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. Author manuscript; available in PMC: 2023 Feb 1.
Published in final edited form as: IEEE Robot Autom Lett. 2023 Feb;8(2):1005–1012. doi: 10.1109/LRA.2023.3234823

Fig. 3.

Fig. 3

Multi-model representation of: (Top) sheath, and (Bottom) catheter. (a) Visual Mesh, (b) Physical Sparse Grid, and (c) Spherical Collision Model.