UNITED STATES
                       SECURITIES AND EXCHANGE COMMISSION

                             Washington, D.C. 20549

                                  SCHEDULE 13G

                    Under the Securities Exchange Act of 1934

                               (Amendment No. 2)*

                                CYBERONICS, INC.
                                (Name of Issuer)

                     Common Stock, Par Value $0.01 Per Share
                         (Title of Class of Securities)

                                    23251P102
                                 (CUSIP Number)

                                December 31, 2001
             (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)
                                [X] Rule 13d-1(c)
                                [ ] 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 (the "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).

CUSIP NO. 23251P102

--------------------------------------------------------------------------------
           1  NAME OF REPORTING PERSON
              I.R.S. IDENTIFICATION NO. OF ABOVE PERSON

                   THE CLARK ESTATES, INC.

                   13-5524538
--------------------------------------------------------------------------------
           2  CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP           (a) [ ]
                                                                         (b) [X]
--------------------------------------------------------------------------------
           3  SEC USE ONLY

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

                   NEW YORK
--------------------------------------------------------------------------------
                  5  SOLE VOTING POWER

                      1,342,938
                  --------------------------------------------------------------
      NUMBER OF   6  SHARED VOTING POWER
       SHARES
    BENEFICIALLY          0
   OWNED BY EACH  --------------------------------------------------------------
     REPORTING    7  SOLE DISPOSITIVE POWER
    PERSON WITH
                      1,342,938
                  --------------------------------------------------------------
                  8  SHARED DISPOSITIVE POWER

                          0
--------------------------------------------------------------------------------
           9  AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON

                   1,342,938
--------------------------------------------------------------------------------
          10  CHECK IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES
              (SEE INSTRUCTIONS)                                             [ ]
--------------------------------------------------------------------------------
          11  PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)

                      6.2%
--------------------------------------------------------------------------------
          12  TYPE OF REPORTING PERSON (SEE INSTRUCTIONS)

                      CO
--------------------------------------------------------------------------------


                                       2

ITEM 1(a).        NAME OF ISSUER

                  Cyberonics, Inc. (the "Issuer")

ITEM 1(b).        ADDRESS OF ISSUER'S PRINCIPAL EXECUTIVE OFFICES

                  16511 Space Center Boulevard, Cyberonics Bldg.
                  Houston, Texas  77058

ITEM 2(a).        NAME OF PERSON FILING

                  The Clark Estates, Inc. (the "Reporting Person")

ITEM 2(b).        ADDRESS OF PRINCIPAL BUSINESS OFFICE OR, IF NONE, RESIDENCE

                  One Rockefeller Plaza, 31st Floor
                  New York, New York  10020

ITEM 2(c).        CITIZENSHIP

                  New York

ITEM 2(d).        TITLE OF CLASS OF SECURITIES

                  Common Stock, par value $0.01 per share

ITEM 2(e).        CUSIP NUMBER

                  23251P102

ITEM 3.           IF THIS STATEMENT IS FILED PURSUANT TO RULES 13d-1(b), OR
                  13d-2(b) OR (c), CHECK WHETHER THE PERSON FILING IS A:

                  N/A

ITEM 4.           OWNERSHIP

                  (a)      Amount beneficially owned:

                           1,342,938 (the "Shares")

                  (b)      Percent of class:

                           6.2%

                  (c)      Number of shares as to which the person has:

                           (i)      Sole power to vote or to direct the vote

                                    1,342,938

                                       3

                           (ii)     Shared power to vote or to direct the vote

                                    -0-

                           (iii)    Sole power to dispose or to direct the
                                    disposition of

                                    1,342,938

                           (iv)     Shared power to dispose or to direct the
                                    disposition of

                                    -0-

ITEM 5.           OWNERSHIP OF FIVE PERCENT OR LESS OF A CLASS

                  N/A

ITEM 6.           OWNERSHIP OF MORE THAN FIVE PERCENT ON BEHALF OF ANOTHER
                  PERSON

                  Other persons have the right to receive or the power to direct
                  the receipt of dividends from, or the proceeds from the sale
                  of, the Shares. None of such persons has an interest exceeding
                  five percent.

ITEM 7.           IDENTIFICATION AND CLASSIFICATION OF THE SUBSIDIARY WHICH
                  ACQUIRED THE SECURITY BEING REPORTED ON BY THE PARENT HOLDING
                  COMPANY OR CONTROL PERSON

                  N/A

ITEM 8.           IDENTIFICATION AND CLASSIFICATION OF MEMBERS OF THE GROUP

                  N/A

ITEM 9.           NOTICE OF DISSOLUTION OF GROUP

                  N/A

ITEM 10.          CERTIFICATION

                  (b)      By signing below I certify that, to the best of my
                           knowledge and belief, the securities referred to
                           above were not acquired and are not held for the
                           purpose of or with the effect of changing or
                           influencing the control of the issuer of the
                           securities and were not acquired and are not held in
                           connection with or as a participant in any
                           transaction having that purpose or effect.


                                       4

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.


January 16, 2002
--------------------------------------------
DATE


/s/ Kevin S. Moore
--------------------------------------------
SIGNATURE


Kevin S. Moore
President
The Clark Estates, Inc.
--------------------------------------------
NAME/TITLE



                                       5