Date of download: 9/22/2017 Copyright © ASME. All rights reserved.

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Date of download: 9/22/2017 Copyright © ASME. All rights reserved. From: Design of a Magnetic Resonance Imaging Guided Magnetically Actuated Steerable Catheter J. Med. Devices. 2017;11(2):021004-021004-11. doi:10.1115/1.4036095 Figure Legend: Computed configurations of the catheter for left atrial fibrillation ablation. Curves represent the deflected catheters. The values marked on the axes denote the coordinates with respect to the patient coordinate frame defined in Fig. 7(a). (a) Ablation on right superior pulmonary vein (RSPV), (b) ablation on right inferior pulmonary vein (RIPV), (c) ablation on left superior pulmonary vein (LSPV), and (d) ablation on left inferior pulmonary vein (LIPV).

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