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Figure 2 (A) A prototype of the bedside unit attached to the patient table, loaded with a wire and device. A standard guiding catheter and Y-connector are hooked to a special holder on the base. (B) A schematic diagram of the bedside unit loaded with a wire and device. The guiding catheter hooks to a standard Y-connector, which is attached to the base through a sterile holder. Similarly, the wire and device navigators are attached to the sterile plastic sheet-covered base. The wire navigator controls both axial and rotational motions (arrows). The device navigator, composed of two pairs of rollers, controls the axial motion and discrete positioning of the device delivery system (arrows) and provides online position feedback of the device.
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