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. Author manuscript; available in PMC: 2019 Oct 1.
Published in final edited form as: IEEE Robot Autom Lett. 2018 Jul 31;3(4):4038–4045. doi: 10.1109/LRA.2018.2861011

Fig. 1.

Fig. 1.

An SMA actuated cardiac catheter through an artificial atrial septal defect steered within the left atrium.