Showing category image with title and description

I have a page that lists the title of each category and its description. I downloaded the Taxonomy Images plugin so I could also include each category’s featured image, but I’m unsure how to add it to my page.

Here’s the goal:

<figure>
<img src="category image" />
<figcaption> category title and description </figcaption>
</figure>

And here’s the code I have so far:

<?php $categories = get_categories();
 foreach ($categories as $cat) {
 echo "<figure><a href=\"" . get_category_link( $cat->term_id ) . "\">" . $cat->cat_name ."</a>";
 echo "<figcaption>". $cat->description ."</figcaption></figure>";
 } ?>

Anybody know what to do to insert the image?