Nate Lombard Poirot

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OBJECTIVE This paper presents the 3-D kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying microcoils, is actuated by the magnetic forces generated by the magnetic field of the magnetic resonance imaging (MRI) scanner. METHODS This paper develops a 3-D model of the MRI-actuated(More)
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