Aortic heart valve replacement is a major surgical intervention, traditionally requiring a large thoracotomy. However, current advances in Minimally Invasive Surgery and Surgical Robotics can offer the possibility to perform the intervention through a narrow mini thoracotomy. The presented surgical robot and proposed surgical scenario aims to provide a highly controllable means for efficiently conducting valve replacement by endoscopic vision. The robot, consisting of a series of joints, is a cable actuated manipulator for reaching the operative site and delivering the valve at the required position. The robot is equipped with endoscopic cameras (to find the hinge points) and three stabilizing flaps (to stabilize the manipulator) for guarantying the proper valve placement. The manipulator is validated by experimental results of flaps' force and camera visions in artificial vessels.