An intracardiac imaging system has an MRI compatible intracardiac echography catheter having transmitters, receivers, a multiplexer, and a beamformer. The catheter can include an atraumatic tip disposed on the distal end of the catheter, a pair of inductively coupled coils proximal the atraumatic tip, at least one CMUT-on-CMOS volumetric imaging chip disposed between the pair of coils, and a cable lumen disposed within the volume sized to house a small number of electrical connections due to significant multiplexing in the CMUT-on-CMOS chip. The catheter can be made of MRI compatible materials and can include active cooling channels.