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Schematic diagram for laser actuated SMP microgripper. Solutions of thermoplastic PU and polythiol doped with Epolin 4121 were first solution cast over a cleaved optical fiber to form the SMP gripper, after which PU/polythiol solutions were UV cured. Pellet tipped nitinol was then axially crimped into the gripper, and actuation was achieved using laser irradiation, which results in release of embolic device.
