce J Barclay 
 By: Bruce J Barclay 

Title: President and CEO 
 I have read and
accept this employment offer: 
  

	
	 /s/ Peter J. Mariani

	Peter
Mariani

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