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ATS Medical  Inc. ( NASDAQ : ATSI ) ( ATS stands for Advancing the standards ) based in  Minneapolis  Minnesotahttp : / / www.atsmedical.com/Company.aspx?id=958 is a developer and manufacturer of products and services for the cardiac surgery market .
 city of headquarters: ATS Medical, Minneapolis
Given a phrase that describes the relationship between two words, extract the words and the lexical relationship between them. The output format should be "relation1: word1, word2; relation2: word3, word4". 
Option: cities of residence, top members employees, members, alternate names, origin, state or provinces of residence, title of person, spouse, city of headquarters, NA, founded by, state or province of headquarters, employee of, countries of residence, country of birth, founded, subsidiaries, country of headquarters 
Text: {0} 
Answer:
 city of headquarters: ATS Medical, Minneapolis