<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0303</schemaVersion>

    <documentType>4</documentType>

    <periodOfReport>2009-04-17</periodOfReport>

    <notSubjectToSection16>0</notSubjectToSection16>

    <issuer>
        <issuerCik>0001276591</issuerCik>
        <issuerName>HANSEN MEDICAL INC</issuerName>
        <issuerTradingSymbol>HNSN</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001375003</rptOwnerCik>
            <rptOwnerName>Mandato Joseph M</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>C/O DE NOVO VENTURES</rptOwnerStreet1>
            <rptOwnerStreet2>400 HAMILTON AVENUE, SUITE 300</rptOwnerStreet2>
            <rptOwnerCity>PALO ALTO</rptOwnerCity>
            <rptOwnerState>CA</rptOwnerState>
            <rptOwnerZipCode>94301</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>1</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>0</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <nonDerivativeTable>
        <nonDerivativeTransaction>
            <securityTitle>
                <value>Common Stock</value>
            </securityTitle>
            <transactionDate>
                <value>2009-04-17</value>
            </transactionDate>
            <transactionCoding>
                <transactionFormType>4</transactionFormType>
                <transactionCode>P</transactionCode>
                <equitySwapInvolved>0</equitySwapInvolved>
            </transactionCoding>
            <transactionTimeliness>
                <value></value>
            </transactionTimeliness>
            <transactionAmounts>
                <transactionShares>
                    <value>76925</value>
                </transactionShares>
                <transactionPricePerShare>
                    <value>250006</value>
                </transactionPricePerShare>
                <transactionAcquiredDisposedCode>
                    <value>A</value>
                </transactionAcquiredDisposedCode>
            </transactionAmounts>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>1301070</value>
                    <footnoteId id="F1"/>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>I</value>
                </directOrIndirectOwnership>
                <natureOfOwnership>
                    <value>See Footnote</value>
                    <footnoteId id="F2"/>
                </natureOfOwnership>
            </ownershipNature>
        </nonDerivativeTransaction>
        <nonDerivativeHolding>
            <securityTitle>
                <value>Common Stock</value>
            </securityTitle>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>2139</value>
                    <footnoteId id="F3"/>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
            </ownershipNature>
        </nonDerivativeHolding>
    </nonDerivativeTable>

    <footnotes>
        <footnote id="F1">Represents a reduction of 524,633 shares from prior reports due to a pro-rata in-kind distribution to the partners of De Novo Ventures II, L.P.</footnote>
        <footnote id="F2">Shares are held by De Novo Ventures II, L.P. De Novo Management II, LLC is the General Partner of De Novo Ventures II, L.P. Reporting Person is a managing director of De Novo Management II, LLC and, as such, the Reporting Person shares voting and investment power over the shares held by De Novo Ventures II, L.P. and may be deemed to have indirect beneficial ownership of such shares. The Reporting Person disclaims beneficial ownership of these securities except to the extent of his proportionate pecuniary interest therein.</footnote>
        <footnote id="F3">Represents the amount acquired by the Reporting Person through a pro rata distribution to the partners of De Novo Ventures II, L.P., of which Reporting Person is a limited partner and a managing director of De Novo Management, II, LLC, the sole general partner.</footnote>
    </footnotes>

    <ownerSignature>
        <signatureName>Joseph M. Mandato</signatureName>
        <signatureDate>2009-04-20</signatureDate>
    </ownerSignature>
</ownershipDocument>
