1. Robotic Mitral Valve Annuloplasty With Double-Arm Nitinol U-Clips
Clifton C. Reade, MD, Curtis E. Bower, MD, B.Marcus Bailey, MD, David M. Maziarz, MD, Saqib Masroor, MD, Alan P. Kypson, MD, L.Wiley Nifong, MD, W.Randolph Chitwood, MD, FACS 
The Annals of Thoracic Surgery 
Volume 79, Issue 4, Pages (April 2005)
DOI: /j.athoracsur

2. Fig 1
Double-armed nitinol U-clips (left) before release, (middle) after one arm released, and (right) after both arms released.
The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur )

3. Fig 2
Port placement for robotic mitral valve repair and robotic camera/arm positioning.
The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur )

4. Fig 3
Placement of nitinol U-clips. The needle is passed through the annulus (A, B), each needle is passed sequentially through the band (C), and then each needle is released from the U-clip (D, E). Completed U-clip placement (F).
The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur )

5. Fig 4
Finished products: (left) nitinol U-clips, (right) conventional suture placement.
The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur )