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3D models of the catheter tip: (a) steerable tip comprised of multiple bending modules, (b) assembly of two bending modules with orthogonal bending directions, (c) assembly of two bending modules via a positive adapter, (d) assembly of two bending modules via a negative adapter, and (e) Nichrome coils routed around an SMA wire of a bending module. The red arrows show bending directions and the blue arrows show assembly directions.
