AtriCure (ATRC) 8-K/A Independent Auditor’s Report

Exhibit 23.1

CONSENT OF RSM US LLP

CONSENT OF INDEPENDENT AUDITOR

We consent to the incorporation by reference in the Registration Statements (No.333-230001) on FormS-3 and (Nos. 333-232912,333-226541,333-226540,333-219535,333-216704,333-199744,333-194481,333-187123,333-180037,333-173204,333-173203,333-165781,333-165780,333-157974,333-157972,333-152014, and333-152013) on Form S-8 of AtriCure, Inc. of our report dated June 25, 2019, relating to the consolidated financial statements of SentreHEART, Inc. appearing in this Current Report onForm 8-K/A.

/s/ RSM US LLP

San Francisco, California

October 24, 2019