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. Author manuscript; available in PMC: 2012 Jan 25.
Published in final edited form as: IEEE Trans Rob Autom. 2003 Oct;19(5):912–917. doi: 10.1109/TRA.2003.817502

Fig. 1.

Fig. 1

Anatomy of the CABG procedure as seen through a cutaway window in the chest wall. The LIMA is shown prior to dissection on the underside of the chest wall (dashed) and after dissection sutured onto a coronary artery (solid).