<?xml version="1.0"?>

<ownershipDocument>

    <documentType>4</documentType>

    <periodOfReport>2003-06-30</periodOfReport>


    <notSubjectToSection16>0</notSubjectToSection16>

    <issuer>
        <issuerCik>0001035267</issuerCik>
        <issuerName>INTUITIVE SURGICAL INC</issuerName>
        <issuerTradingSymbol>ISRG</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001190985</rptOwnerCik>
            <rptOwnerName>HALVORSON ERIC H</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>  </rptOwnerStreet1>
            <rptOwnerStreet2>  </rptOwnerStreet2>
            <rptOwnerCity>  </rptOwnerCity>
            <rptOwnerState>  </rptOwnerState>
            <rptOwnerZipCode>  </rptOwnerZipCode>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>1</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>0</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <nonDerivativeSecurity>
        <securityTitle>
            <value>Common Stock</value>
        </securityTitle>
        <transactionDate>
            <value>2003-06-30</value>
        </transactionDate>
        <transactionCoding>
            <transactionFormType>4</transactionFormType>
            <transactionCode>J</transactionCode>
            <equitySwapInvolved>0</equitySwapInvolved>
            <footnoteId id="F1"/>
        </transactionCoding>
        <transactionTimeliness>
            <value></value>
        </transactionTimeliness>
        <transactionAmounts>
            <transactionShares>
                <value>2293</value>
            </transactionShares>
            <transactionValue>
                <value>0</value>
                <footnoteId id="F2"/>
            </transactionValue>
            <transactionAcquiredDisposedCode>
                <value>A</value>
            </transactionAcquiredDisposedCode>
        </transactionAmounts>
        <postTransactionAmounts>
            <sharesOwnedFollowingTransaction>
                <value>2293</value>
            </sharesOwnedFollowingTransaction>
        </postTransactionAmounts>
        <ownershipNature>
            <directOrIndirectOwnership>
                <value>D</value>
            </directOrIndirectOwnership>
        </ownershipNature>
    </nonDerivativeSecurity>

    <derivativeSecurity>
        <securityTitle>
            <value>Stock Option (right to buy)</value>
        </securityTitle>
        <conversionOrExercisePrice>
            <value>15.72</value>
        </conversionOrExercisePrice>
        <transactionDate>
            <value>2003-06-30</value>
        </transactionDate>
        <transactionCoding>
            <transactionFormType>4</transactionFormType>
            <transactionCode>A</transactionCode>
            <equitySwapInvolved>0</equitySwapInvolved>
        </transactionCoding>
        <transactionTimeliness>
            <value></value>
        </transactionTimeliness>
        <transactionAmounts>
            <transactionShares>
                <value>10000</value>
            </transactionShares>
            <transactionValue>
                <value>0</value>
            </transactionValue>
            <transactionAcquiredDisposedCode>
                <value>A</value>
            </transactionAcquiredDisposedCode>
        </transactionAmounts>
        <exerciseDate>
            <value>2006-06-30</value>
            <footnoteId id="F3"/>
        </exerciseDate>
        <expirationDate>
            <value>2013-06-30</value>
        </expirationDate>
        <underlyingSecurity>
            <underlyingSecurityTitle>
                <value>Common Stock</value>
            </underlyingSecurityTitle>
            <underlyingSecurityShares>
                <value>10000</value>
            </underlyingSecurityShares>
        </underlyingSecurity>
        <postTransactionAmounts>
            <sharesOwnedFollowingTransaction>
                <value>10000</value>
            </sharesOwnedFollowingTransaction>
        </postTransactionAmounts>
        <ownershipNature>
            <directOrIndirectOwnership>
                <value>D</value>
            </directOrIndirectOwnership>
        </ownershipNature>
    </derivativeSecurity>

    <derivativeSecurity>
        <securityTitle>
            <value>Stock Option (right to buy)</value>
        </securityTitle>
        <conversionOrExercisePrice>
            <value>3.12</value>
        </conversionOrExercisePrice>
        <transactionDate>
            <value>2003-06-30</value>
        </transactionDate>
        <transactionCoding>
            <transactionFormType>4</transactionFormType>
            <transactionCode>J</transactionCode>
            <equitySwapInvolved>0</equitySwapInvolved>
            <footnoteId id="F1"/>
        </transactionCoding>
        <transactionTimeliness>
            <value></value>
        </transactionTimeliness>
        <transactionAmounts>
            <transactionShares>
                <value>5142</value>
            </transactionShares>
            <transactionValue>
                <value>0</value>
                <footnoteId id="F4"/>
            </transactionValue>
            <transactionAcquiredDisposedCode>
                <value>A</value>
            </transactionAcquiredDisposedCode>
        </transactionAmounts>
        <exerciseDate>
            <value>2003-06-30</value>
        </exerciseDate>
        <expirationDate>
            <value>2012-07-08</value>
        </expirationDate>
        <underlyingSecurity>
            <underlyingSecurityTitle>
                <value>Common Stock</value>
            </underlyingSecurityTitle>
            <underlyingSecurityShares>
                <value>5142</value>
            </underlyingSecurityShares>
        </underlyingSecurity>
        <postTransactionAmounts>
            <sharesOwnedFollowingTransaction>
                <value>5142</value>
            </sharesOwnedFollowingTransaction>
        </postTransactionAmounts>
        <ownershipNature>
            <directOrIndirectOwnership>
                <value>D</value>
            </directOrIndirectOwnership>
        </ownershipNature>
    </derivativeSecurity>

    <derivativeSecurity>
        <securityTitle>
            <value>Stock Option (right to buy)</value>
        </securityTitle>
        <conversionOrExercisePrice>
            <value>3.08</value>
        </conversionOrExercisePrice>
        <transactionDate>
            <value>2003-06-30</value>
        </transactionDate>
        <transactionCoding>
            <transactionFormType>4</transactionFormType>
            <transactionCode>J</transactionCode>
            <equitySwapInvolved>0</equitySwapInvolved>
            <footnoteId id="F1"/>
        </transactionCoding>
        <transactionTimeliness>
            <value></value>
        </transactionTimeliness>
        <transactionAmounts>
            <transactionShares>
                <value>1285</value>
            </transactionShares>
            <transactionValue>
                <value>0</value>
                <footnoteId id="F4"/>
            </transactionValue>
            <transactionAcquiredDisposedCode>
                <value>A</value>
            </transactionAcquiredDisposedCode>
        </transactionAmounts>
        <exerciseDate>
            <value>2003-06-30</value>
        </exerciseDate>
        <expirationDate>
            <value>2012-08-29</value>
        </expirationDate>
        <underlyingSecurity>
            <underlyingSecurityTitle>
                <value>Common Stock</value>
            </underlyingSecurityTitle>
            <underlyingSecurityShares>
                <value>1285</value>
            </underlyingSecurityShares>
        </underlyingSecurity>
        <postTransactionAmounts>
            <sharesOwnedFollowingTransaction>
                <value>1285</value>
            </sharesOwnedFollowingTransaction>
        </postTransactionAmounts>
        <ownershipNature>
            <directOrIndirectOwnership>
                <value>D</value>
            </directOrIndirectOwnership>
        </ownershipNature>
    </derivativeSecurity>

    <footnotes>
        <footnote id="F1">Acquired in exchange for securities of Computer Motion, Inc. in connection with the acquisition of Computer Motion, Inc. by Intuitive Surgical, Inc. (the &quot;Merger&quot;).</footnote>
        <footnote id="F2">Received in exchange for 8,918 shares of common stock of Computer Motion, Inc. in connection with the Merger.  Calculated by multiplying 8,918 by the merger exchange ratio of .51426943 and giving effect to the 1-for-2 reverse stock split of Intuitive Surgical common stock effected June 30, 2003.</footnote>
        <footnote id="F3">Vests in equal monthly installments over 36 months.</footnote>
        <footnote id="F4">Received in the Merger in exchange for a stock option to acquire common stock of Computer Motion, Inc.  The share number and exercise price reflect the share number and exercise price of the related Computer Motion, Inc. stock option after the application of the merger exchange ratio of .51426943 and giving effect to the 1-for-2 reverse stock split of Intuitive Surgical common stock effected June 30, 2003.</footnote>
    </footnotes>

    <ownerSignature>
        <signatureName>Eric H. Halvorson</signatureName>
        <signatureDate>2003-07-01</signatureDate>
    </ownerSignature>

</ownershipDocument>

