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. Author manuscript; available in PMC: 2017 Aug 1.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2016 Aug;2016:5112–5115. doi: 10.1109/EMBC.2016.7591877

Fig. 3.

Fig. 3

Deflection of the PRBM and the continuum model under torques applied to actuator 1 and 2, and bending forces applied at the tip. The magnitude of the torques and forces are the same as in Table IV, but the directions are altered so that the catheter bends in different quadrants under different loads.