EXHIBIT 10.24

Urs Wettstein

Seedammstrasse 58

CH-8640 Hurden

Integrated Surgical Systems, Inc.

1850 Research Park Drive

Davis, CA 95616

USA

WHEREAS, the undersigned has purchased a warrant to purchase 2.925.000 shares of Common Stock of Integrated Surgical Systems, Inc., Davis, CA, USA ("ISS") on December 14,1999 (the "Warrant"); and

WHEREAS, in view of the fact that the undersigned has declined to participate in the next round of financing in ISS; and

WHEREAS, the undersigned intends to resign from the Board of ISS effective June 10, 2000 and will reduce his personal attention and contributions to ISS to that of a mere financial investor;

NOW, THEREFORE, the undersigned herewith irrevocably makes the following Undertaking:

1. The undersigned herewith irrevocably and unconditionally waives any rights and claims he may have under the Warrant with regard to the purchase of an aggregate of 1.425.000 shares of Common Stock of ISS. The undersigned directs ISS to cancel the Warrant delivered with this Undertaking as to 1.425.000 shares and to reissue to the undersigned until June 30, 2000 at the latest, new warrants ("New Warrants") to purchase the remaining 1.5 million shares as follows:

- one warrant to purchase 1 million shares;

- four warrants, each to purchase 125.000 shares.

The New Warrants shall have the same terms and conditions as the Warrant except as

set forth in para 2. below.

By not later than September 5, 2000 - 125.000 shares of Common Stock

By not later than October 5,2000 - an additional 125.000 shares of Common Stock

By not later than November 5, 2000 - an additional 125.000 shares of Common Stock

By not later than December 5, 2000 - an additional 125.000 shares of Common Stock.

Hurden, May 21, 2000

Urs Wettstein