Bull markets typically don't last 20 years, but over the course of a couple of decades, there will be at least several bull runs. There will be downturns, too, of course. However, equities will almost certainly see a sustained upward run, at least if the past is any indication. Cashing in on the market's long-term rise means buying shares of companies that can perform well come the next bull market and beyond.

Here are two excellent candidates: Intuitive Surgical (NASDAQ: ISRG) and (NYSE: SHOP). These companies are well positioned to deliver market-beating returns and join the exclusive $1 trillion club in the next two decades. Here's the rundown.

Intuitive Surgical's current market cap is just under $100 billion. To become a trillion-dollar company, the company would need to register a compound annual growth rate (CAGR) of about 12.2% during the next 20 years. The medical device giant has delivered outsized returns thanks to its leadership in the robotic-assisted surgery (RAS) market.

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Source Fool.com