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Date of download: 11/9/2017 Copyright © ASME. All rights reserved. From: Design of a Magnetic Resonance Imaging Guided Magnetically Actuated Steerable Catheter J. Med. Devices. 2017;11(2):021004-021004-11. doi:10.1115/1.4036095 Figure Legend: Simulation setup. (a) How a patient would be positioned inside an MRI scanner. (b) The resulting geometry of the atrial fibrillation ablation task in the left atrium model [30]. The black markers are the desired targets for atrial fibrillation ablation. The black polygons around the pulmonary veins represent the circumferential lesions.