Reporters obtained the following quote from the background information supplied by the inventors: “Minimally invasive surgery (MIS) systems may utilize flexible robotic catheters that are navigated in the bloodstream of a patient and visual ized using X-rays. MIS apparatus and techniques have advanced to the point where an elongated catheter instrument is controllable by selectively operating tensi oning control elements within the catheter instrument. In one example, four oppo sing directional control elements wend their way to the distal end of the cathet er which, when selectively placed in and out of tension, cause the distal end to steerably maneuver within the patient. Control motors are coupled to each of the directional control elements so that they may be individually controlled and the steering effectuated via the operation of the motors in unison.
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