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. Author manuscript; available in PMC: 2015 Jan 1.
Published in final edited form as: IEEE Int Conf Robot Autom. 2014;2014:4393–4398. doi: 10.1109/ICRA.2014.6907499

Fig. 9.

Fig. 9

Simplified diagram of the catheter in a magnetic field. Coil 1 is the square side coil. Coil 2 and 3 are the axial coils. B1 = 1.5 T. The direction of the magnetic field points right, while the direction of the gravity points down.