A robotic medical system and method of performing a medical procedure on a patient are provided. Control signals are conveyed from a remote controller to a drive unit, and a drive unit is operated in accordance with the control signals to advance a first medical instrument within an anatomical vessel (e.g., a blood vessel) of the patient, to advance a second medical instrument outside of the anatomical vessel, and to respectively actuate first and second tools located on the first and second medical instruments, in unison, to perform at least one of a suturing procedure and a sewing procedure on the anatomical vessel. The control signals may be conveyed from the remote controller to the drive unit in response to user commands. The user commands may be movements made at a user interface that correspond to movements of the first and second medical instruments.