Abstract: A system for navigation of a luminal network including a catheter with a distal portion configured for articulation and a handle, a cradle configured to receive and support the handle, a first motor connected to the catheter, wherein the motor is operable to articulate the distal portion of the catheter, a second motor connected to the catheter, wherein the motor is operable to rotate the catheter about its longitudinal axis, and a user interface including at least one input, wherein signals generated by manipulation of the input are delivered to the first motor to articulate the catheter and to the second motor to rotate the catheter.

Abstract: A rapid, automated method for the determination of organic halogens is provided by an analytical system comprising a burner and combustion chamber for burning the organic halogen-containing sample in an oxygen-hydrogen flame; an absorption zone wherein the combustion gases are absorbed in a moving reagent film; and a colorimeter and recorder. With proper choice of reagent film, either total halogen (Cl, Br, I) content or specifically bromine content can be assayed automatically. The system is particularly useful for analysis of biological samples.