Nicholas Thompson Sanghyun Shin Abraham G. Kocheril Elizabeth T. Hsiao-Wecksler Girish Krishnan Design and Validation of a Soft Robotic Simulator for Transseptal Puncture Training. 3003-3014 2023 October 70 IEEE Trans. Biomed. Eng. 10 https://doi.org/10.1109/TBME.2023.3278651 db/journals/tbe/tbe70.html#ThompsonSKHK23