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. Author manuscript; available in PMC: 2015 Oct 26.
Published in final edited form as: IEEE Trans Robot. 2015 Feb;31(1):1–11. doi: 10.1109/TRO.2014.2367351

Fig. 2.

Fig. 2

Design of the active needle, showing the outer and inner components. Cross-sectional view A-A shows the solution for anchoring the ends of the SMA wire. Cross-sectional view B-B shows inner components, aligned using lumens in the PTFE core. Outermost PTFE tube is used as an outer cannula and a thermal insulation layer.