A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles...http://www.google.de/patents/US5855583?utm_source=gb-gplus-sharePatent US5855583 - Method and apparatus for performing minimally invasive cardiac procedures
