(A) da Vinci SP with instruments and camera deployed. (B) Skin incision at left subcostal margin (cadaver 2). (C) Internal (top) and external (bottom) view of the subcostal access. (D) SP system docked. (E) Harvested right (R) and left (L) ITA (female cadaver). (F) Simulated set-up of a MIDCAB procedure. ITA: internal thoracic artery; MIDCAB: minimally invasive direct coronary artery bypass; SP: Single Port.