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                                          Figure 2: Wire Spool                                                    Figure 3: Wire Spool with Retraction Motor. The retraction motor is used to retract the wire back into the device.        

                               Figure 4: Locking Mechanism                                          Figure 5: Friction Drive with stepper motor coupled to the drive wheel. Used to insert the wire into the catheter.

*All images above are CAD images created in Solidworks

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VIDEO: Demonstration of Motor Control

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Figure 6:Early 2D conceptual representation of Catheter Measuring Device.