Hansen Medical, a developer of robotic catheters and catheter-based technologies, has priced its public offering of three million shares of its common stock, which was an increase of its initial offering of 2.5 million shares.

Morgan Stanley will be the sole underwriter for the offering, the Mountain View, Calif.-based company said. The underwriter may offer the shares from time to time in one or more transactions in the over-the-counter market or through negotiated transactions at market prices or at negotiated prices.

Hansen said that the offering is being made pursuant to a shelf registration statement that became effective on March 17.