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Date of download: 12/24/2017 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: (a) An illustration of left atrial fibrillation ablation in the left atrium. (Copyright IEEE 2014. Reprinted with permission [7].) (b) A general structure of an MRI-actuated steerable catheter. The catheter is embedded with two coil sets (proximal coil set and distal coil set). Each coil set includes one axial coil and two orthogonal side coil.