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In poorly constrained extra-vascular environments such as hollow viscera, current catheter navigation techniques are restricted to simple paths and therefore limit a doctor's ability to position the catheter. This paper presents a new catheter positioning system that enables faster and more accurate catheter placement, with fewer scans. The proposed robotic catheter navigation system can execute curved paths and maintain any number of three-dimensional turns using tension stiffening guide-wiresdoi:10.1109/robot.2010.5509786 dblp:conf/icra/ChenCGCSG10 fatcat:y7dnrf52pvf3zbi3anhjdbjb2i