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Ali, A. (author), Szili-Torok, Tamas (author), Stijnen, Marco (author), Breedveld, P. (author), Dodou, D. (author)Purpose: In previous studies we developed two mechanical prototypes of steerable catheters: the Sigma, which uses joysticks to actuate two steerable tip segments, and the Epsilon, which has a handle that is an enlarged version of the tip. In this study, we present a first performance evaluation of the prototypes in the cardiac environment....journal article 2020