A minimally-invasive anastomosis system includes a base that is inserted through an incision is made in the chest of a patient between two adjacent ribs. An anastomosis tool and a sensor are attached to the base. The base is attached to the heart, such as by suction, while allowing substantially unrestricted motion of the heart. The sensor provides a view of a surgical field to a display, such that as the base moves along with the motion of the heart, the view of the surgical field remains substantially steady.
