Please assess the completion status of the following clinical trial:

Trial Title: Catheter Ablation of Atrial Fibrillation Using Hansen Medical Robotic Navigation

Study Design Characteristics:
- Allocation: RANDOMIZED
- Intervention Model: PARALLEL
- Observational Model: None
- Primary Purpose: TREATMENT
- Time Perspective: None
- Masking: NONE
- Phase: PHASE4
- Number of Arms: 2.0

Eligibility Criteria:
Inclusion Criteria:~* All patients with symptomatic AF planned for catheter ablation.~Exclusion Criteria:~* Age \< 18 years~* Previous ablation procedure~* Expected life expectancy \< 6 months~* Inability or unwillingness to sign consent~* Pregnancy~* Contraindications for the ablation procedure o Thrombus in the left atrium that fails to resolve with optimal oral anticoagulation therapy

- Gender: ALL
- Minimum Age: 18 Years
- Maximum Age: None
- Healthy Volunteers: f

Study Arms:
- manual ablation (Type: OTHER): None
- robotic ablation (Type: EXPERIMENTAL): None

Based on this trial design, predict the completion outcome and termination type (if applicable).