Achalasia is a relatively uncommon primary motility disorder of the esophagus characterized by failure of the lower esophageal sphincter (LES) to relax and marked absence of esophageal peristalsis. Laparoscopic Heller esophageal myotomy with partial fundoplication has been considered the gold standard in the surgical management of achalasia. Nevertheless, laparoscopic Heller myotomy is a technically challenging operation that has a considerable learning curve. Robotic technology offers numerous advantages over conventional laparoscopy and has gained acceptance amongst esophageal and thoracis surgeons for the treatment of achalasia. This chapter illustrates our current technique for Robotic Assisted Heller Myotomy and some of the common pearls and pitfalls.