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. Author manuscript; available in PMC: 2024 Aug 23.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Jun 25;5(3):4947–4954. doi: 10.1109/lra.2020.3004782

Fig. 9:

Fig. 9:

(a) The COAST guidewire is advanced to a point of bifurcations in a linear path, (b)-(d) Given an Xref, the guidewire can advance along any of the channels in the bifurcation. A red dot indicates the guidewire tip.