Development and Evaluation of a Robotic System for Safe Cardiac Sheath Delivery. - Weizhao Wang; Carlo Saija; Zhouyang Xu; Aya Mutaz Zeidan; Joshua Wilcox; Tiffany Patterson; Simon Redwood; Shuangyi Wang; Kawal S. Rhode; Richard James Housden (IEEE Trans. Biomed. Eng., 2025)