Kinematic characterization of a cardiac ablation catheter. - Yusof Ganji; Farrokh Janabi-Sharifi (IROS, 2007)

Robot-assisted catheter manipulation for intracardiac navigation. - Yusof Ganji; Farrokh Janabi-Sharifi; Asim N. Cheema (Int. J. Comput. Assist. Radiol. Surg., 2009)

Catheter Kinematics for Intracardiac Navigation. - Yusof Ganji; Farrokh Janabi-Sharifi (IEEE Trans. Biomed. Eng., 2009)