We study the minimum time to implement an arbitrary two-qubit gate in two heteronuclear spins systems. We give a systematic characterization of two-qubit gates based on the invariants of local equivalence. The quantum gates are classified into four classes, and for each class the analytical formula of the minimum time to implement the quantum gates is explicitly presented. For given quantum gates, by calculating the corresponding invariants one easily obtains the classes to which the quantum gates belong. In particular, we analyze the effect of global phases on the minimum time to implement the gate. Our results present complete solutions to the optimal time problem in implementing an arbitrary two-qubit gate in two heteronuclear spins systems. Detailed examples are given to typical two-qubit gates with or without global phases.
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