1. Early experience with robotic technology for coronary artery surgery
Dieter H Boehm, MD, PhD, Hermann Reichenspurner, MD, PhD, Helmut Gulbins, MD, Christian Detter, MD, Bruno Meiser, MD, Paolo Brenner, MD, Helmut Habazettl, MD, Bruno Reichart, MD 
The Annals of Thoracic Surgery 
Volume 68, Issue 4, Pages (October 1999)
DOI: /S (99)

2. Fig 1
Schematic drawing of the Munich setup for ZEUS (Computer Motion Inc) in the human operating room with the left chest approach (figures are not to scale).
The Annals of Thoracic Surgery  , DOI: ( /S (99) )

3. Fig 2
Munich setup for the left chest approach in the human operating room with ZEUS (Computer Motion Inc) and AESOP (Computer Motion Inc) arms positioned on the operation table and fixation of the Octopus stabilizers to the right and left sides of the table.
The Annals of Thoracic Surgery  , DOI: ( /S (99) )