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. Author manuscript; available in PMC: 2020 Jan 1.
Published in final edited form as: IEEE Robot Autom Lett. 2018 Nov 19;4(1):145–152. doi: 10.1109/LRA.2018.2881987

Fig. 1:

Fig. 1:

MRI-actuated catheter with two actuators. Each actuator has three mutually orthogonal coils that can generate magnetic moments in any direction. The cross products between the magnetic moments and the MRI scanner’s magnetic field are the torques that remotely steer the robot.