1. Endoscopic Robotic Mitral Valve Surgery
Douglas A. Murphy, MD, Jeffrey S. Miller, MD, David A. Langford, MD 
The Journal of Thoracic and Cardiovascular Surgery 
Volume 133, Issue 4, Pages (April 2007)
DOI: /j.jtcvs
Copyright © 2007 The American Association for Thoracic Surgery Terms and Conditions

2. Figure 1
Endoscopic robotic ports. S, Patient-side assistant’s port; R, right robotic instrument arm; L, left robotic instrument arm; E, robotic endoscope; A, robotic atrial retractor arm.
The Journal of Thoracic and Cardiovascular Surgery  , DOI: ( /j.jtcvs )
Copyright © 2007 The American Association for Thoracic Surgery Terms and Conditions