摘要：

System (10) of the invention is for executing minimally invasive cardiac procedure. Including a pair of of surgical instrument, that is coupled to a pair of of mechanical arm (16,18) to the system. There is the instrument (22,24) one kind can manipulate end effector to clamp and suture tissue. The automation passes through controller with a pair of main handle (50,52). The handle can be generated corresponding movement of the end manipulation device by surgeon. The movement of handle is calibrated, so that there is end effector corresponding movement to be different, usually smaller, the movement than progress relies on surgeon. The scale factor be it is adjustable, so that surgeon can control the movement of the end effector of resolution ratio. The end effector can be by the input of button, so that end effector only moves, when a button is pressed, by surgeon. Enter key allows doctor not move the position that end-effector carrys out regulation handle, so handle can be moved to more comfortable position.

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