A heart stabilizer that may include a wrist which couples an end effector to a first linkage. Data is writable to and data is readable from the storage surface. The floor sweeper has sweeping brushes mounted around all sides of the sweeper head to provide sweeping action in any direction. The semiconductor die and at least a portion of the lead frame are encapsulated in an insulative material, leaving the conductive elements exposed along a bottom major surface of the package for subsequent electrical connection with higher-level packaging. The rear wheels and turning tail can pivot laterally side to side relative to the front arm.