?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aulast=Lee&rft.aufirst=Kit-Hang&rft.au=Lee%2C+Kit-Hang&rft.date=April+2018&rft.atitle=MR+Safe+Robotic+Manipulator+for+MRI-Guided+Intracardiac+Catheterization&rft.volume=23&rft.issue=2&rft.title=IEEE%2FASME+Transactions+on+Mechatronics&rft.issn=1083-4435&rft.pages=586-595&rft.genre=article