It was proven that the Prophet, sallallahu ‘alayhi wa sallam, saw the accursed Satan in the presence of some of his Companions . It was reported on the authority of Abu'd-Dardaa’ that the Messenger, sallallaahu ‘alayhi wa sallam, had stood up to pray and the Companions heard him saying: "I seek refuge in Allaah from you," and: "I curse you with the curse of Allaah." He repeated his statements thrice and then he stretched out his hand as though he was taking hold of something. When he finished the prayer, they asked him about what he had done.  He, sallallahu ‘alayhi wa sallam, replied that the enemy of Allaah The Almighty, Iblees (Satan), came with a flame of fire to throw it at his face, so he said three times: "I seek refuge in Allaah from you," and: "I curse you with the full curse of Allaah." Subsequently, he told them that he wanted to seize him; however, he swore that had it not been for the supplication of Sulaymaan (Solomon) he would have tied him up him and made him a plaything for the children of Madeenah to play with. [Muslim]

This incident was repeated more than once. It was reported on the authority of Abu Hurayrah that the Prophet, sallallaahu ‘alayhi wa sallam, told them that a powerful Jinn wanted to interrupt his prayers, but Allaah The Almighty enabled the Prophet, sallallaahu ‘alayhi wa sallam, to strangle him. He added that he was about to bind him to one of the pillars of the mosque so that all of the Companions could see him. However, he remembered the supplication of Sulaymaan (which means): {"My Lord, forgive me and grant me a kingdom such as will not belong to anyone after me."} [Quran 38:35]. Thus Allaah The Almighty dismissed the Jinn, humiliated. [Al-Bukhari & Muslim]  

Allaah Knows best.