Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization. - Weizhao Wang; Zicong Wu; Carlo Saija; Aya Mutaz Zeidan; Zhouyang Xu; Aryana Pishkahi; Tiffany Patterson; Simon Redwood; Shuangyi Wang; Kawal S. Rhode; Richard James Housden (IEEE Robotics Autom. Lett., 2024)