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Timeline of CMUT designs for PAI endoscopes [118,119,120,121]; (a) inward-looking cylindrical transducer (© [2006] IEEE. Reprinted, with permission, from [120]); (b) 9F MicroLinear CMUT ICE catheter (© [2012] IEEE. Reprinted, with permission, from [119]); (c) miniature needle-shaped CMUT (© [2010] IEEE. Reprinted, with permission, from [118]); (d) integrated ring CMUT array (© [2013] IEEE. Reprinted, with permission, from [121]).
