1. Robotically assisted microsurgery for endoscopic coronary artery bypass grafting 
Edward R Stephenson, MD, Sachin Sankholkar, MS, Christopher T Ducko, MD, Ralph J Damiano, MD 
The Annals of Thoracic Surgery 
Volume 66, Issue 3, Pages (September 1998)
DOI: /S (98)

2. Fig 1
Cadaveric heart placed inside the thoracic trainer. Modified endoscopic instruments and the endoscope have been placed through thoracic ports.
The Annals of Thoracic Surgery  , DOI: ( /S (98) )

3. Fig 2
The endoscope is placed through a 10-mm port in the fifth intercostal space in the midaxillary line. Two 5-mm ports through the fourth and sixth intercostal spaces are used for the insertion of the modified robotic instruments.
The Annals of Thoracic Surgery  , DOI: ( /S (98) )

4. Fig 3
Robotic microsurgical system. The robotic instruments are controlled by the surgeon at the computer controller, the surgeon’s motions are detected and processed by microprocessors, and the movements are precisely translated to the robotic arms attached to the operating table.
The Annals of Thoracic Surgery  , DOI: ( /S (98) )