1. Robotic Assisted Multivessel Minimally Invasive Direct Coronary Artery Bypass With Port-Access Stabilization and Cardiac Positioning: Paving the Way for Outpatient Coronary Surgery? 
Valavanur A. Subramanian, MD, Nilesh U. Patel, MD, Nirav C. Patel, MD, FRCS(C-Th), Didier F. Loulmet, MD 
The Annals of Thoracic Surgery 
Volume 79, Issue 5, Pages (May 2005)
DOI: /j.athoracsur
Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

2. Fig 1
Positioning of patient and port placement. (LIMA = left internal mammary artery; RIMA = right internal mammary artery.)
The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur )
Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

3. Fig 2
Overall setup of port access stabilization and cardiac positioning. (MIDCAB = minimally invasive direct coronary artery bypass.)
The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur )
Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

4. Fig 3
Obtuse marginal artery stabilization using EndoStarfish (Medtronic, Inc, Minneapolis, MN) and Endostabilizer (Estech, Danville, CA).
The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur )
Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

5. Fig 4
Exposure of RCA and PDA using EndoStarfish by transabdominal approach. (PDA = posterior descending artery; RCA = right coronary artery.)
The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur )
Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions