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. Author manuscript; available in PMC: 2024 Nov 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2023 Aug 30;5(4):867–878. doi: 10.1109/TMRB.2023.3310039

Fig. 1:

Fig. 1:

Schematic of entire robotic transcatheter. (a) Entire robotic transcatheter, (b) proximal torsion joint, (c) bending joint, (d) prismatic joint, and (e) distal torsion joint.