I've not worked with a mainframe, but I've worked with an IBM storage system that worked on similar principles: We could connect our systems via dual controllers, to separate bays of controllers on the storage array. You could pull whole bays of controller cards and the system would stay up. You could pull whole bays of hard drives, and the system would stay up. You could pull power supplies and it'd remain up. You could swap RAM and CPUs in the servers managing it without shutting them down, but you could also pull one of those servers, and it'd remain up. If stuff started failing, and IBM engineer would show up because the system would call home. This was around 25 years ago.
It wasn't cheap, but it made a typical "modern" high availability setup look like a crude homemade toy.
But as impressive as it was, there are just very few places where that impressiveness provides enough value to justify the cost. And having to deal with IBM.