Document:

EX-4.1

VOTING AGREEMENT

This Voting Agreement (this “Agreement”) dated as of April 19, 2016, is
entered into by the undersigned (the “Stockholder”) in favor of and for the benefit of
Auris Surgical Robotics, Inc., a Delaware corporation (“Parent”), Pineco
Acquisition Corp., a Delaware corporation and a wholly owned subsidiary of Parent
(“Sub”), and Hansen Medical, Inc., a Delaware corporation (the “Company”).
Capitalized terms used but not otherwise defined herein have the meanings assigned to such terms
in the Agreement and Plan of Merger dated as of the date of this Agreement (the “Merger
Agreement”) among Parent, Sub and the Company.

Recitals

A. As of the date of this Agreement, the Stockholder owns beneficially (as defined in
Rule 13d-3 under the Securities Exchange Act of 1934, as amended) and/or of record (as specified on
Schedule A) the Shares set forth opposite the Stockholder’s name on Schedule A (all
such Shares that are outstanding as of the date hereof, together with any other Shares that are
hereafter issued to, or are otherwise acquired or owned, beneficially or of record by, the
Stockholder during the Agreement Period (as defined below), including through the exercise of any
Company Options, Company Warrants, convertible or exchangeable securities or other similar
instruments of the Company, and any other securities of the Company described in Section 9,
collectively, the “Subject Shares”).

B. Concurrently with the execution and delivery of this Agreement, Parent, Sub and the Company
are entering into the Merger Agreement, a copy of which has been made available to and reviewed by
the Stockholder, which provides for, among other things, the merger of Sub with and into the
Company (the “Merger”), upon the terms and subject to the conditions set forth therein.

C. As an inducement to and condition to Parent’s and Sub’s willingness to enter into and
consummate the transactions contemplated by the Merger Agreement, Parent has required that the
Stockholder enter into this Agreement.

Agreement

In consideration of the foregoing and of the mutual covenants, representations, warranties and
agreements set forth herein, and intending to be legally bound, the Stockholder hereby agrees as
follows:

SECTION 1. Voting Agreement.

(a) Voting Agreement. During the Agreement Period, the Stockholder irrevocably and
unconditionally agrees that the Stockholder shall, or shall cause the holder of record thereof on
any applicable record date, at any meeting (whether annual or special and whether or not an
adjourned or postponed meeting) of the holders of Company Common Stock, however called (each, a
“Company Stockholder Meeting”), or, if applicable, pursuant to any consent of the
stockholders of the Company in lieu of a meeting or otherwise, to:

(i) be present, in person or represented by proxy, or otherwise cause the Subject Shares to be
counted for purposes of determining the presence of a quorum at such meeting (to the fullest extent
that the Subject Shares may be counted for quorum purposes under applicable Law); and

(ii) vote, or cause to be voted, with respect to all of the Subject Shares to the fullest
extent that the Subject Shares are entitled to be voted at the time of any vote:

(x) in favor of: (A) the adoption of the Merger Agreement and the approval of
the Merger; and (B) without limitation of the preceding clause “(A),” the approval
of any proposal to adjourn or postpone the Company Stockholder Meeting to a later
date if there are not sufficient votes for approval of the Merger Agreement on the
date on which the Company Stockholder Meeting is held; and

(y) against (A) any Competing Proposal, (B) any reorganization,
recapitalization, dissolution, liquidation or winding-up of the Company or any other
extraordinary transaction involving the Company other than the Merger, or (C) any
other matters relating to, or in connection with, any of the matters described in
this clause (y).

During the Agreement Period, Stockholder shall not enter into any agreement or understanding
with any Person to vote or give instruction in any manner inconsistent with this Section
1(a).

(b) Change of Company Recommendation. Notwithstanding anything to the contrary in Section
1(a), in the event that the Company Board or a duly authorized committee thereof shall have
validly adopted a Change of Company Recommendation in compliance with the provisions of Section
5.03(f) of the Merger Agreement, then during the period commencing on the adoption of such Change
of Company Recommendation and continuing until the earlier of (i) the date on which such Change of
Company Recommendation is withdrawn by the Company Board or a duly authorized committee thereof, or
(ii) the date on which the Company Board or a duly authorized committee thereof makes or reinstates
the Company Recommendation, the number of Subject Shares subject to the provisions of Section
1(a) shall be limited to 61% of the Subject Shares. Subject only to the foregoing and to
Section 6, all Subject Shares shall in such event continue to be subject to all other
provisions of this Agreement.

SECTION 2. Documentation and Information. The Stockholder: (a) consents to and authorizes the
publication and disclosure by Parent, Sub and the Company, as applicable, of the Stockholder’s
identity and holdings of Subject Shares, the nature of the Stockholder’s commitments, arrangements
and understandings under this Agreement (including, for the avoidance of doubt, the disclosure of
this Agreement) and any other information, in each case, that Parent, Sub or the Company, as
applicable, determines in good faith is required to be disclosed by applicable Law in the Proxy
Statement, any press release or any other disclosure document (whether or not filed with the SEC)
in connection with the Merger and the other Transactions; and (b) agrees to promptly give to
Parent, Sub and the Company, as applicable, any information it may reasonably require for the
preparation of any such documents. The Stockholder agrees to promptly notify Parent, Sub and the
Company, as applicable, of any required corrections with respect to any information provided by or
on behalf of the Stockholder pursuant to this Section 2, if and to the extent that any such
information shall have become false or misleading in any material respect. The Stockholder shall
consult with Parent before issuing any press releases or otherwise making any public statements
with respect to the transactions contemplated hereby and shall not issue any such press release or
make any public statement without the prior written approval of Parent, except as may be required
by applicable Laws.

SECTION 3. Representations and Warranties of the Stockholder. The Stockholder represents and
warrants to Parent and Sub as follows:

(a) Authorization. If the Stockholder is not an individual, it has full corporate, limited
liability company, partnership or trust power and authority to execute and deliver this Agreement
and to perform its obligations hereunder. If the Stockholder is an individual, he or she (or the
representative or fiduciary signing on his or her behalf, as applicable) has full legal capacity,
right and authority to execute and deliver this Agreement and the Proxy and to perform his or her
obligations hereunder. If the Stockholder is not an individual, the execution, delivery and
performance by the Stockholder of this Agreement and the Proxy and the consummation by the
Stockholder of the transactions contemplated hereby have been duly authorized by all necessary
corporate, limited liability company, partnership or trust action on the part of the Stockholder.
This Agreement and the Proxy have been duly executed and delivered by or on behalf of the
Stockholder and constitute valid and legally binding obligations of the Stockholder in accordance
with their terms, except as such enforceability (i) may be limited by applicable bankruptcy,
insolvency, fraudulent transfer, reorganization, moratorium or other similar laws of general
application, now or hereafter in effect, affecting or relating to the enforcement of creditors’
rights generally and (ii) is subject to general principles of equity, whether considered in a
proceeding at law or in equity.

(b) No Violation.

(i) The execution and delivery of this Agreement and the Proxy by the Stockholder does
not, and the performance by the Stockholder of the Stockholder’s obligations hereunder will
not: (A) assuming compliance with the matters referred to in Section 3(b)(ii),
contravene, conflict with, or result in a violation or breach of any Law or any Order of any
Governmental Entity with competent jurisdiction applicable to the Stockholder or any of the
Subject Shares; or (B) constitute a default, or an event that, with or without notice or
lapse of time or both, could become a default, under, or cause or permit the termination,
cancellation, acceleration or other change of any right or obligation or the loss of any
benefit to which the Stockholder is entitled under any provision of any Contract binding
upon the Stockholder or any of the Subject Shares, or result in the imposition of any Lien
on the Subject Shares or any other assets of the Stockholder.

(ii) No consent or order of, or registration or filing with or notification to, any
Governmental Entity or any other person is required by the Stockholder in connection with
the execution and delivery of this Agreement or the Proxy by the Stockholder or the
performance by the Stockholder of the Stockholder’s obligations hereunder, except for the
filing with the SEC of any Schedules 13D or 13G or amendments to Schedules 13D or 13G and
filings under Section 16 of the Securities Exchange Act of 1934, as amended, as may be
required in connection with this Agreement and the transactions contemplated hereby.

(c) Ownership of Subject Shares. The Stockholder is the beneficial and/or record owner (as
specified on Schedule A) of, and has good and marketable title to, the Subject Shares free
and clear of all Liens. The Stockholder has the complete and exclusive power to, directly or
indirectly: (i) issue (or cause the issuance of) instructions with respect to the matters set forth
in Section 1; (ii) agree to all matters set forth in this Agreement; and (iii) demand and
waive appraisal or dissenters’ rights with respect to the Subject Shares. The number of Shares set
forth on Schedule A opposite the name of the Stockholder are the only Shares owned
beneficially and/or of record by the Stockholder as of the date hereof. As of the date hereof,
other than the Subject Shares and any Shares that are the subject of unexercised Company Options
(the number of which is set forth opposite the name of the Stockholder on Schedule A) or
Company Warrants held by the Stockholder, the Stockholder does not directly or indirectly own any
Shares or any options to purchase or rights to subscribe for or otherwise acquire any securities of
the Company and has no interest in or voting rights with respect to any securities of the Company.
Except as provided in this Agreement, there are no agreements or arrangements of any kind,
contingent or otherwise, to which the Stockholder is a party obligating the Stockholder to Transfer
or cause to be Transferred, any of the Subject Shares. Except pursuant to this Agreement, no
person has any contractual or other right or obligation to purchase or otherwise acquire any of the
Subject Shares.

(d) Absence of Litigation. As of the date hereof, there is no action, suit, litigation,
arbitration, proceeding (including any civil, criminal, administrative, investigative or appellate
proceeding) (or any hearing, inquiry, audit or examination of which the Stockholder is or becomes
aware) commenced, brought, conducted or heard by or before, or otherwise involving, any court or
other Governmental Entity or any arbitrator or arbitration panel pending against the Stockholder or
any of the Subject Shares that would reasonably be expected to prevent the Stockholder from
performing its obligations hereunder in all material respects.

SECTION 4. Action in Stockholder Capacity Only. The Stockholder is entering into this Agreement
solely in the Stockholder’s capacity as a record holder and/or beneficial owner, as applicable, of
the Subject Shares and not in the Stockholder’s capacity (if any) as a director, officer or
employee of the Company or any Company Subsidiary. Nothing herein shall limit or affect the
Stockholder’s ability to act as an officer, director or employee of the Company or any Company
Subsidiary, if applicable, consistent with the terms of the Merger Agreement.

SECTION 5. No Transfer; No Solicitation.

(a) Prohibition on Transfer. Except pursuant to the terms of this Agreement, during the
Agreement Period, the Stockholder shall not (and the Stockholder shall not cause or permit any
person to), without the prior written consent of Parent, directly or indirectly: (i) grant or
permit the grant of any proxies, powers of attorney, rights of first offer or refusal or other
authorizations in or with respect to, or enter into any voting trust or voting agreement or
arrangement with respect to, any Subject Shares or any interest therein; (ii) sell, assign,
transfer, tender, pledge, encumber, grant a participation interest in, hypothecate or otherwise
dispose of (including by gift) (each, a “Transfer”) any Subject Shares or any interest
therein to any person other than Parent or Sub, or grant to any other person the right to Transfer
any Subject Shares; (iii) create or otherwise permit any Lien to be created on any Subject Shares;
(iv) enter into any Contract with any person with respect to the direct or indirect Transfer of any
Subject Shares or any interest therein; (v) enter into a swap or other agreement or any transaction
that transfers, in whole or in part, the economic consequence of ownership of any Subject Shares;
or (vi) agree to do or any of the foregoing.

(b) Exceptions. Notwithstanding the foregoing, the Stockholder shall have the right to
Transfer all or any portion of the Subject Shares to a Permitted Transferee of the Stockholder if
and only if prior thereto and as a condition to the effectiveness of such Transfer, such Permitted
Transferee shall have agreed in writing, in a manner reasonably acceptable in form and substance to
Parent: (i) to accept the Subject Shares subject to the terms and conditions of this Agreement; and
(ii) to be bound by this Agreement and to agree and acknowledge that such person shall constitute a
Stockholder for all purposes of this Agreement; provided that notwithstanding any such Transfer,
the Stockholder shall continue to be liable for any breach by any Permitted Transferee of his, her
or its agreements and covenants under this Agreement. “Permitted Transferee” means, with
respect to the Stockholder: (A) if the Stockholder is an individual, any member of the immediate
family of the Stockholder; (B) any trust, the trustees of which include only the Stockholder and/or
the other persons named in clause “(A)” of this sentence and the beneficiaries of which include
only the Stockholder and/or the persons named in clause “(A)” of this sentence; (C) any
corporation, limited liability company or partnership, the shareholders, members or general and
limited partners of which include only the persons named in clause “(A)” of this sentence; or (D)
if the Stockholder is a trust, the beneficiary or beneficiaries authorized or entitled to receive
distributions from such trust if they are persons named in clause “(A)” of this sentence.

(c) Effect of Attempted Transfer. Any attempted Transfer of Subject Shares, or any interest
therein, in violation of this Section 5 shall be null and void. If so requested by Parent,
the Stockholder agrees that the Subject Shares shall bear a legend, reasonably acceptable in form
and substance to Parent, stating that they are subject to this Agreement.

(d) No Solicitation. The Stockholder agrees that during the Agreement Period, the Stockholder
shall not, directly or indirectly, take any action that the Company is prohibited from taking
pursuant to Section 5.03 of the Merger Agreement.

SECTION 6. Proxy.

(a) Proxy. Contemporaneously with the execution of this Agreement: (i) the Stockholder shall
execute and deliver to Parent a proxy in substantially the form attached to this Agreement as
Exhibit I, which shall be irrevocable to the fullest extent permitted by law (at all times
prior to the end of the Agreement Period) with respect to the Subject Shares referred to therein
(the “Proxy”); and (ii) if applicable, the Stockholder shall cause to be executed and
delivered to Parent an additional proxy (in substantially the form attached hereto as Exhibit
I) executed on behalf of the record owner of any outstanding Subject Shares that are owned
beneficially (within the meaning of Rule 13d-3 under the Securities Exchange Act of 1934), but not
of record, by the Stockholder and covering such Subject Shares beneficially owned by the
Stockholder.

(b) Change of Company Recommendation. Notwithstanding anything to the contrary in Section
6(a)(i) or 6(a)(ii), in the event that the Company Board or a duly authorized committee
thereof shall have validly adopted a Change of Company Recommendation in compliance with the
provisions of Section 5.03(f) of the Merger Agreement, then during the period commencing on the
adoption of such Change of Company Recommendation and continuing until the earlier of (A) the date
on which such Change of Company Recommendation is withdrawn by the Company Board or a duly
authorized committee thereof, or (B) the date on which the Company Board or a duly authorized
committee thereof makes or reinstates the Company Recommendation, the number of shares subject to
the provisions of Sections 6(a)(i) and 6(a)(ii) shall be limited to 61% of the
Subject Shares.

SECTION 7. Waiver of Appraisal Rights. The Stockholder hereby irrevocably and unconditionally
waives, and agrees to cause to be waived and to prevent the exercise of, any and all rights of
appraisal, any dissenters’ rights and any similar rights relating to the Merger that Stockholder
may have by virtue of, or with respect to, the Subject Shares (including all rights under Section
262 of the DGCL).

SECTION 8. Further Assurances. From time to time and without additional consideration, Stockholder
shall (at Stockholder’s sole expense) execute and deliver, or cause to be executed and delivered,
all further transfers, assignments, endorsements, consents and other documents and instruments and
shall (at Stockholder’s sole expense) use commercially reasonable efforts to take, or cause to be
taken, all actions and to do, or cause to be done, all things necessary, proper or advisable under
applicable Law, or as Parent may reasonably request, to perform its obligations under, carry out,
and further the intent of, this Agreement.

SECTION 9. Certain Adjustments. In the event of a stock dividend or distribution, stock split,
reverse stock split, recapitalization, subdivision, combination, merger, consolidation,
reclassification, spin-off, readjustment, exchange of shares or the like, on, of or affecting the
Subject Shares, the term “Subject Shares” shall be deemed to refer to and include such Shares as
well as all such stock dividends and distributions and any securities into which or for which any
or all of such Shares may be changed or exchanged or which are received in the transaction.

SECTION 10. Miscellaneous.

(a) Notices. Any notice or other communication required or permitted to be delivered to any
party under this Agreement shall be in writing and shall be deemed properly delivered, given and
received: (i) if delivered by hand, when delivered; (ii) if sent via facsimile with confirmation of
receipt, when transmitted and receipt is confirmed; (iii) if sent by electronic mail, or other
electronic transmission, upon delivery; (iv) if sent by registered, certified or first class mail,
the third Business Day after being sent; and (v) if sent by overnight delivery via a national
delivery service, one Business Day after being sent, in each case to the address or facsimile
telephone number set forth beneath the name of such party below (or to such other address or
facsimile telephone number as such party shall have specified in a written notice given to the
other parties hereto):

If to Parent or Sub, to:

Auris Surgical Robotics, Inc.

125 Shoreway Road, Suite D

San Carlos, California 94070

Attention: David Styka, Chief Financial Officer

Facsimile: 650-837-0267

with a copy (which shall not constitute notice) to:

Morrison & Foerster LLP

755 Page Mill Road

Palo Alto, California 94304

Attention: Michael J. O’Donnell, Esq.

Facsimile: 650-494-0792

If to the Company:

Hansen Medical, Inc.

800 E. Middlefield Road

Mountain View, California 94043

Attention: Christopher P. Lowe, Chief Financial Officer

Facsimile: 650-404-5901

with a copy to (for information purposes only):

Sidley Austin LLP

1001 Page Mill Road, Building 1

Palo Alto, California 94304

Fax: (650) 565-7100

Email: sflanagan@sidley.com

Attention: Sharon R. Flanagan

If to the Stockholder, to his, her or its address set forth on a signature page hereto.

(b) Amendment and Waivers.

(i) Any provision of this Agreement or the Proxy may be amended during the Agreement
Period if, but only if, such amendment is in writing and is signed by the Stockholder,
Parent, Sub and the Company.

(ii) No failure on the part of the Company, Parent or Sub to exercise any power, right,
privilege or remedy under this Agreement, and no delay on the part of the Company, Parent or
Sub in exercising any power, right, privilege or remedy under this Agreement, shall operate
as a waiver of such power, right, privilege or remedy; and no single or partial exercise of
any such power, right, privilege or remedy shall preclude any other or further exercise
thereof or of any other power, right, privilege or remedy. None of the Company, Parent or
Sub shall be deemed to have waived any claim arising out of this Agreement, or any power,
right, privilege or remedy under this Agreement, unless the waiver of such claim, power,
right, privilege or remedy is expressly set forth in a written instrument duly executed and
delivered on behalf of such party; and any such waiver shall not be applicable or have any
effect except in the specific instance in which it is given.

(iii) The Stockholder shall not enter into any agreement, arrangement or understanding
with respect to the Subject Shares (other than the Proxy) that is inconsistent with any of
the terms of this Agreement with the Company, Parent or Sub without the prior written
consent of the Company, Parent and Sub.

(c) Binding Effect; Benefit; Assignment.

(i) The provisions of this Agreement shall be binding upon the Stockholder and shall
inure to the benefit of the Company, Parent and Sub and their respective successors and
permitted assigns. No provision of this Agreement is intended to confer any rights,
benefits, remedies, obligations or liabilities hereunder upon any person other than the
Company, Parent and Sub and their respective successors and permitted assigns. Without
limiting any of the restrictions set forth in Section 5 or elsewhere in this
Agreement, this Agreement shall be binding upon any person to whom any Subject Shares are
Transferred prior to the end of the Agreement Period.

(ii) Neither the Stockholder, on the one hand, nor the Company, Parent or Sub, on the
other hand, may assign this Agreement or any of his, her or its rights, interests or
obligations hereunder (whether by operation of law or otherwise) without the prior written
approval of the Company and Parent or the Stockholder, as applicable, except that each of
Parent and Sub may transfer or assign their respective rights and obligations under this
Agreement, in whole or from time to time in part, to one or more of their respective
Subsidiaries at any time.

(d) Termination. This Agreement shall automatically terminate and become void and of no
further force or effect on the earliest to occur of: (i) the Effective Time; (ii) the mutual
written consent of the Stockholder, Parent, Sub and the Company; (iii) the entry without prior
written consent of the Stockholder into any amendment to the Merger Agreement or any waiver of any
of the Company’s rights under the Merger Agreement, in each case, that results in a decrease in the
Merger Consideration except as a result of any reclassification, stock split (including a reverse
stock split), recapitalization, split-up, combination, exchange of shares, readjustment or other
similar transaction, or by reason of a stock dividend or stock distribution; and (iv) the
termination of the Merger Agreement (the period from the date of this Agreement through the
termination of this Agreement being referred to as the “Agreement Period”); provided that:
(A) Section 10(a) shall survive such termination; and (B) no such termination shall relieve
or release the Stockholder from any liabilities arising out of his, her or its (w) fraud, (x)
willful and material breach of any representation or warranty contained in this Agreement, (y)
breach of Section 1, Section 5(a) or Section 7 of this Agreement prior to
the termination of this Agreement (if such breach causes or contributes to either (1) the failure
of the Company Stockholder Approval to have been obtained under the Merger Agreement, or (2) the
failure of the Stockholder to fulfill his, her or its obligations under the Investment Agreement
described in the Merger Agreement), or (z) willful and material breach of any covenant or agreement
contained in this Agreement prior to the termination of this Agreement.

(e) Governing Law; Consent to Jurisdiction; Waiver of Jury Trial.

(i) In any Proceeding between or among the parties arising out of or relating to this
Agreement or any of the Transactions, the Stockholder: (a) irrevocably and unconditionally
consents and submits to the exclusive jurisdiction and venue of the Court of Chancery of the
State of Delaware or to the extent such court does not have subject matter jurisdiction, the
Superior Court of the State of Delaware or the United States District Court for the District
of Delaware, (b) agrees that all claims in respect of such action or proceeding shall be
heard and determined exclusively in accordance with clause (a) of this sentence, (c) waives
any objection to laying venue in any such action or proceeding in such courts, (d) waives
any objection that such courts are an inconvenient forum or do not have jurisdiction over
any party, and (e) agrees that service of process upon the Stockholder in any such action or
proceeding shall be effective if given in accordance with Section 10(a) or in any
other manner as may be permitted by applicable Law.

(ii) THE STOCKHOLDER ACKNOWLEDGES THAT ANY CONTROVERSY WHICH MAY ARISE UNDER THIS
AGREEMENT IS LIKELY TO INVOLVE COMPLICATED AND DIFFICULT ISSUES, AND THEREFORE HEREBY
IRREVOCABLY WAIVES ANY RIGHT THE STOCKHOLDER MAY HAVE TO A TRIAL BY JURY IN RESPECT OF ANY
ACTION ARISING OUT OF OR RELATING TO THIS AGREEMENT OR ANY OF THE TRANSACTIONS. THE
STOCKHOLDER ACKNOWLEDGES, AGREES AND CERTIFIES THAT: (A) IT UNDERSTANDS AND HAS CONSIDERED
THE IMPLICATIONS OF SUCH WAIVERS; (B) IT MAKES SUCH WAIVERS VOLUNTARILY; AND (C) THE
COMPANY, PARENT AND SUB HAVE BEEN INDUCED TO ENTER INTO THE MERGER AGREEMENT BY, AMONG OTHER
THINGS, THE WAIVERS AND CERTIFICATIONS IN THIS SECTION 10(e)(ii).

(iii) This Agreement and the agreements, instruments and documents contemplated hereby,
shall be governed by, and construed in accordance with, the Laws of the State of Delaware,
without regard to any applicable principles of conflicts of law that might require the
application of the Laws of any other jurisdiction.

(f) Severability. If any term or other provision of this Agreement is invalid, illegal or
incapable of being enforced by any rule of Law or public policy, all other conditions and
provisions of this Agreement shall nevertheless remain in full force and effect so long as the
economic or legal substance of the Transactions is not affected in any manner materially adverse to
any party. Upon such determination that any term or other provision is invalid, illegal or
incapable of being enforced, the parties shall negotiate in good faith to modify this Agreement so
as to effect the original intent of the parties as closely as possible in an acceptable manner to
the end that the Transactions are fulfilled to the extent possible.

(g) Enforcement. The Stockholder acknowledges and agrees that irreparable damage would occur
in the event that any of the provisions of this Agreement were not performed by the Stockholder in
accordance with their specific terms or were otherwise breached, and that monetary damages, even if
available, would not be an adequate remedy therefor. Accordingly, in the event of any breach or
threatened breach by the Stockholder of any covenant or obligation contained in this Agreement, the
Company, Parent and Sub shall be entitled to obtain, without proof of actual damages: (i) a decree
or order of specific performance to enforce the observance and performance of such covenant or
obligation; and (ii) an injunction restraining such breach or threatened breach; this being in
addition to any other remedy to which the Company, Parent or Sub is entitled at law or in equity.

(h) Independence of Obligations. The covenants and obligations of the Stockholder set forth
in this Agreement shall be construed as independent of any other agreement or arrangement between
or among the Stockholder, on the one hand, and the Company, Parent or Sub, on the other hand. The
existence of any claim or cause of action by the Stockholder against the Company, Parent or Sub
shall not constitute a defense to the enforcement of any of such covenants or obligations against
the Stockholder.

(i) Expenses. Except as otherwise provided herein, all costs and expenses incurred in
connection with this Agreement shall be paid by or on behalf of the party incurring such cost or
expense, whether or not the transactions contemplated by this Agreement or the Merger Agreement are
consummated.

(j) Effectiveness. The delivery of a signed copy of this Agreement or of any other document
contemplated by this Agreement (including any amendment or any other change thereto) by any
electronic means intended to preserve the original graphic and pictorial appearance of a document
shall constitute effective execution and delivery of this Agreement as to the parties and may be
used in lieu of an original Agreement or other document for all purposes. The signature of the
Stockholder transmitted by any electronic means referenced in the preceding sentence shall be
deemed to be an original signature for all purposes

(k) Entire Agreement. This Agreement, including the schedules, exhibits, and amendments
hereto, and the Proxy constitute the entire agreement among the parties with respect to the subject
matter hereof and supersede all other prior or contemporaneous agreements and understandings, both
written and oral, among or between any of the parties with respect to the subject matter hereof.

(l) Headings. The headings contained in this Agreement are for convenience of reference only,
shall not be deemed to be a part of this Agreement and shall not be referred to in connection with
the construction or interpretation of this Agreement.

(m) Interpretation.

(i) For purposes of this Agreement, whenever the context requires: the singular number
shall include the plural, and vice versa; the masculine gender shall include the feminine
and neuter genders; the feminine gender shall include the masculine and neuter genders; and
the neuter gender shall include masculine and feminine genders.

(ii) Any rule of construction to the effect that ambiguities are to be resolved against
the drafting party shall not be applied in the construction or interpretation of this
Agreement.

(iii) As used in this Agreement, the words “include” and “including,” and variations
thereof, shall not be deemed to be terms of limitation, but rather shall be deemed to be
followed by the words “without limitation.”

(iv) Unless otherwise indicated or the context otherwise requires: (A) any definition
of or reference to any agreement, instrument or other document or any Law herein shall be
construed as referring to such agreement, instrument or other document or Law as from time
to time amended, supplemented or otherwise modified; (B) any reference herein to any person
shall be construed to include such person’s successors and assigns; (C) any reference herein
to “Sections,” “Exhibits” and “Schedules” are intended to refer to Sections of this
Agreement and Exhibits or Schedules to this Agreement; and (D) the words “herein,” “hereof”
and “hereunder,” and words of similar import, shall be construed to refer to this Agreement
in its entirety and not to any particular provision hereof.

(n) No Obligation to Exercise Company Options or Company Warrants. Notwithstanding any
provision in this Agreement to the contrary, nothing in this Agreement shall obligate the
Stockholder to exercise any Company Option, Company Warrants or other right to acquire Shares, nor
shall the Shares beneficially owned by the Stockholder for purposes of this Agreement be deemed to
include any shares of common stock of the Company issuable upon exercise of any Company Option or
Company Warrants or settlement of any RSU Award unless and until the Stockholder actually exercises
any such Company Option or Company Warrant or settles any such RSU Award.

[SIGNATURE PAGE FOLLOWS]

IN WITNESS WHEREOF, the Stockholder has executed this Agreement as of the date first
written above.

STOCKHOLDER

Print Name of Stockholder

By:

Name:

Title:

Address:

1

SCHEDULE A

Ownership of Company Common Stock

	 	 	 	 	 
	Name of Stockholder	 	Number of Shares	 	Number of Shares Owned of
	 	 	Beneficially Owned	 	Record
	[]

	 	[]
	 	[]
	 

	 	 
	 	 

2

Exhibit I

Form Of Irrevocable Proxy

April 19, 2016

The undersigned stockholder (the “Stockholder”) of Hansen Medical, Inc., a Delaware
corporation (the “Company”), by executing and delivering this Irrevocable Proxy (this
“Proxy”), hereby irrevocably (to the fullest extent permitted by law) appoints and
constitutes David Styka and Matthew Chen of Auris Surgical Robotics, Inc., a Delaware corporation
(“Parent”), and each of them, the attorneys and proxies of the Stockholder, with full power
of substitution and resubstitution, to vote and exercise all voting rights (to the fullest extent
of the Stockholder’s rights to do so) (but subject to the third and fourth paragraphs of this
Proxy) with respect to: (i) the outstanding shares of capital stock of the Company owned of record
by the Stockholder as of the date of this Proxy; and (ii) any and all other shares of capital stock
of the Company which the Stockholder may acquire of record on or after the date hereof; provided,
however, that in the event that the Company Board or a duly authorized committee thereof shall have
validly adopted a Change of Company Recommendation in compliance with the provisions of Section
5.03(f) of the Merger Agreement, then during the period commencing on the adoption of such Change
of Company Recommendation and continuing until the earlier of (A) the date on which such Change of
Company Recommendation is withdrawn by the Company Board or a duly authorized committee thereof, or
(B) the date on which the Company Board or a duly authorized committee thereof makes or reinstates
the Company Recommendation, the number of shares subject to clauses “(i)” and “(ii)” shall be
limited to 61% of such shares. (The shares of the capital stock of the Company referred to in
clauses “(i)” and “(ii),” subject to the proviso, of the immediately preceding sentence are
collectively referred to as the “Record Shares.”) Upon the execution hereof, all prior
proxies given by the Stockholder with respect to the voting of any Record Shares inconsistent with
the terms of this Proxy or the Voting Agreement (as defined below) are hereby revoked, and the
Stockholder agrees that no subsequent proxies will be given with respect to the voting of any
Record Shares inconsistent with the terms of this Proxy or the Voting Agreement until after the end
of the Agreement Period.

This Proxy is irrevocable, is coupled with an interest and is granted in connection with, and
as security for the Stockholder’s performance under, the Voting Agreement, dated as of the date
hereof, among Parent, Pineco Acquisition Corp., a wholly-owned subsidiary of Parent
(“Sub”), the Company and the Stockholder (the “Voting Agreement”), and is granted
in consideration of Parent entering into the Agreement and Plan of Merger, dated as of the date
hereof, among Parent, Sub and the Company (the “Merger Agreement”). This Proxy will
terminate at the end of the Agreement Period (as defined in the Voting Agreement). Capitalized
terms used in this Proxy and not defined in this Proxy have the meanings set forth in the Voting
Agreement.

Each of the attorneys and proxies named above will be empowered, and may exercise this Proxy,
to vote the Record Shares at any time until the end of the Agreement Period at any meeting of the
stockholders of the Company, however called, and in connection with any written action by consent
of stockholders of the Company:

(i) in favor of: (A) the adoption of the Merger Agreement and the approval of the Merger; and
(B) without limitation of the preceding clause “(A),” the approval of any proposal to adjourn or
postpone the Company Stockholder Meeting to a later date if there are not sufficient votes for
approval of the Merger Agreement on the date on which the Company Stockholder Meeting is held; and

(ii) against (A) any Competing Proposal, (B) any reorganization, recapitalization, dissolution,
liquidation or winding-up of the Company or any other extraordinary transaction involving the
Company other than the Merger, or (C) any other matters relating to, or in connection with, any of
the matters described in this clause (ii).

The Stockholder may vote the Record Shares on all other matters not referred to in this Proxy,
and the attorneys and proxies named above may not exercise this Proxy with respect to such other
matters.

This Proxy shall be binding upon the heirs, estate, executors, successors and assigns of the
Stockholder (including any transferee of any of the Record Shares).

If any term or other provision of this Proxy is invalid, illegal or incapable of being
enforced by any rule of Law or public policy, all other conditions and provisions of this Proxy
shall nevertheless remain in full force and effect so long as the economic or legal substance of
the Transactions is not affected in any manner materially adverse to any party to the Voting
Agreement. Upon such determination that any term or other provision is invalid, illegal or
incapable of being enforced, such parties shall negotiate in good faith to modify this Proxy so as
to effect the original intent of the parties as closely as possible in an acceptable manner to the
end that the Transactions are fulfilled to the extent possible.

IN WITNESS WHEREOF, the Stockholder has executed this Proxy as of the date first set forth
above.

STOCKHOLDER

Print Name of Stockholder

By:

Name:

Title:

3EX-10.1

FORBEARANCE AGREEMENT

This FORBEARANCE AGREEMENT (this “Agreement”), dated as of April 19, 2016, is entered
into by and among White Oak Global Advisors, LLC, a Delaware limited liability company, as Agent
(“Agent”), the Lenders party hereto comprising each of the Lenders under the Loan Agreement
referred to below (each, “Lender” and collectively, “Lenders”), and Hansen Medical,
Inc., a Delaware corporation (“Borrower”), with reference to the following facts:

R E C I T A L S

A. Agent, Lenders and Borrower are parties to an Amended and Restated Loan and Security
Agreement, dated as of August 23, 2013 (as amended, modified, supplemented, extended, renewed,
restated or replaced from time to time, including to the extent applicable, as amended and modified
by this Amendment, the “Loan Agreement”) and other Loan Documents, pursuant to which
Lenders have provided Borrower a senior-secured term loan credit facility in the aggregate original
principal amount of $33,000,000.

B. The Specified Events of Default have occurred and are continuing or with the passage of
time will occur.

C. Borrower requests that Agent and Lenders (i) forbear from exercising their rights and
remedies in respect of the Specified Events of Default, and (ii) consent to the below defined
Announced Transaction, each of which Agent and Lenders are willing to agree to pursuant to the
terms and conditions set forth herein.

NOW, THEREFORE, in consideration of the foregoing and for other good and valuable
consideration, the receipt and sufficiency of which are hereby acknowledged and agreed, the parties
hereto, intending to be legally bound, hereby agree as follows:

SECTION 1. DEFINITIONS

1.1 Defined Terms. Capitalized terms used but not defined herein have the respective meanings
ascribed to such terms in the Loan Agreement. In addition, as used herein, the following terms
shall have the following meanings.

(a) “Agreement” has the meaning ascribed to such term in the preamble of this
Agreement.

(b) “Announced Transaction” means a merger transaction with respect to the sale of the
equity of Borrower, for which the definitive documents shall include an affirmative obligation to
repay the Obligations in full.

(c) “Announced Transaction Closing Date” is the Forbearance Termination Date.

(d) “Announced Transaction Default” means either: (i) at any time, Borrower ceases or
suspends the diligent and active pursuit of the Announced Transaction, or (ii) at any time, facts
exist that would make Borrower unable or prevent Borrower from consummating the Announced
Transaction on or prior to the Forbearance Expiration Date.

(e) “Blocked Account” means the deposit account maintained by Borrower at Silicon
Valley Bank, Account No. 3301035597, which deposit account is subject to a Deposit Account Control
Agreement, dated as of August 23, 2013, among Debtor, Agent and Silicon Valley Bank.

(f) “Claims” have the meaning ascribed to such term in Section 4.3(a) of this
Agreement.

(g) “Credit Extensions” mean, collectively and each individually, any loans, advances,
extensions of credit, or any other financial accommodation by any Agent or Lender to, on behalf of,
or for the benefit of Borrower as permitted under the Loan Agreement, including without limitation
protective advances, or otherwise.

(h) “Forbearance” means Agent and each Lender’s agreement to forbear from exercising
Lenders’ Default Rights and Remedies in respect of the Specified Events of Default; provided,
however, this Forbearance does not include or restrict the Lenders’ Exercised Rights and Remedies.

(i) “Forbearance Conditions Precedent” mean, collectively and each individually, the
conditions set forth in Section 6.1 of this Agreement.

(j) “Forbearance Effective Date” means the date on which all of the Forbearance
Conditions Precedent have been satisfied (or expressly waived by Agent in writing in their sole
discretion).

(k) “Forbearance Expiration Date” means August 17, 2016.

(l) “Forbearance Period” means the period from the Forbearance Effective Date through
the Forbearance Termination Date.

(m) “Forbearance Prepayment” means the payment by Borrower to Agent, for the benefit
of Agent and Lenders, in the amount of $5,000,000, which payment is to be made from the funds held
in the Blocked Account and which payment is to constitute a prepayment of the Term Loan under
Section 2.2(b)(ii) of the Loan Agreement and shall be applied to reduce the Obligations,
including the applicable Make Whole Amount, as provided in that section.

(n) “Forbearance Termination Date” means the earliest to occur of (i) the Forbearance
Expiration Date, (ii) the date on which Borrower breaches or is in default of any of the covenants
and agreements in this Agreement, including without limitation, an Announced Transaction Default,
(iii) the date on which a breach, Default or Event of Default under the Loan Agreement or a breach,
default or event of default under any other Loan Document, other than the Specified Events of
Default, occurs, (iv) the date that any Lien purported to be in favor of Agent, for the benefit of
Agent and Lenders, with respect to the Collateral ceases to be in full force and effect, and (v)
the date on which Borrower takes an act that has the effect or consequence of denying, disaffirming
or challenging the Obligations, Liens in favor of Agent or any Lender, any Loan Document, any
Lenders’ Default Right and Remedy, or any other right, remedy, protection, benefit, interest or
priority in favor of Agent or any Lender.

(o) “Lenders’ Default Rights and Remedies” mean, collectively, Agent and Lenders’
available rights and remedies under the Loan Agreement or any other Loan Documents, at law or in
equity, upon the occurrence of a breach, default or event of default under one or more of the Loan
Documents.

(p) “Lenders’ Exercised Rights and Remedies” mean Agent and Lenders’ right to charge
interest at the rate applicable after the occurrence of an Event of Default effective and
commencing upon the first occurrence of the Specified Events of Default.

(q) “Loan Agreement” has the meaning ascribed to such term in the recitals of this
Agreement.

(r) “Loan Documents” means, collectively and each individually, the “Loan Documents”
as defined in the Loan Agreement, this Agreement, and any and all other agreements, documents or
instruments executed in connection therewith and herewith, each and all as amended, modified,
supplemented, extended, renewed, restated or replaced from time to time.

(s) “Obligor(s)” means, collectively and each individually, Borrower and all other
obligors who are obligated or liable for payment and satisfaction of the Obligations owed to Agent
or any Lender.

(t) “Professional Fees” mean the fees and costs charged by or owed to attorneys,
consultants, accountants, appraisers, professionals, agents and other service providers incurred by
Agent or any Lender.

(u) “Releasee(s)” has the meaning ascribed to such term in Section 4.3(a) of
this Agreement.

(v) “Releasor(s)” has the meaning ascribed to such term in Section 4.3(a) of
this Agreement.

(w) “Specified Events of Default” mean the Events of Default as set forth on Schedule
1.1(w).

SECTION 2. ACKNOWLEDGMENTS

2.1 Acknowledgments. Borrower acknowledges, confirms, reaffirms, ratifies, approves and
agrees to each of the following:

(a) Obligations. All Obligations, including the principal indebtedness, interest at either
the rate in effect before or after a default (as applicable), fees, costs, expenses and other
charges, including without limitation Professional Fees, now or hereafter payable by Borrower to
Agent or Lenders pursuant to the Loan Agreement and the other Loan Documents (a) are
unconditionally due and owing by Borrower to Agent and Lenders, without offset, recoupment, defense
or counterclaim, under contract, at law or in equity, of any kind, nature or description, (b) are
immediately due and payable to Agent and Lenders, in full, in cash, (c) are subject to full and
complete payment upon demand by Agent, and (d) upon the first occurrence of the Specified Events of
Default, Agent and Lenders had and have the present right to declare the Obligations to be
immediately due and payable under the terms of the Loan Agreement and the other Loan Documents and
to exercise any or all of its Lenders’ Default Rights and Remedies.

(b) Amount of Obligations. As of April 19, 2016, the Obligations owed by Borrower to Agent
and Lenders are not less than the amount of $34,560,768.34 plus additional accrued and unpaid
interest, expenses (including Professional Fees), Make Whole Amounts, fees and other charges due
and chargeable under the Loan Documents.

(c) Security Interests. Agent, for the benefit of Agent and the Lenders, has and continues to
have a valid, enforceable, perfected and unavoidable first-priority Lien (subject to Permitted
Liens) in and on the Collateral and all other collateral granted to Agent and Lenders pursuant to
the Loan Documents or otherwise granted to or held by Agent and Lenders.

(d) Loan Documents. (a) The Loan Agreement and each of the other Loan Documents to which
Borrower is a party have been duly executed and delivered by Borrower to Agent or any Lender, and
each such document is in full force and effect as of the date hereof, (b) the agreements and
obligations of Borrower under the Loan Agreement, the other Loan Documents, and this Agreement
constitute legal, valid and binding obligations and agreements of Borrower, enforceable against
Borrower in accordance with their respective terms, and Borrower has no valid defense to the
enforcement of the Loan Documents, or this Agreement, and (c) Agent and each Lender is entitled to
assert, enforce and exercise the rights, remedies, benefits and protections provided in the Loan
Agreement, the other Loan Documents, at law and in equity, including without limitation the
Lenders’ Default Rights and Remedies.

(e) Defaults. Each of the Specified Events of Default (i) has occurred and continues or with
the passage of time will or is expected to occur, (ii) constitutes an Event of Default under the
Loan Agreement and the other Loan Documents, (iii) is material and accurate, (iv) entitles Agent
and each Lender, without further notice or act, to enforce and exercise Lenders’ Default Rights and
Remedies, and (v) has not been waived by Agent or Lenders, in whole or in part, at any time, or by
virtue of this Agreement or the transactions contemplated hereby.

(f) Agent and Lenders’ Performance. Agent and each Lender (a) has fully performed all of the
obligations that Agent and each Lender is required to perform under the Loan Agreement and the
other Loan Documents, (b) has no obligation to make any Credit Extensions or provide other
financial accommodation to, on behalf of, or for the benefit of Borrower under the Loan Agreement
or any other Loan Document, at law or in equity, (c) has no obligation to forbear from enforcing or
exercising its available Lenders’ Default Rights and Remedies or to extend the Forbearance Period
beyond the date set forth in this Agreement, (d) has not represented that any Lender will make any
further Credit Extensions to or for the benefit of Borrower, (e) may, at its option and in its sole
and absolute discretion, agree to may make Credit Extensions notwithstanding the Specified Events
of Default, (f) has complied and performed with all notice requirements contained in the Loan
Agreement and other Loan Documents in connection with the Specified Events of Default, and the
exercise of any right or remedy with respect thereto (or, by virtue of this Agreement, is deemed to
have complied with any and all such notice requirements), without exception, and (g) has exercised
and has taken all acts necessary to effectively exercise the Lenders’ Exercised Rights and
Remedies.

SECTION 3. FORBEARANCE TERMS – AGENT AND LENDERS

3.1 Forbearance. In reliance upon the representations, warranties, covenants and agreements
of Borrower in this Agreement, and subject to the terms and conditions of this Agreement, including
satisfaction of the Forbearance Conditions Precedent, and any documents or instruments executed in
connection herewith, Agent, on behalf of Agent and Lenders, agrees to the Forbearance during the
Forbearance Period.

3.2 Forbearance Termination. On the Forbearance Termination Date, the Forbearance pursuant to
this Agreement terminates automatically and without any further action or notice by Agent, any
Lender or any other party, and be of no further force and effect, at which time Agent and Lenders
are entitled immediately to exercise any and all Lenders’ Default Rights and Remedies, including
without limitation, exercising rights with respect to and foreclosing upon all or any portion of
the Collateral and restricting or prohibiting the use of or offsetting, deducting and applying any
funds in the Blocked Account, at Agent’s sole and absolute option, timing and discretion.

3.3 Reservation of Rights. Notwithstanding the Forbearance or Agent and Lenders’ execution of
this Agreement, or any delay by Agent or any Lender with respect to the exercise of any Lenders’
Default Rights and Remedies, Agent and Lenders have not waived, and by this Agreement, is not
waiving, and otherwise expressly reserves:

(a) The Specified Events of Default and any other breach, Default, Event of Default under the
Loan Agreement or any breach, default or event of default under any other Loan Document that may
exist or be continuing on the date hereof or that may occur after the date hereof (whether the same
or similar to the Specified Events of Default or otherwise);

(b) Lenders’ Default Rights and Remedies and the exercise or enforcement of any of Lenders’
Default Rights and Remedies, whether immediately or at any time, at Agent and Lenders’ option and
sole and absolute discretion, with respect to any beach, default or Event of Default under the Loan
Agreement or breach, default or event of default under any other Loan Document, whether known or
unknown to Agent or any Lender, that has occurred or may occur in the future; and

(c) The Obligations and the existence, extent, validity, priority of any Lien in favor of
Agent, for the benefit of Agent and Lenders.

3.4 No Course of Conduct. This Agreement and the Forbearance contemplated hereby are not
intended and are not to be construed as establishing a custom or a course of dealing or conduct
between Borrower, any other Obligor, on the one hand, and Agent and Lenders, on the other hand.

3.5 Consent to Announced Transactions. Upon the Forbearance Effective Date, Agent and Lenders
hereby consent to the Announced Transaction and waive the covenants in Sections 7.2 and 7.3
of the Loan Agreement with respect to the Announced Transaction.

SECTION 4. FORBEARANCE COVENANTS.

4.1 Forbearance Covenants – Borrower. In addition to and without limiting the terms,
conditions, covenants and obligations of Borrower pursuant to the Loan Documents, Borrower
covenants and agrees as follows:

(a) Forbearance Payments. Borrower shall pay to Agent the following payments on
account of the Obligations owed by Borrower to Agent and Lenders:

(i) Within one Business Day after the date Borrower executes this Agreement, Borrower shall
pay to Agent, for the benefit of Agent and Lenders, the Forbearance Prepayment from the funds held
in the Blocked Account, and

(ii) On or before the Forbearance Expiration Date, the amount equal to the balance of all
remaining Obligations (including all applicable Make Whole Amounts) owed by Borrower to Agent and
Lenders at that time.

(b) Announced Transaction. At all times, Borrower shall diligently pursue the
Announced Transaction, and (ii) on or before the Announced Transaction Closing Date, (A) consummate
the Announced Transaction and (B) pay and satisfy all Obligations owed by Borrower to Agent and
Lenders in full in cash on or before the Announced Transaction Closing Date.

(c) Announced Transaction Reporting. At such times as reasonably requested by Agent,
but not less than once each week, representatives of Borrower shall participate in a conference
call with representatives of Agent to advise of the status of efforts relating to the Announced
Transaction.

4.2 Tolling. Borrower covenants and agrees that the running of all statutes of limitation and
the doctrine of laches applicable to all claims or causes of action that Agent or any Lender may be
entitled to assert, take or bring with respect to the Lenders’ Default Rights and Remedies, are, to
the fullest extent permitted by law, tolled and suspended during the Forbearance Period.

4.3 Release.

(a) In consideration of the agreements of Agent, on behalf of Agent and Lenders, contained
herein and for other good and valuable consideration, the receipt and sufficiency of which is
hereby acknowledged, Borrower, on behalf of itself and its successors, assigns and its present and
former shareholders, affiliates, subsidiaries, divisions, predecessors, directors, officers,
attorneys, employees, agents and other representatives (Borrower and all such other persons being
hereinafter referred to collectively as “Releasors” and individually as a
“Releasor”), hereby absolutely, unconditionally and irrevocably releases, remises and
forever discharges Agent and each Lender, and each of their respective successors and assigns, and
their respective present and former shareholders, affiliates, subsidiaries, divisions,
predecessors, directors, officers, attorneys, employees, agents and other representatives (Agent,
and each Lender and all such other persons being hereinafter referred to collectively as
“Releasees” and individually as a “Releasee”), of and from all demands, actions,
causes of action, suits, covenants, contracts, controversies, agreements, promises, sums of money,
accounts, bills, reckonings, damages and any and all other claims, counterclaims, defenses, rights
of set-off, demands and liabilities whatsoever (individually, a “Claim” and collectively,
“Claims”) of every name and nature, known or unknown, suspected or unsuspected, both at law
and in equity, which Releasors may now or hereafter own, hold, have or claim to have against
Releasees or any of them for, upon, or by reason of any circumstance, action, cause or thing
whatsoever that arises at any time on or before the day and date of this Agreement for or on
account of, or in relation to, or in any way in connection with any of the Loan Agreement or any of
the other Loan Documents or transactions thereunder or related thereto or hereunder.

(b) It is the intention of Borrower that this Agreement and the release set forth above shall
constitute a full and final accord and satisfaction of all claims that Releasors may have or
hereafter be deemed to have against Releasees as set forth herein. In furtherance of this
intention, Borrower, on behalf of itself and each other Releasor, expressly waives any statutory or
common law provision that would otherwise prevent the release set forth above from extending to
claims that are not currently known or suspected to exist in any Releasor’s favor at the time of
executing this Agreement and which, if known by Releasors, might have materially affected the
agreement as provided for hereunder. Borrower, on behalf of itself and each other Releasor,
acknowledges that it is familiar with section 1542 of California Civil Code:

A GENERAL RELEASE DOES NOT EXTEND TO CLAIMS WHICH THE CREDITOR DOES
NOT KNOW OR SUSPECT TO EXIST IN HIS OR HER FAVOR AT THE TIME OF
EXECUTING THE RELEASE, WHICH IF KNOWN BY HIM OR HER MUST HAVE
MATERIALLY AFFECTED HIS OR HER SETTLEMENT WITH THE DEBTOR.

Borrower, on behalf of itself and each other Releasor, waives and releases any rights or
benefits that it may have under section 1542 to the full extent that it may lawfully waive such
rights and benefits, and Borrower, on behalf of itself and each other Releasor, acknowledges that
it understands the significance and consequences of the waiver of the provisions of section 1542
and that it has been advised by its attorney as to the significance and consequences of this
waiver.

(c) Borrower understands, acknowledges and agrees that the release set forth above may be
pleaded as a full and complete defense and may be used as a basis for an injunction against any
action, suit or other proceeding that may be instituted, prosecuted or attempted in breach of the
provisions of such release.

(d) Borrower agrees that no fact, event, circumstance, evidence or transaction which could now
be asserted or which may hereafter be discovered shall affect in any manner the final, absolute and
unconditional nature of the release set forth above.

(e) Borrower, on behalf of itself and its successors, assigns and other legal representatives,
hereby absolutely, unconditionally and irrevocably, covenants and agrees with and in favor of each
Releasee that it will not sue (at law, in equity, in any regulatory proceeding or otherwise) any
Releasee on the basis of any Claim released, remised and discharged by Borrower pursuant to
Section 4.3(a) of this Agreement. If Borrower or any of its successors, assigns or other
legal representations violates the foregoing covenant, Borrower, for itself and each other
Releasor, agrees to pay, in addition to such other damages as any Releasee may sustain as a result
of such violation, all attorneys’ fees and costs incurred by any Releasee as a result of such
violation.

SECTION 5. REPRESENTATIONS AND WARRANTIES

5.1 Representations and Warranties. Borrower represents and warrants to Agent and Lenders as
follows:

(a) Existence. Borrower is a corporation duly organized, validly existing and in good
standing under the laws of the jurisdiction of its formation or incorporation, as the case may be;

(b) Authority. Borrower has the power and authority to execute, deliver and perform
its obligations under this Agreement;

(c) Authorization. Borrower’s execution, delivery and performance of this Agreement
has been duly authorized by all necessary corporate action and does not and will not require any
registration with, consent or approval of, notice to or action by, any Person, other than those
that have been made or obtained and are in full force and effect;

(d) Binding Obligation This Agreement constitutes Borrower’s legal, valid and binding
obligation enforceable against it in accordance with its terms, subject to the effects of
bankruptcy, insolvency, fraudulent conveyance, moratorium, reorganization and other similar laws
relating to or affecting creditors’ rights generally and general principles of equity (whether
considered in a proceeding in equity or law);

(e) No Further Default. Both immediately prior to giving effect hereto and
immediately thereafter, no Default or Event of Default other than the Specified Events of Default
has occurred and is continuing under the Loan Agreement or the other Loan Documents or would result
from this Agreement becoming effective in accordance with its terms;

(f) Representation. Other than any representation or warranty that would be untrue
solely as a result of the existence of a Specified Event of Default, all of the representations and
warranties contained in the Loan Agreement and the other Loan Documents are true and correct in all
material respects (or in all respects, to the extent such representation and warranty is already
qualified by materiality or other similar qualifier) as of the date hereof, except to the extent
made as of a specific date, in which case each such representation and warranty is true and correct
in all material respects (or in all respects, to the extent such representation and warranty is
already qualified by materiality or other similar qualifier) as of such date; and

(g) Further Events of Default. It shall constitute an immediate Event of Default if
any acknowledgement, covenant or other agreement made herein is untrue or incorrect in any respect
as of the date when made, deemed made or required to be satisfied, as applicable.

SECTION 6. CONDITIONS TO EFFECTIVENESS OF THE FORBEARANCE

6.1 Forbearance Conditions. The effectiveness of the Forbearance as provided in Section
3.1 of this Agreement is subject to performance, satisfaction and occurrence of the following:

(a) Agent has received this Agreement, duly executed and delivered by Borrower, and

(b) Agent has received, for the benefit of the Lenders in accordance with their Pro Rata
Shares of the Term Loan, a forbearance fee equal to One Hundred Fifty Thousand Dollars
($150,000.00), which fee is fully earned on the Forbearance Effective Date and, once paid, will be
non-refundable for any reason whatsoever.

SECTION 7. PROVISIONS OF GENERAL APPLICATION

7.1 Effect of this Agreement. Except as and limited to the extent provided in this Agreement,
no other changes or modifications to the Loan Agreement or any other Loan Document are intended or
implied. In all respects the Loan Agreement and all other Loan Documents remain in full force and
effect and are ratified, restated and confirmed by Borrower as of the effective date hereof. To
the extent of conflict between the terms of this Agreement and the other Loan Documents, the terms
of this Agreement control.

7.2 Expenses of Agent and Lenders. Borrower absolutely and unconditionally agrees to pay to
Agent and each Lender, on demand by Agent or such Lender at any time and as often as the occasion
therefor may require, whether or not all or any of the transactions contemplated by this Agreement
are consummated: all fees, costs, expenses and disbursements of any counsel to Agent or such Lender
in connection with the preparation, negotiation, execution or delivery of this Agreement and any
agreements delivered in connection with the transactions contemplated hereby and expenses which at
any time be incurred or sustained by Agent or such Lender or any participant of such Lender or any
of their respective directors, officers, employees or agents as a consequence of or in any way in
connection with the preparation, negotiation, execution or delivery of this Agreement and any
agreements prepared, negotiated, executed or delivered in connection with the transactions
contemplated hereby and the Loan Documents. The foregoing sentence does not in any way limit or
negate Borrower’s liability for all such fees, costs and expenses under the terms and conditions
set forth in the Loan Agreement and other Loan Documents, all of which constitutes additional
Obligations. This provision is in addition to, and is not intended to restrict, limit, modify or
amend any provision relating to fees, costs and expenses incurred by Agent or any Lender as
provided in the Loan Agreement or any other Loan Document or any obligation of Borrower relating
thereto.

7.3 Incorporation by Reference. The terms and provisions of Sections 9.6 (No Waiver; Remedies
Cumulative), 10 (Notices), 12.2 (Expenses; Indemnity; Damage Waiver), 12.9 (Confidentiality), and
12.7(a) (Amendments) of the Loan Agreement are incorporated herein by reference, and apply to this
Agreement as if fully set forth herein. This Agreement constitutes a “Loan Document” for all
purposes of the Loan Agreement and the other Loan Documents.

7.4 Further Assurances. The parties hereto shall execute and deliver such additional
documents and take such additional action as may be necessary or desirable consistent with the
intent of this Agreement or to effectuate or implement the provisions and purposes of this
Agreement.

7.5 Binding Effect. This Agreement is binding upon and inures to the benefit of each of the
parties hereto and their respective successors and assigns.

7.6 No Novation. This Agreement is not a novation, nor is it to be construed as a release or
modification of any of the terms, conditions, warranties, waivers, or rights in the Loan Agreement
or any other Loan Document, except as specifically set forth herein.

7.7 Survival of Representations and Warranties. All representations and warranties made in
this Agreement or any other document furnished in connection with this Agreement survives the
execution and delivery of this Agreement and the other documents, and no investigation by Agent or
any Lender or any closing affect the representations and warranties or the right of Agent or any
Lender to rely upon them.

7.8 Severability. Any provision of this Agreement held by a court of competent jurisdiction
to be invalid or unenforceable does not impair or invalidate the remainder of this Agreement.

7.9 Acknowledgment of Legal Counsel. Prior to executing this Agreement, Borrower consulted
with and had the benefit of advice of legal counsel of its own selection and has relied upon the
advice of such counsel, and in no part upon the representation of Agent or any Lender, or any
counsel to Agent or any Lender concerning the legal effects of this Agreement or any provision
hereof.

7.10 Governing Law; Venue; Judicial Reference. Section 11 (Choice of Law, Venue and Judicial
Reference) of the Loan Agreement are incorporated herein by reference, and apply to this Agreement
as if fully set forth herein.

7.11 Jury Trial Waiver. WITHOUT LIMITING ANY OTHER TERM IN THE LOAN AGREEMENT AND OTHER LOAN
DOCUMENTS:

(a) TO THE EXTENT PERMITTED BY APPLICABLE LAW, BORROWER, AGENT AND LENDER EACH WAIVE THEIR
RIGHT TO A JURY TRIAL OF ANY CLAIM OR CAUSE OF ACTION ARISING OUT OF OR BASED UPON THIS AGREEMENT,
THE LOAN AGREEMENT AND THE OTHER LOAN DOCUMENTS OR ANY CONTEMPLATED TRANSACTION, INCLUDING
CONTRACT, TORT, BREACH OF DUTY AND ALL OTHER CLAIMS. THIS WAIVER IS A MATERIAL INDUCEMENT FOR BOTH
PARTIES TO ENTER INTO THIS AGREEMENT. EACH PARTY HAS REVIEWED THIS WAIVER WITH ITS COUNSEL.

(b) BORROWER, AGENT AND EACH LENDER AGREE, ACKNOWLEDGE AND CONFIRM THAT THIS WAIVER IS MADE
AFTER THE OCCURRENCE AND DURING THE CONTINUANCE OF A DEFAULT UNDER THE LOAN AGREEMENT AND OTHER
LOAN DOCUMENTS.

7.12 Counterparts. This Agreement may be executed in any number of counterparts, but all such
counterparts together constitute one and the same agreement.

[Remainder of page intentionally left blank; signature pages follow.]

IN WITNESS WHEREOF, this Agreement is executed and delivered as of the day and year
first above written.

BORROWER:

HANSEN MEDICAL, INC.,

a Delaware corporation, as Borrower

	 	 	 
	By: /s/ Chris Lowe

	 

	Name:

Title:

	 	Chris Lowe

Chief Financial Officer

1

	 	 	AGENT:

WHITE OAK GLOBAL ADVISORS, LLC,

a Delaware limited liability company, as Agent

	 	 	 	By:
/s/ Barbara J. S. McKee

	 	 	Name: Barbara J. S. McKee

Title: Manager

LENDERS:

WHITE OAK GLOBAL ADVISORS, LLC,

a Delaware limited liability company, for itself

and as attorney-in-fact for all other Lenders as of

the Effective Date

By: /s/ Barbara J. S. McKee

Name: Barbara J. S. McKee

Title: Manager

SCHEDULE 1.1(w)

SPECIFIED EVENTS OF DEFAULT

	 	 	 	 	 
	LOAN DOCUMENT
	 	COVENANT
	 	

	 
	 	 
	 	

	Loan Agreement,

Sections 6.1(c) and

8.2(b)
	 	Compliance with Laws
	 	Borrower has failed

to timely file a Form

10-K statement with

the SEC by April 15,

2016.

	 
	 	 
	 	 

	Loan Agreement,

Sections 6.2(a)(i)

and 8.2(a)
	 	Annual Financial Statements
	 	Borrower is unable to

provide audited

financial statements

for the Fiscal Year

ending 12/31/2015

with a report and

opinion from the

independent certified

public accountants

certifying such

financial statements

that is not subject

to any “going

concern” or like

qualification or

exception.

	 
	 	 
	 	 

	Loan Agreement,

Sections 6.2(a)(iv)

and 8.2(a)
	 	Forecasts and Budgets
	 	Borrower has failed

to timely deliver to

Lender financial

projections for 2016.

	 
	 	 
	 	 

	Loan Agreement,

Sections 6.10 and

8.2(a)
	 	Minimum Liquidity Covenant
	 	Borrower expects to

fail to maintain

minimum Liquidity

during the

Forbearance Period.

	 
	 	 
	 	 

ACKNOWLEDGMENT AND AGREEMENT OF GUARANTORS

The undersigned, each a guarantor of the indebtedness of Hansen Medical, Inc., a Delaware
corporation (“Borrower”) to White Oak Global Advisors, LLC, a Delaware limited liability
company, as Agent (“Agent”), the Lenders party thereto (each, “Lender” and
collectively, “Lenders”), pursuant to an Amended and Restated Unconditional Guaranty dated
as of August 23, 2013 (as amended, modified, supplemented, extended, renewed, restated or replaced
from time to time, the “Guaranty”), (i) acknowledges receipt of the foregoing Forbearance
Agreement; (ii) consents to the terms and execution thereof; (iii) reaffirms all obligations to
Agent and Lenders pursuant to the terms of the Guaranty; (iv) acknowledges that Agent and Lenders
may amend, restate, extend, renew or otherwise modify the Loan Agreement and any indebtedness or
agreement of Borrower, or enter into any agreement or extend additional or other credit
accommodations, without notifying or obtaining the consent of the undersigned and without impairing
the liability of the undersigned under the Guaranty for all of Borrower’s present and future
indebtedness to Lender, and (v) agrees to be bound by the release and covenants set forth in
Sections 2.1, 4.3 and 5.1 of the foregoing Forbearance Agreement.

HANSEN MEDICAL INTERNATIONAL, INC.,

a Delaware corporation

	 	 	 	By:
/s/ Chris Lowe

	 	 	Name: Chris Lowe

Title: Chief Financial Officer

	 	 	 	AORTX, INC.,

a Delaware corporation

	 	 	 	By:
/s/ Chris Lowe

	 	 	Name: Chris Lowe

Title: Chief Financial Officer

2

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