VENROCK ASSOCIATES
SC 13G, 2000-02-14
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<PAGE>

                      SECURITIES AND EXCHANGE COMMISSION

                            WASHINGTON, D.C. 20549

                                 SCHEDULE 13G
                                (Rule 13d-102)

            INFORMATION TO BE INCLUDED IN STATEMENTS FILED PURSUANT
          TO RULES 13d-1(b) (c), AND (d) AND AMENDMENTS THERETO FILED
                           PURSUANT TO RULE 13d-2(b)


                          Caliper Technologies Corp.
                          --------------------------
                               (Name of Issuer)

                                 Common Stock
                          --------------------------
                        (Title of Class of Securities)

                                   130876105
                         ----------------------------
                                (CUSIP Number)

                               December 15, 1999
                               -----------------
            (Date of Event Which Requires Filing of this Statement)

Check the appropriate box to designate the rule pursuant to which this Schedule
is filed:

           Rule 13d-1(b)
     ----
           Rule 13d-(c)
     ----
      X    Rule 13d-1(d)
     ----
          *The remainder of this cover page shall be filled out for a reporting
person's initial filing on this form with respect to the subject class of
securities, and for any subsequent amendment containing information which would
alter the disclosures provided in a prior cover page.

          The information required in the remainder of this cover page shall not
be deemed to be "filed" for the purpose of Section 18 of the Securities Exchange
Act of 1934 ("Act") or otherwise subject to the liabilities of that section of
the Act but shall be subject to all other provisions of the Act (however, see
the Notes).
<PAGE>

- ---------------------                                 -----------------------
CUSIP No.130876105                13 G                   Page 2 of 16 Pages
- ---------------------                                 -----------------------
- ------------------------------------------------------------------------------
      NAMES OF REPORTING PERSON
 1    S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
      Venrock Associates
      I.R.S.#13-66300995
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]

- ------------------------------------------------------------------------------
      SEC USE ONLY
 3


- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4

      New York, U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5
     NUMBER OF            0

      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6
                          1,238,112
     OWNED BY
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7
    REPORTING             0

      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8
                          1,238,112
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9
      1,238,112
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10

- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11

      6.10%
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12

      PN
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                                2  of 16 pages

<PAGE>

- ---------------------                                 -----------------------
CUSIP No.130876105                13 G                   Page 3 of 16 Pages
- ---------------------                                 -----------------------
- ------------------------------------------------------------------------------
      NAMES OF REPORTING PERSON
 1    S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
      Venrock Associates II, L.P.
      I.R.S.#13-3844754

- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]

- ------------------------------------------------------------------------------
      SEC USE ONLY
 3


- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4

      New York, U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5
     NUMBER OF
                          0
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6

     OWNED BY             838,949
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7
    REPORTING
                          0
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8
                          838,949
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9
      838,949
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10

- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11

      4.13%
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12

      PN
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 3 of 16 pages
<PAGE>

- ---------------------                                 -----------------------
CUSIP No.130876105                13 G                   Page 4 of 16 Pages
- ---------------------                                 -----------------------
- ------------------------------------------------------------------------------
      NAMES OF REPORTING PERSON
 1    S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
      Anthony B. Evnin
      ###-##-####
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]

- ------------------------------------------------------------------------------
      SEC USE ONLY
 3


- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4

      U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5
     NUMBER OF
                          0
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6

     OWNED BY             2,077,061
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7
    REPORTING
                          0
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8
                          2,077,061
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9
      2,077,061
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10

- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11

      10.23%
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12

      IN
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 4 of 16 pages
<PAGE>

- ---------------------                                 -----------------------
CUSIP No.130876105                13 G                   Page 5 of 16 Pages
- ---------------------                                 -----------------------
- ------------------------------------------------------------------------------
      NAMES OF REPORTING PERSON
 1    S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
      David R. Hathaway
      ###-##-####
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]

- ------------------------------------------------------------------------------
      SEC USE ONLY
 3


- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4

      U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5
     NUMBER OF
                          0
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6

     OWNED BY             2,077,061
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7
    REPORTING
                          0
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8
                          2,077,061
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9
      2,077,061
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10

- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11

      10.23%
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12

      IN
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 5 of 16 pages
<PAGE>

- ---------------------                                 -----------------------
CUSIP No.130876105                13 G                   Page 6 of 16 Pages
- ---------------------                                 -----------------------
- ------------------------------------------------------------------------------
      NAMES OF REPORTING PERSON
 1    S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
      Patrick F. Latterell
      ###-##-####
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]

- ------------------------------------------------------------------------------
      SEC USE ONLY
 3


- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4

      U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5
     NUMBER OF
                          0
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6

     OWNED BY             2,077,061
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7
    REPORTING
                          0
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8
                          2,077,061
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9
      2,077,061
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10

- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11

      10.23%
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12

      IN
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 6 of 16 pages
<PAGE>

- ---------------------                                 -----------------------
CUSIP No.130876105                13 G                   Page 7 of 16 Pages
- ---------------------                                 -----------------------
- ------------------------------------------------------------------------------
      NAMES OF REPORTING PERSON
 1    S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
      Ted H. McCourtney
      ###-##-####

- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]

- ------------------------------------------------------------------------------
      SEC USE ONLY
 3


- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4

      U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5
     NUMBER OF
                          0
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6

     OWNED BY             2,077,061
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7
    REPORTING
                          0
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8
                           2,077,061
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9
      2,077,061
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10

- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11

      10.23%
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12

      IN
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 7 of 16 pages
<PAGE>

- ---------------------                                 -----------------------
CUSIP No.130876105                13 G                   Page 8 of 16 Pages
- ---------------------                                 -----------------------
- ------------------------------------------------------------------------------
      NAMES OF REPORTING PERSON
 1    S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
      Ray A. Rothrock
      ###-##-####

- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]

- ------------------------------------------------------------------------------
      SEC USE ONLY
 3


- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4

      U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5
     NUMBER OF
                          0
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6

     OWNED BY             2,077,061
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7
    REPORTING
                          0
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8
                           2,077,061
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9
       2,077,061
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10

- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11

      10.23%
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12

      IN
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 8 of 16 pages
<PAGE>

- ---------------------                                 -----------------------
CUSIP No.130876105                13 G                   Page 9 of 16 Pages
- ---------------------                                 -----------------------
- ------------------------------------------------------------------------------
      NAMES OF REPORTING PERSON
 1    S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
      Kimberley A. Rummelsburg
      ###-##-####

- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]

- ------------------------------------------------------------------------------
      SEC USE ONLY
 3


- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4
      U.S.A.

- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5
     NUMBER OF
                          0
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6

     OWNED BY             2,077,061
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7
    REPORTING
                          0
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8
                           2,077,061
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9
       2,077,061
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10

- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11

      10.23%
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12

      IN
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 9 of 16 pages
<PAGE>

- ---------------------                                 -----------------------
CUSIP No.130876105                13 G                  Page 10 of 16 Pages
- ---------------------                                 -----------------------
- ------------------------------------------------------------------------------
      NAMES OF REPORTING PERSON
 1    S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
      Anthony Sun
      ###-##-####

- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]

- ------------------------------------------------------------------------------
      SEC USE ONLY
 3


- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4

      U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5
     NUMBER OF
                          0
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6

     OWNED BY             2,077,061
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7
    REPORTING
                          0
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8
                           2,077,061
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9
       2,077,061
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10

- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11

      10.23%
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12

       IN
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 10 of 16 pages
<PAGE>

              Introductory Note: This Statement on Schedule 13G is filed on
behalf of Venrock Associates, a limited partnership organized under the laws of
the State of New York, Venrock Associates II, L.P., a limited partnership
organized under the laws of the State of New York, Anthony B. Evnin, David R.
Hathaway, Patrick F. Latterell, Ted H. McCourtney, Ray A. Rothrock, Kimberley A.
Rummelsburg and Anthony Sun in respect of shares of Common Stock of Caliper
Technologies Corp.

Item 1(a)     Name of Issuer
- ----------------------------

              Caliper Technologies Corp.

Item 1(b)     Address of Issuer's Principal Executive Offices
- -------------------------------------------------------------

              605 Fairchild Drive
              Mountain View, CA  94043-2234

Item 2(a)     Name of Person Filing
- -----------------------------------

              Venrock Associates ("Venrock")
              Venrock Associates II, L.P. ("Venrock II")


              Anthony B. Evnin
              David R. Hathaway
              Patrick F. Latterell
              Ted H. McCourtney
              Ray A. Rothrock
              Kimberley A. Rummelsburg
              Anthony Sun

Item 2(b)     Address of Principal Business Office or, if none, Residence
- ------------------------------------------------------------------------

              New York Office:                        Menlo Park Office:
              30 Rockefeller Plaza                    2494 Sand Hill Road
              Room 5508                               Suite 200
              New York, NY 10112                      Menlo Park, CA 94025

Item 2(c)     Citizenship
- -------------------------

              Venrock and Venrock II are limited partnerships organized in the
              State of New York. Anthony B. Evnin, David R. Hathaway, Patrick F.
              Latterell, Ted H. McCourtney, Ray A. Rothrock, Kimberley A.
              Rummelsburg and Anthony Sun are General Partners of Venrock and
              Venrock II and all are citizens of the United States of America.

Item 2(d)     Title of Class of Securities
- ------------------------------------------

              Common Stock

Item 2(e)     CUSIP Number
- --------------------------

              130876105

Item 3        Not applicable.
- ------


Item 4        Ownership
- -----------------------

              (a) and (b)


                              Page 11 of 16 pages
<PAGE>

              Venrock owns 1,238,112 shares or 6.10% of the outstanding shares
              of common stock. Venrock II owns 838,949 shares or 4.13% of the
              outstanding shares of common stock.

              Each of Anthony B. Evnin, David R. Hathaway, Patrick F. Latterell,
              Ted H. McCourtney, Ray A. Rothrock, Kimberley A. Rummelsburg and
              Anthony Sun beneficially owns 2,077,061 shares or 10.23% of the
              outstanding shares of common stock.

              (c)

              Each of Anthony B. Evnin, David R. Hathaway, Patrick F. Latterell,
              Ted H. McCourtney, Ray A. Rothrock, Kimberley A. Rummelsburg and
              Anthony Sun has sole voting and dispositive power over no shares
              of common stock and shared voting and dispositive power over
              2,077,061 shares of common stock.

Item 5        Ownership of Five Percent or Less of a Class
- ----------------------------------------------------------

              If this statement is being filed to report the fact that as of the
              date hereof the reporting person has ceased to be the beneficial
              owner of more than five percent of the class of securities, check
              the following [ ].

Item 6        Ownership of More than Five Percent of Behalf of Another Person
- -----------------------------------------------------------------------------

              No person, other than the General Partners of Venrock and Venrock
              II, has the right to receive or the power to direct the receipt of
              dividends from, or the proceeds from the sale of, the shares of
              common stock owned by Venrock and Venrock II.

Item 7        Identification and Classification of the Subsidiary which Acquired
- -------------------------------------------------------------------------------
              the Security Being Reported on by the Parent Holding Company
              ------------------------------------------------------------

              Not applicable.

Item 8        Identification and Classification of Members of the Group
- -----------------------------------------------------------------------

              This schedule is being filed pursuant to Rule 13d-1(d). The
              identities of the seven General Partners of Venrock and Venrock II
              are stated in Item 2.

Item 9        Notice of Dissolution of Group
- --------------------------------------------

              Not applicable.

Item 10       Certification
- ---------------------------

              Not applicable.


                              Page 12 of 16 pages
<PAGE>

                                   SIGNATURE

          After reasonable inquiry and to the best of my knowledge and belief, I
certify that the information set forth in this Statement is true, complete and
correct.

February 14, 2000        VENROCK ASSOCIATES

                         By:  /s/ Ted H. McCourtney
                              --------------------
                                  Ted H. McCourtney
                                  General Partner


February 14, 2000        VENROCK ASSOCIATES II, L.P.


                         By:  /s/ Ted H. McCourtney
                              --------------------
                                  Ted H. McCourtney
                                  General Partner


February 14, 2000        GENERAL PARTNERS


                         /s/ Anthony B. Evnin
                         --------------------
                             Anthony B. Evnin

                         /s/ David R. Hathaway
                         ---------------------
                             David R. Hathaway

                         /s/ Patrick F. Latterell
                         ------------------------
                             Patrick F. Latterell

                         /s/ Ted H. McCourtney
                         ---------------------
                             Ted H. McCourtney

                         /s/ Ray A. Rothrock
                         -------------------
                             Ray A. Rothrock

                         /s/ Kimberley A. Rummelsburg
                         ----------------------------
                             Kimberley A. Rummelsburg

                         /s/ Anthony Sun
                         ---------------
                             Anthony Sun
<PAGE>

                                 Exhibit Index



Exhibit No.                                                   Page No.
- -----------                                                   --------
24.1   Power of Attorney dated as of February 14, 2000           15
       granted by the General Partners in favor of Ted
       McCourtney

99.1   Agreement pursuant to 13d-1(k)(1) among Venrock           16
       Associates, Venrock Associates II, L.P. and the
       General Partners thereof


                              Page 14 of 16 pages

<PAGE>

                                                                    Exhibit 24.1
                                                                    ------------

                               POWER OF ATTORNEY

  KNOWN ALL MEN BY THESE PRESENTS that each person whose signature appears below
constitutes and appoints Ted H. McCourtney his or her true and lawful attorney-
in-fact and agent, acting alone, with full power of substitution and
resubstitution, for him or her and in his or her name, place and stead, in any
and all capacities, to sign the Schedule 13G, and all amendments thereto, with
all exhibits thereto, and all documents in connection therewith, with respect to
the beneficial ownership by the undersigned of the equity securities of Caliper
Technologies Corp., and to file the same, with the Securities and Exchange
Commission and any other person, granting unto the attorney-in-fact and agent
full power and authority to do and perform each and every act and thing
requisite and necessary to be done in and about the premises, as fully to all
intents and purposes as he or she might or could do in person, and hereby
ratifies and confirms all that said attorney-in-fact and agent or his substitute
or substitutes, may lawfully do or cause to be done.

                         February 14, 2000

                         /s/ Anthony B. Evnin
                         --------------------
                             Anthony B. Evnin

                         /s/ David R. Hathaway
                         ---------------------
                             David R. Hathaway

                         /s/ Patrick F. Latterell
                         ------------------------
                             Patrick F. Latterell

                         /s/ Ted H. McCourtney
                         ---------------------
                             Ted H. McCourtney

                         /s/ Ray A. Rothrock
                         -------------------
                             Ray A. Rothrock

                         /s/ Kimberley A. Rummelsburg
                         ----------------------------
                             Kimberley A. Rummelsburg

                         /s/ Anthony Sun
                         ---------------
                             Anthony Sun

                                 Page 15 of 16 pages

<PAGE>

                                                                    Exhibit 99.1
                                                                    ------------
                                   AGREEMENT

          Pursuant to Rule 13d-1(k)(1) promulgated pursuant to the Securities
Exchange Act of 1934, as amended, the undersigned agree that the attached
Schedule 13G is being filed on behalf of each of the undersigned.

February 14, 2000             VENROCK ASSOCIATES


                         By:  /s/ Ted H. McCourtney
                              ---------------------
                                  Ted H. McCourtney
                                  General Partner

February 14, 2000             VENROCK ASSOCIATES II, L.P.


                         By:  /s/ Ted H. McCourtney
                              ---------------------
                                  Ted H. McCourtney
                                  General Partner


February 14, 2000             GENERAL PARTNERS


                             /s/ Anthony B. Evnin
                             --------------------
                                 Anthony B. Evnin

                            /s/ David R. Hathaway
                            ---------------------
                                David R. Hathaway

                           /s/ Patrick F. Latterell
                           -----------------------
                               Patrick F. Latterell

                          /s/ Ted H. McCourtney
                          ---------------------
                              Ted H. McCourtney

                          /s/ Ray A. Rothrock
                          -------------------
                              Ray A. Rothrock

                          /s/ Kimberley A. Rummelsburg
                          ---------------------------
                              Kimberley A. Rummelsburg

                          /s/ Anthony Sun
                          ---------------
                              Anthony Sun


                              Page 16 of 16 pages


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