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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. 6.

Fig. 6

Needle and PAG phantom temperature changes. (a) Outer sheath and clamped SMA temperature changes showing up to 5 °C outer sheath temperature change at 0.8-W activation. (b) Curvature sensor lumen and PAG phantom temperature near needle changes showing insignificant tissue temperature changes compared to needle inside.