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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. 8.

Fig. 8

LIMA takedown task for port placement evaluation. This picture shows the distal LIMA setup from the endoscope view. A fixed-offset grasper (black arrow) and a harmonic scalpel (white arrowhead) are poised to dissect the model vessel from the surrounding soft tissue.