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. Author manuscript; available in PMC: 2019 Oct 1.
Published in final edited form as: IEEE Robot Autom Lett. 2018 Jul 31;3(4):4038–4045. doi: 10.1109/LRA.2018.2861011

Fig. 10.

Fig. 10.

MR image of an SMA actuated catheter tip under intrinsic Joule heating actuation before actuation (a) and during actuation (b). MR image of an SMA actuated catheter tip with Nichrome coils under the conductive heating actuation before actuation (c), when the tip moves upward (d) and downward (e), and after the power is turned off (f).