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Cardiac electrophysiology is an effective treatment for atrial fibrillation, in which a long, steerable catheter is inserted into the heart chamber to conduct radio frequency ablation. Magnetic resonance imaging (MRI) can provide enhanced intraoperative monitoring of the ablation progress as well as the localization of catheter position. However, accurate and real-time tracking of the catheter shape and its efficient manipulation under MRI remains challenging. In this article, we designed adoi:10.1109/tro.2022.3154691 fatcat:wtcabmbf7zgt7jeofsa7asqftm