Fig. 4.

Mechanism that accomplishes deflecting. This deflection is achieved by pulling and releasing wires with a servo motor. This figure describes one example of deflection. When the motor rotates counterclockwise, wire (L) is pulled and wire (R) is released, deflecting the catheter tip leftward. When the motor rotates clockwise, wire (R) is pulled and wire (L) is released, deflecting the catheter tip rightward. Therefore, an actuator can make the tip of the catheter face two directions (bi-directional motion)