Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation. - Aya Mutaz Zeidan; Zhouyang Xu; Christopher E. Mower; Honglei Wu; Quentin Walker; Oyinkansola Ayoade; Natalia Cotic; Jonathan M. Behar; Steven Williams 001; Aruna Arujuna; Yohan Noh; Richard James Housden; et al. (ICRA, 2023)