Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism. - Asghar Ataollahi; Rashed Karim; Arash Soleiman Fallah; Kawal S. Rhode; Reza Razavi; Lakmal D. Seneviratne; Tobias Schaeffter; Kaspar Althoefer (IEEE Trans. Biomed. Eng., 2016)