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 by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The controller controls and limits movement of robotic arms relative to the patient.

 
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< Robotic storage buffer system for substrate carrier pods

< Multiple arm robot arrangement

> Robotic tool coupler rapid-connect bus

> Article holders with sensors detecting a type of article held by the holder

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