The project called “Polish Cardiosurgical Robot” has been developed by Foundation for Cardiac Surgery Development since year 2000. Within the project the telemanipulator to perform the endoscopic cardiosurgical operations has been designed, manufactured and examined. In the following paper the development of construction of arms for RobIn Heart 0, RobIn Heart 1, RobIn Heart 3 versions of the robot as well as the fixing system has been presented. In the preliminary phase of the project the requirements for mechanical construction were analyzed. Additional requirements enhancing functionality of the construction were also defined. Analyses of the planned development of the construction and ways of its possible applications were performed.