The invention provides devices and method for performing extremely small-scale, minimally-invasive microsurgery such as thoracoscopic coronary artery bypass grafting. The instruments of the invention utilize a symmetrical, forcep-like actuator which provides extremely precise actuator and control of...http://www.google.es/patents/US5618306?utm_source=gb-gplus-sharePatente US5618306 - Endoscopic microsurgical instruments and methods
