Minimally invasive direct coronary artery bypass (MIDCAB) grafting attempts to achieve adequate coronary artery revascularization in a less invasive manner than conventional coronary artery bypass grafting (CABG). Unlike conventional revascularization techniques, which are highly invasive due to the use of a large incision (sternotomy) and cardiopulmonary bypass (CPB), MIDCAB limits invasiveness by employing a small incision (thoracotomy) and by operating on the beating heart to avoid the need for CPB.