Sorry about the link, it was the first I found that was specific to heart surgery. The other reply was accurate in that I only had one issue and there were no other issues that would require more extensive access. The main contraindication for the treatment is having a lot of fat. (I don't remember if it's surface fat, or if it's fat around your organs.)
There are risks with any procedure, but believe me there are plenty of risks associated with open heart surgery and the following recovery. Without the robot, they would need to saw open my sternum and spread my rib cage. You can't just stitch the sternum closed when you're done. I would have faced a much, much longer recovery period after the hospital with open heart. Scars are cosmetic and inconvenient, but that shouldn't be the primary consideration for choosing robotic surgery.
I did a lot of research on robotic heart surgery because I know that open heart surgery is a well-understood procedure. It sucks (split sternum!!), but lots of surgeons know how to do it correctly. I made sure that the surgeon was well-practiced in robotic and non-robotic surgery (in case a problem occurred, they need to be able to do it the old-fashioned way). And at the time I found other research papers that did find benefits for some cardiac patients but not for gynecological/urological procedures. If I or someone I knew needed a non-cardiac procedure, I would prefer not using a robot. But if someone I know fits the treatment profile for robotic heart surgery, and has access to an experienced surgeon, I would tell them that they should definitely consider it.