A method of performing a medical procedure on a patient comprises conveying control signals from a remote controller to a drive unit, intravenously introducing the catheter into a heart of the patient (e.g., via the vena cava into the right atrium), and creating a puncture within a wall between two chambers...http://www.google.es/patents/US7713190?utm_source=gb-gplus-sharePatente US7713190 - Flexible instrument
