Open heart surgical procedures to treat severe cardiac disease are extremely invasive, with a high risk of surgical complications, many of which are directly related to cardiopulmonary bypass [1]. Additionally, invasive surgery is often not a viable option for the elderly or immunocompromised, necessitating minimally invasive procedures. The most common of these procedures is a transcatheter approach, where tools are threaded through the femoral or carotid artery. However, due to the small tool diameters required to fit through the vasculature, the lack of maneuverability, and the limited force capabilities of the flexible tools, applications are limited [2].

Transapical procedures, which directly access the apex of the heart with rigid tools, are significantly less invasive than traditional open heart surgeries. The potential applications for transapical procedures are vast, but there are still many functional limitations to current devices that have resulted in...

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