A minimally invasive method of implanting a prosthetic aortic valve includes forming a surgical site within a patient's chest that includes a first access port, a second access port, a viewing port and a delivery port. A camera is inserted into the viewing port. The native aortic valve leaflets may each be grasped and removed via tools inserted through the first and second access ports. The prosthetic aortic valve may be delivered through the delivery port to the valve annulus using a delivery device. The prosthetic aortic valve is implanted at the valve annulus and the delivery device is withdrawn. A surgeon may perform the remotely operated steps while viewing images provided by the camera.