1. Computer-assisted telemanipulation: an enabling technology for endoscopic coronary artery bypass 
Hani Shennib, MD, Amr Bastawisy, MD, Michael J Mack, MD, Frederic H Moll, MD 
The Annals of Thoracic Surgery 
Volume 66, Issue 3, Pages (September 1998)
DOI: /S (98)

2. Fig 1
Intuitive Surgical console. The surgeon sits at a distance from the operating field, which is viewed three-dimensionally from the console.
The Annals of Thoracic Surgery  , DOI: ( /S (98) )

3. Fig 2
Telemanipulation arms: Two slave arms manipulate the surgical instruments. A third arm controls the thoracoscope.
The Annals of Thoracic Surgery  , DOI: ( /S (98) )

4. Fig 3
A variety of endoscopic slave instruments used in totally endoscopic coronary artery bypass, eg, fine scissors, needle holders, tissue graspers, and cautery dissector.
The Annals of Thoracic Surgery  , DOI: ( /S (98) )

5. Fig 4
Electronic hardware servo control permits processing of signals received from the surgeon handle and slave instruments. Feedback allows mechanical intuitive linkage.
The Annals of Thoracic Surgery  , DOI: ( /S (98) )