Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently...http://www.google.com.au/patents/US8105235?utm_source=gb-gplus-sharePatent US8105235 - Stabilizer for robotic beating-heart surgery
