Patent Publication Number: US-2022233239-A1

Title: Catheter system

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/161,319, filed Oct. 16, 2018, which is a continuation of U.S. patent application Ser. No. 15/254,130, filed Sep. 1, 2016, now U.S. Pat. No. 10,485,608, issued Nov. 26, 2019, which is a continuation of U.S. patent application Ser. No. 14/136,946, filed Dec. 20, 2013, now U.S. Pat. No. 9,452,016, issued Sep. 27, 2016, which is a continuation-in-part of U.S. patent application Ser. No. 13/942,354, filed Jul. 15, 2013, now U.S. Pat. No. 9,675,401, issued Jun. 13, 2017, which is a continuation of International Patent Application PCT/US2012/022061, filed Jan. 20, 2012, which claims the benefit of U.S. Provisional Application No. 61/435,213, filed Jan. 21, 2011; U.S. Provisional Application No. 61/485,987, filed May 13, 2011; U.S. Provisional Application No. 61/488,639, filed May 20, 2011; and U.S. Provisional Application No. 61/515,141, filed Aug. 4, 2011. This application also is related to U.S. Provisional Application No. 61/919,388, filed Dec. 20, 2013, as well as International Patent Application PCT/CA2014/051144, filed Nov. 28, 2014 and its European Regional Phase Application No. 14871405.8, entered Jun. 21, 2016. The entire disclosure of each of the applications cited in this Cross-Reference to Related Applications Section is hereby incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     Aspects of this disclosure generally are related to a medical system, such as a catheter system including a catheter sheath and an elongated catheter sized for delivery through a lumen of the catheter sheath. In some embodiments, the catheter system includes a controllable manipulable portion. 
     BACKGROUND 
     Cardiac surgery was initially undertaken using highly invasive open procedures. A sternotomy, which is a type of incision in the center of the chest that separates the sternum, was typically employed to allow access to the heart. In the past several decades, more and more cardiac operations are performed using intravascular or percutaneous techniques, where access to inner organs or other tissue is gained via a catheter. 
     Intravascular or percutaneous surgeries benefit patients by reducing surgery risk, complications and recovery time. However, the use of intravascular or percutaneous technologies also raises some particular challenges. Medical devices used in intravascular or percutaneous surgery need to be deployed via catheter systems which significantly increase the complexity of the device structure. As well, doctors do not have direct visual contact with the medical devices once the devices are positioned within the body. 
     One example of where intravascular or percutaneous medical techniques have been employed is in the treatment of a heart disorder called atrial fibrillation. Atrial fibrillation is a disorder in which spurious electrical signals cause an irregular heartbeat. Atrial fibrillation has been treated with open heart methods using a technique known as the “Cox-Maze procedure”. During various procedures, health care providers create specific patterns of lesions in the left or right atria to block various paths taken by the spurious electrical signals. Such lesions were originally created using incisions, but are now typically created by ablating the tissue with various techniques including radio-frequency (RF) energy, microwave energy, laser energy and cryogenic techniques. The procedure is performed with a high success rate under the direct vision that is provided in open procedures, but is relatively complex to perform intravascularly or percutaneously because of the difficulty in creating the lesions in the correct locations. Various problems, potentially leading to severe adverse results, may occur if the lesions are placed incorrectly. It is particularly important to know the position of the various transducers which will be creating the lesions relative to cardiac features such as the pulmonary veins and mitral valve. The continuity, transmurality, and placement of the lesion patterns that are formed can impact the ability to block paths taken within the heart by spurious electrical signals. Other requirements for various ones of the transducers to perform additional functions such as, but not limited to, mapping various anatomical features, mapping electrophysiological activity, sensing tissue characteristics such as impedance and temperature, and tissue stimulation can also complicate the operation of the employed medical device. 
     Conventional catheter systems have technological limitations that limit effective manipulation of a portion thereof in intra-bodily cavities and, consequently, have difficulty ensuring proper deployment, properly gathering adequate information, or performing proper lesion formation. Accordingly, a need in the art exists for catheter systems having improved manipulation capabilities. 
     SUMMARY 
     At least the above-discussed need is addressed and technical solutions are achieved by various embodiments of the present invention. In some embodiments, catheter systems and associated methods exhibit enhanced capabilities for the deployment and the activation of various transducers, which may be located within a bodily cavity, such as an intra-cardiac cavity. In some embodiments, systems or a portion thereof may be percutaneously or intravascularly delivered to position the various transducers within the bodily cavity. Various ones of the transducers may be activated to distinguish tissue from blood and may be used to deliver positional information of the device relative to various anatomical features in the bodily cavity, such as the pulmonary veins and mitral valve in an atrium. Various ones of the transducers may employ characteristics such as blood flow detection, impedance change detection or deflection force detection to discriminate between blood and tissue. Various ones of the transducers may be used to treat tissue within a bodily cavity. Treatment may include tissue ablation by way of non-limiting example. Various ones of the transducers may be used to stimulate tissue within the bodily cavity. Stimulation can include pacing by way of non-limiting example. Other advantages will become apparent from the teaching herein to those of skill in the art. 
     In some embodiments, a catheter system may be summarized as including: (i) a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath; (ii) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least a part of the shaft receivable in the lumen of the catheter sheath; (iii) a manipulable portion located at least proximate the distal end of the shaft, the manipulable portion including a distal end and sized for delivery through the lumen of the catheter sheath to a bodily cavity located in a body, the distal end of the manipulable portion arranged to be delivered first, with respect to other parts of the manipulable portion, through the lumen of the catheter sheath to the bodily cavity; and (iv) an actuator system operatively coupled to the manipulable portion to vary a shape thereof, the actuator system controlled at least by relative movement between the shaft and the catheter sheath. In various embodiments, the actuator system responds to a first relative movement by varying a shape of at least a part of the manipulable portion extending outside the distal end of the catheter sheath to, at least in part, cause the distal end of the manipulable portion to move along a first trajectory during the first relative movement, the first relative movement being between the catheter sheath and the part of the shaft when a distance between a location on the part of the shaft and a location on the catheter sheath decreases, and the actuator system further responds to a second relative movement by varying a shape of at least the part of the manipulable portion extending outside the distal end of the catheter sheath to, at least in part, cause the distal end of the manipulable portion to move along a second trajectory different than the first trajectory during the second relative movement, the second relative movement being between the catheter sheath and the part of the shaft when a distance between the location on the part of the shaft and the location on the catheter sheath increases. 
     In some embodiments, (a) the distal end of the manipulable portion follows a coiled path during the first relative movement, (b) the distal end of the manipulable portion follows a coiled path during the second relative movement, or both (a) and (b). In some embodiments, the manipulable portion includes a proximal end and an elongated part extending between the proximal and the distal ends of the manipulable portion, and at least the elongated part of the manipulable portion is coiled after the actuator system varies the shape of at least the part of the manipulable portion extending outside the distal end of the catheter sheath to at least in part cause the distal end of the manipulable portion to move along the first trajectory. 
     In some embodiments, the manipulable portion may be selectively moveable between a delivery configuration in which the manipulable portion is shaped to be delivered through the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. The catheter system may further include a control element physically coupled to the manipulable portion to transmit force to the manipulable portion, the control element being receivable in the lumen of the catheter sheath. The actuator system may be operatively coupled to the control element to transition the manipulable portion, at least in part, toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath, and to transition, at least in part, the manipulable portion toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. The actuator system may be operatively coupled to the control element to cause, when a particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during the transition toward the expanded configuration, at least a portion of the control element to have a first amount of length located outside of the distal end of the catheter sheath. The actuator system may be further operatively coupled to the control element to cause, when the particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during the transition toward the expanded configuration, at least a portion of the control element to have a second amount of length located outside of the distal end of the catheter sheath, the second amount of length being different than the first amount of length. The particular amount of the manipulable portion may be a length of the manipulable portion extending outwardly from the distal end of the catheter sheath to the distal end of the manipulable portion in some embodiments. The control element may include a sleeve and a cable located, at least in part, in a lumen of the sleeve, each of the cable and the sleeve located, at least in part, in a lumen of the shaft. The actuator system may be operatively coupled to the control element in a configuration configured to (c) move the sleeve independently or separately from the cable to cause the sleeve to slide over the cable, and (d) move the cable independently or separately from the sleeve to cause the cable to slide through the lumen of the sleeve. 
     In some embodiments, the manipulable portion is selectively moveable between a delivery configuration in which the manipulable portion is shaped to be delivered through the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. The catheter system may further include a control element physically coupled to the manipulable portion to transmit force to the manipulable portion, the control element receivable in the lumen of the catheter sheath. The actuator system may be operatively coupled to the manipulable portion to transition the manipulable portion, at least in part, toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath, and to transition, at least in part, the manipulable portion toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. The actuator system may be operatively coupled to the control element to cause, when a particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during the transition toward the expanded configuration, at least a portion of the control element to be metered with a first rate, and the actuator system may be operatively coupled to the control element to cause, when the particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during the transition toward the delivery configuration, at least a portion of the control element to be metered with a second rate different than the first rate. In some embodiments, the at least the portion of the control element includes a control cable, and the actuator system is operatively coupled to the control element to cause the control cable to be metered in a direction suitable to reduce an amount of the control cable located outside the distal end of the catheter sheath during one of (e) the transition toward the expanded configuration, and (f) the transition toward the delivery configuration, and to cause the control cable to be metered in a direction suitable to increase an amount of the control cable located outside the distal end of the catheter sheath during the other of (e) and (f). 
     In some embodiments, the manipulable portion is selectively moveable between a delivery configuration in which the manipulable portion is shaped to be delivered through the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. The catheter system may further include a control element physically coupled to the manipulable portion to transmit force to the manipulable portion, the control element being receivable in the lumen of the catheter sheath. The actuator system may be operatively coupled to the manipulable portion to transition the manipulable portion, at least in part, toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath, and to transition, at least in part, the manipulable portion toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. The actuator system may be operatively coupled to the control element to cause, when a particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward the expanded configuration, the control element to have a first amount of length located outside of the distal end of the catheter sheath. The actuator system may be further operatively coupled to the control element to cause, when the particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward the delivery configuration, the control element to have a second amount of length located outside of the distal end of the catheter sheath, the second amount different than the first amount. In some embodiments, the control element includes a sleeve and a cable located, at least in part, in a lumen of the sleeve. In some embodiments, each of the cable and the sleeve may be located, at least in part, in a lumen of the shaft. In some embodiments, the actuator system is operatively coupled to the control element in a configuration configured to (e) move the sleeve independently or separately from the cable to cause the sleeve to slide over the cable, and (f) move the cable independently or separately from the sleeve to cause the cable to slide through the lumen of the sleeve. The particular relative positioning may be a relative longitudinal positioning. 
     In some embodiments, the elongated portion of the shaft has a length extending between the proximal and the distal ends of the shaft and is sized to position the proximal end of the shaft at a location outside the body when the manipulable portion is located in the bodily cavity. The actuator system may be located at a respective location at least proximate the proximal end of the shaft. 
     In some embodiments, the manipulable portion may include a plurality of elongate members, each elongate member of the plurality of elongate members including a first end, a second end, and an intermediate portion positioned between the first and the second ends, each intermediate portion including a thickness, a front surface, and a back surface opposite across the thickness from the front surface. The manipulable portion may further include a first portion and a second portion, each of the first and the second portions of the manipulable portion including a respective part of each of at least some of the plurality of elongate members. The manipulable portion may be selectively moveable between: a delivery configuration in which the manipulable portion is sized for delivery through the lumen of the catheter sheath, at least the respective intermediate portions of the elongate members of the plurality of elongate members arranged front surface-toward-back surface in a stacked array when the manipulable portion is in the delivery configuration; and a deployed configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath, the first portion of the manipulable portion forming a first domed shape and the second portion of the manipulable portion forming a second domed shape when the manipulable portion is in the deployed configuration. 
     In some embodiments, the manipulable portion includes a first portion and a second portion, and the manipulable portion is selectively moveable between a delivery configuration in which the manipulable portion is sized for delivery through the lumen of the catheter sheath and a deployed configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. The first portion of the manipulable portion may form a first domed shape and the second portion of the manipulable portion may form a second domed shape when the manipulable portion is in the deployed configuration. The first and the second portions of the manipulable portion may be arranged in a clam shell configuration when the manipulable portion is in the deployed configuration. The manipulable portion may be arranged to be delivered second portion first through the lumen of the catheter sheath when delivered in the delivery configuration. 
     The manipulable portion may include a set of one or more transducers. The catheter sheath, the part of the shaft receivable in the lumen of the catheter sheath, or each of the catheter sheath and the part of the shaft receivable in the lumen of the catheter sheath may include a bendable portion that is bendable during a respective delivery to the bodily cavity. The catheter system may further include a control system operatively coupled to the actuator system, the control system operable to control activation of one or more actuators of the actuator system. The control system may be operable to control activation of the one or more actuators of the actuator system in response to the relative movement between the shaft and the catheter sheath. 
     In some embodiments, the distal end of the manipulable portion may be located outside of the distal end of the catheter sheath at a first location when a particular spatial relationship exists between the shaft and the catheter sheath during the first relative movement. The distal end of the manipulable portion may be located outside of the distal end of the catheter sheath at a second location when the particular spatial relationship exists between the shaft and the catheter sheath during the second relative movement. In various embodiments, the second location may be different than the first location. In various embodiments, the particular spatial relationship may be a spatial relationship between a third location on the shaft and fourth location on the catheter sheath. 
     In some embodiments, the first relative movement may cause an increase in an amount of the at least a part of the manipulable portion extending outside the distal end of the catheter sheath, and the second relative movement may cause a decrease in an amount of the at least a part of the manipulable portion extending outside the distal end of the catheter sheath. 
     In some embodiments, the catheter system may further include a control element physically coupled to the manipulable portion to transmit force to the manipulable portion, the control element receivable in the lumen of the catheter sheath. The actuator system may be operatively coupled to the control element to vary a shape of at least the part of the manipulable portion extending outside the distal end of the catheter sheath to, at least in part, cause the distal end of the manipulable portion to move along the first trajectory during the first relative movement. The first trajectory may be a modified trajectory following a respective path along which the distal end of the manipulable portion moves during the first relative movement as compared to a respective trajectory along which the distal end of the manipulable portion would move during the first relative movement absent the control element. In some embodiments, the actuator system may respond to the first relative movement by varying a radius of curvature of a surface of the at least a part of the manipulable portion extending outside the distal end of the catheter sheath to decrease and then subsequently increase during the first relative movement. 
     Various systems may include combinations and subsets of all the systems summarized above. 
     In some embodiments, a catheter system includes: (i) a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath; (ii) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least a part of the shaft receivable in the lumen of the catheter sheath; and (iii) a manipulable portion located at least proximate the distal end of the shaft, the manipulable portion including a distal end and sized for delivery through the lumen of the catheter sheath, the distal end of the manipulable portion arranged to be delivered first, with respect to other parts of the manipulable portion, through the lumen of the catheter sheath from the proximal end of the catheter sheath toward the distal end of the catheter sheath. A method of the controlling the catheter system may be summarized as including responding to a first relative movement, which causes a distance between a location on the part of the shaft and a location on the catheter sheath to decrease, to vary a shape of at least a part of the manipulable portion extending outside the distal end of the catheter sheath to, at least in part, cause the distal end of the manipulable portion to move along a first trajectory during the first relative movement, and responding to a second relative movement, which causes a distance between the location on the part of the shaft and the location on the catheter sheath to increase, to vary a shape of at least a part of the manipulable portion extending outside the distal end of the catheter sheath to, at least in part, cause the distal end of the manipulable portion to move along a second trajectory during the second relative movement, the second trajectory being different than the first trajectory. 
     In some embodiments, a catheter system may be summarized as including: (i) a catheter sheath that includes a proximal end, a distal end, and a lumen extending within the catheter sheath between the proximal end of the catheter sheath and the distal end of the catheter sheath; (ii) a shaft member including a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least part of the shaft sized for delivery through the lumen of the catheter sheath to a bodily cavity located in a body, and the distal end of the shaft arranged to be delivered through the lumen of the catheter sheath toward the bodily cavity prior to at least the elongated portion of the shaft; (iii) a manipulable portion located at least proximate the distal end of the shaft, the manipulable portion sized for delivery though the lumen of the catheter sheath to the bodily cavity; (iv) a projection including a length and extending from a location at least proximate a first one of the proximal end of the catheter sheath and the proximal end of the shaft; (v) a receiver provided at a location at least proximate a second one of the proximal end of the catheter sheath and the proximal end of the shaft, the projection and the receiver configured to matingly engage at least when the part of the shaft is received in the lumen of the catheter sheath; and (vi) an actuator system operatively coupled to the manipulable portion to transmit force to the manipulable portion, the actuator system responsive to varying amounts of the length of the projection being within the receiver by varying the force transmitted to the manipulable portion. 
     In some embodiments, the projection may extend beyond the first one of the proximal end of the catheter sheath and the proximal end of the shaft at least when the part of the shaft is received in the lumen of the catheter sheath. In some embodiments, the projection may extend outwardly from the first one of the proximal end of the catheter sheath and the proximal end of the shaft toward one of the proximal end of the catheter sheath and the proximal end of the shaft other than the first one, at least when the part of the shaft is received in the lumen of the catheter sheath. 
     In some embodiments, the manipulable portion is configured to not be inserted into the receiver when the manipulable portion is delivered through the lumen of the catheter sheath to the bodily cavity. 
     In some embodiments, the length of the projection is a longitudinal length of the projection extending from the location at least proximate the first one of the proximal end of the catheter sheath and the proximal end of the shaft to an end of the projection, the end of the projection configured to be received first in the receiver, as compared to other parts of the projection, when the projection is inserted into the receiver. In some embodiments, the shaft includes a longitudinal length extending between the proximal and distal ends of the shaft, and the longitudinal length of the shaft is different than the longitudinal length of the projection. In some embodiments, the longitudinal length of the shaft is greater than the longitudinal length of the projection. In some embodiments, a first particular amount of the longitudinal length of the projection is located in the receiver when a second particular amount of the longitudinal length of the shaft is located inside the lumen of the catheter sheath, the first particular amount of the longitudinal length of the projection being less than the second particular amount of the longitudinal length of the shaft. 
     In some embodiments, the first one of the proximal end of the catheter sheath and the proximal end of the shaft is a same one as the second one of the proximal end of the catheter sheath and the proximal end of the shaft. In some embodiments, the first one of the proximal end of the catheter sheath and the proximal end of the shaft is different than the second one of the proximal end of the catheter sheath and the proximal end of the shaft. In some embodiments, the second one of the proximal end of the catheter sheath and the proximal end of the shaft is the proximal end of the shaft. In some embodiments, the first one of the proximal end of the catheter sheath and the proximal end of the shaft is the proximal end of the catheter sheath. 
     In some embodiments, the shaft member may further include a housing physically coupled to the shaft at a location at least proximate the second one of the proximal end of the catheter sheath and the proximal end of the shaft, and the receiver is located, at least in part, in the housing. In some embodiments, the actuator system may be located, at least in part, in the housing. 
     In some embodiments, the receiver may include an internal receiving mechanism sized to matingly receive at least a portion of the projection, and the actuator system may be responsive to a movement of the internal receiving mechanism within the receiver caused by a change in an amount of the length of the projection within the receiver by varying the force transmitted to the manipulable portion. The internal receiving mechanism may include a coupler that physically couples the internal receiving mechanism to at least the portion of the projection when at least the portion of the projection is matingly received in the internal receiving mechanism. In some embodiments, when at least the portion of the projection is physically coupled to the internal receiving mechanism, at least the coupler of the internal receiving mechanism may be configured to move during each of a first relative movement between the projection and the receiver that increases the amount of the length of the projection within the receiver, and a second relative movement between the projection and the receiver that decreases the amount of the length of the projection within the receiver. In some embodiments, the coupler captively couples the internal receiving mechanism to at least the portion of the projection when at least the portion of the projection is matingly received in the internal receiving mechanism. In some embodiments, the coupler may be configured to physically couple the internal receiving mechanism to at least the portion of the projection when a first relative positioning between the projection and the receiver is established, and the coupler may be further configured to physically de-couple the internal receiving mechanism from the projection when a second relative positioning between the projection and the receiver is established, the second relative positioning being different than the first relative positioning. In some embodiments, the coupler self-couples the internal receiving mechanism to at least the portion of the projection when a first relative positioning between the projection and the receiver is established, and the coupler self-decouples the internal receiving mechanism from the projection when a second relative positioning between the projection and the receiver is established, the second relative positioning being different than the first relative positioning. 
     In some embodiments, the catheter system includes a control cable that operatively couples the actuator system to the manipulable portion, the control cable being receivable in the lumen of the catheter sheath. The actuator system may be configured to meter the control cable to vary an amount of the control cable that extends outwardly from the distal end of the catheter sheath when the part of the shaft is received in the lumen of the catheter sheath, and the actuator system may be responsive to varying amounts of the length of the projection being within the receiver by varying a rate at which the control cable is metered. The actuator system may be configured to meter the control cable to vary an amount of the control cable that extends outwardly from the distal end of the catheter sheath when the part of the shaft is received in the lumen of the catheter sheath, and the actuator system may be responsive to a rate of change in an amount of the length of the projection being within the receiver by varying a rate at which the control cable is metered. In some embodiments, the manipulable portion is selectively moveable between a delivery configuration in which the manipulable portion is sized to be delivered though the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. The actuator system may be operatively coupled to the manipulable portion to transition the manipulable portion, at least in part, toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath, and to transition, at least in part, the manipulable portion toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. The actuator system may be operatively coupled to the control cable to cause, when a particular amount of the length of the projection is received in the receiver during the transition toward the expanded configuration, the control cable to be metered with a first rate, and the actuator system may be operatively coupled to the control cable to cause, when the particular amount of the length of the projection is received in the receiver during the transition toward the delivery configuration, the control cable to be metered with a second rate different than the first rate. 
     In various embodiments, the manipulable portion may be selectively moveable between a delivery configuration in which the manipulable portion is sized to be delivered though the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. The catheter system may further include a control element that operatively couples the actuator system to the manipulable portion, the control element receivable in the lumen of the catheter sheath. The actuator system may be operatively coupled to the manipulable portion to transition the manipulable portion, at least in part, toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath, and to transition, at least in part, the manipulable portion toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. The actuator system may be operatively coupled to the control element to cause, when a particular amount of the length of the projection is received in the receiver during the transition toward the expanded configuration, the control element to have a first amount of length located outside of the distal end of the catheter sheath, and the actuator system may be further operatively coupled to the control element to cause, when the particular amount of the length of the projection is received in the receiver during the transition toward the delivery configuration, the control element to have a second amount of length located outside of the distal end of the catheter sheath, the first amount of length different than the second amount of length. In some embodiments, the control element includes a sleeve and a cable received in a lumen of the sleeve. Each of the sleeve and the cable may be received in a lumen of the shaft. The actuator system may be operatively coupled to the control element to cause, when the particular amount of the length of the projection is received in the receiver during the transition toward the expanded configuration, the cable to have a third amount of length located outside an end of the sleeve, and the actuator system may be operatively coupled to the control element to cause, when the particular amount of the length of the projection is received in the receiver during the transition toward the delivery configuration, the cable to have a fourth amount of length located outside the end of the sleeve, the fourth amount of length different than the third amount of length. 
     In some embodiments, the manipulable portion includes a set of one or more transducers. In some embodiments, the catheter sheath, the part of the shaft receivable in the lumen of the catheter sheath, or each of the catheter sheath and the part of the shaft receivable in the lumen of the catheter sheath may include a bendable portion sufficiently bendable for delivery to the bodily cavity. 
     In some embodiments, the projection and the receiver are configured to matingly engage at least when a first amount of the part of the shaft is received in the lumen of the catheter sheath, and the projection and the receiver are configured to not matingly engage at least when a second amount of the part of the shaft is received in the lumen of the catheter sheath. The first amount of the part of the shaft may be different than the second amount of the part of the shaft. At least the second amount of the part of the shaft may be a non-zero amount. In some embodiments, the shaft includes a longitudinal length extending between the proximal and distal ends of the shaft, and each of the first amount and the second amount of the part of the shaft may be an amount of the longitudinal length of the shaft. 
     In some embodiments, the projection and the receiver may be configured to matingly engage at least when the shaft is not received in the lumen of the catheter sheath. In some embodiments, the projection and the receiver may form part of a plunger assembly located on one of the shaft and the catheter sheath. 
     In some embodiments, the manipulable portion includes a distal end, the distal end of the manipulable portion arranged to be advanced outwardly first from the distal end of the catheter sheath, as compared to other parts of the manipulable portion. The actuator system may be configured to vary the force transmitted to the manipulable portion while the distal end of the manipulable portion advances outwardly from the distal end of the catheter sheath along an arcuate path. The actuator system may be configured to vary the force transmitted to the manipulable portion while the distal end of the manipulable portion advances outwardly from the distal end of the catheter sheath along a coiled path. 
     Various systems may include combinations and subsets of all the systems summarized above. 
     In some embodiments a catheter system may be summarized as including: (i) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least the distal end of the shaft sized for delivery through a bodily opening leading to a bodily cavity located in a body; (ii) a manipulable portion physically coupled to the shaft and located at least proximate the distal end of the shaft; (iii) an elongated control element physically coupled to the manipulable portion to transmit force to the manipulable portion; and (iv) an actuator operatively coupled to the elongated control element, at least a portion of the actuator moveable in each of a first direction and a second direction different than the first direction, the actuator operable to meter movement of at least a portion of the elongated control element. Movement of at least the portion of the actuator with a particular rate of movement in the first direction causes movement of the elongated control element by metering the portion of the elongated control element with a first rate of movement. Movement of at least the portion of the actuator with the particular rate of movement in the second direction causes movement of the elongated control element by metering the portion of the elongated control element with a second rate of movement. A first ratio of the first rate of movement to the particular rate of movement may be different than a second ratio of the second rate of movement to the particular rate of movement. 
     In some embodiments, the catheter system may further include a control system housing enclosing at least (a) some of the shaft, (b) some of the elongated control element, (c) some of the actuator, (a) and (b), (b) and (c), (a) and (c), or (a), (b), and (c). Movement of at least the portion of the actuator with the particular rate of movement in the first direction may be with respect to the housing. Movement of at least the portion of the actuator with the particular rate of movement in the second direction may be with respect to the housing. The control system housing may be located at least proximate the proximal end of the shaft. The control system housing may enclose at least the proximal end of the shaft. 
     In some embodiments, the second direction may be opposite to the first direction. The portion of the actuator may be configured to move along a linear path when moving in the first direction or in the second direction. The portion of the actuator may be configured to move along an arcuate path when moving in the first direction or in the second direction. 
     In some embodiments, the manipulable portion is selectively moveable between a delivery configuration in which the manipulable portion is sized to be delivered though the bodily opening and an expanded configuration in which the manipulable portion is sized too large for delivery through the bodily opening. The actuator may be operatively coupled to the elongated control element to vary movement of the elongated control element by switching a ratio of (a) a rate at which the portion of the elongated control element is metered to (b) a rate of movement of at least the portion of the actuator between each ratio of a first set of two or more different predetermined ratios when the manipulable portion transitions from the delivery configuration to the expanded configuration. The actuator may be operatively coupled to the elongated control element to vary movement of the elongated control element by switching the ratio of (a) to (b) between each ratio of a second set of two or more different predetermined ratios when the manipulable portion transitions from the expanded configuration to the delivery configuration. In some embodiments, the first ratio is a member of the first set, and the second ratio is a member of the second set. At least one of the predetermined ratios in the first set may be the same as one of the predetermined ratios in the second set. At least two of the predetermined ratios in the first set may be the same as at least two of the predetermined ratios in the second set. 
     In some embodiments, the manipulable portion is selectively moveable between a delivery configuration in which the manipulable portion is sized to be delivered though the bodily opening and an expanded configuration in which the manipulable portion is sized too large for delivery through the bodily opening. The actuator may be operatively coupled to the elongated control element to vary movement of the elongated control element by switching a ratio of (a) a rate at which the portion of the elongated control element is metered to (b) a rate of movement of at least the portion of the actuator between each ratio of a first set of two or more different ratios when the manipulable portion transitions from the delivery configuration to the expanded configuration, each ratio in the first set of two or more different ratios having a value corresponding to a respective one of a first set of two or more different predetermined values. The actuator may be operatively coupled to the elongated control element to vary movement of the elongated control element by switching the ratio of (a) to (b) between each ratio of a second set of two or more different ratios when the manipulable portion transitions from the expanded configuration to the delivery configuration, each ratio in the second set of two or more different ratios having a value corresponding to a respective one of a second set of two or more different predetermined values. In some embodiments, the first ratio is a member of the first set of two or more different ratios, and the second ratio is a member of the second set of two or more different ratios. At least one of the ratios in the first set of two or more different ratios may be the same as one of the ratios in the second set of two or more different ratios. At least two of the ratios in the first set of two or more different ratios may be the same as at least two of the ratios in the second set of two or more different ratios. 
     In some embodiments, the catheter sheath may further include a catheter sheath including a proximal end, a distal end, and a lumen extending within the catheter sheath between the proximal end of the catheter sheath and the distal end of the catheter sheath, the catheter sheath being positionable in the bodily opening. At least part of the shaft may be receivable in the lumen of the catheter sheath. In some embodiments, movement of at least the portion of the actuator in the first direction may be associated with a first relative movement between the catheter sheath and the part of the shaft, when the part of the shaft is received in the lumen of the catheter sheath, that causes a distance between a location on the part of the shaft and a location on the catheter sheath to decrease. In some embodiments, movement of at least the portion of the actuator in the second direction may be associated with a second relative movement between the catheter sheath and the part of the shaft, when the part of the shaft is received in the lumen of the catheter sheath, that causes a distance between the location on the part of the shaft and the location on the catheter sheath to increase. 
     In some embodiments, the catheter system may further include a projection including a length and extending from a location at least proximate a first one of the proximal end of the catheter sheath and the proximal end of the shaft and a receiver provided at a location at least proximate a second one of the proximal end of the catheter sheath and the proximal end of the shaft, the projection and the receiver configured to matingly engage at least when the part of the shaft is received in the lumen of the catheter sheath. Movement of at least the portion of the actuator in the first direction may be associated with an amount of the length of the projection within the receiver increasing in magnitude, and movement of at least the portion of the actuator in the second direction may be associated with an amount of the length of the projection within the receiver decreasing in magnitude. In some embodiments, the length of the projection is a longitudinal length of the projection extending from the location at least proximate the first one of the proximal end of the catheter sheath and the proximal end of the shaft to an end of the projection, the end of the projection configured to be received first in the receiver, as compared to other parts of the projection, when the projection is inserted into the receiver. In some embodiments, the shaft includes a longitudinal length extending between the proximal and distal ends of the shaft. The longitudinal length of the shaft may be greater than the longitudinal length of the projection in some embodiments. In some embodiments, a first particular amount of the longitudinal length of the projection may be located in the receiver when a second particular amount of the longitudinal length of the shaft is located inside the lumen of the catheter sheath. The first particular amount of the longitudinal length of the projection may be less than the second particular amount of the longitudinal length of the shaft. 
     In some embodiments, the manipulable portion may be selectively moveable between a delivery configuration in which the manipulable portion is sized to be delivered though the bodily opening and an expanded configuration in which the manipulable portion is sized too large for delivery through the bodily opening. Movement of at least the portion of the actuator in the first direction may transition the manipulable portion, at least in part, toward the expanded configuration, and movement of at least the portion of the actuator in the second direction may transition the manipulable portion, at least in part, toward the delivery configuration. 
     In some embodiments, the catheter system may further include a catheter sheath including a proximal end, a distal end, and a lumen extending within the catheter sheath between the proximal end of the catheter sheath and the distal end of the catheter sheath, the catheter sheath being positionable in the bodily opening. At least part of the shaft may be receivable in the lumen of the catheter sheath. Movement of at least the portion of the actuator in the first direction may accompany an increase in an amount of the manipulable portion extending outwardly from the distal end of the catheter sheath, and movement of at least the portion of the actuator in the second direction may accompany a decrease in an amount of the manipulable portion extending outwardly from the distal end of the catheter sheath. At least some of the elongated control element may receivable in the lumen of the catheter sheath, and the actuator may be operatively coupled to the elongated control element to cause an increase and subsequent decrease in an amount of length of the elongated control element that is located outside of the distal end of the catheter sheath when at least the portion of the actuator moves in the first direction. The actuator may be operatively coupled to the elongated control element to cause an increase and subsequent decrease in an amount of length of the elongated control element that is located outside of the distal end of the catheter sheath when at least the portion of the actuator moves in the second direction. 
     In some embodiments, the elongated control element includes a sleeve and a cable located, at least in part, in a lumen of the sleeve. Each of the cable and the sleeve may be located, at least in part, in a lumen of the shaft. The portion of the elongated control element may be provided by a portion of the cable. In some embodiments, the catheter system may further include a Bowden cable that includes a sleeve and a cable located, at least in part, in a lumen of the sleeve. The portion of the elongated control element may be provided by a portion of the cable. 
     In some embodiments, the movement of at least the portion of the actuator with the particular rate of movement in the first direction may cause the movement of the elongated control element by metering the portion of the elongated control element with the first rate of movement when the portion of the elongated control element is positioned at a particular location, and the movement of at least the portion of the actuator with the particular rate of movement in the second direction may cause the movement of the elongated control element by metering the portion of the elongated control element with the second rate of movement when the portion of the elongated control element is positioned at the particular location. 
     The portion of the elongated control element may be moveable along a path during the metering of the portion of the elongated control element. The movement of at least the portion of the actuator with the particular rate of movement in the first direction may cause the portion of the elongated control element to be metered with the first rate of movement and to move in a particular direction away from a particular location along the path. The movement of at least the portion of the actuator with the particular rate of movement in the second direction may cause the portion of the elongated control element to be metered with the second rate of movement and to move in a different direction away from the particular location along the path, the different direction being different than the particular direction. 
     In various embodiments, the manipulable portion includes a set of one or more transducers. The shaft may be sufficiently bendable for delivery to the bodily cavity in some embodiments. The manipulable portion is physically coupled to the shaft in some embodiments. 
     Various systems may include combinations and subsets of all the systems summarized above. 
     In some embodiments, a catheter system may be summarized as including: (i) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least the distal end of the shaft sized for delivery through a bodily opening leading to a bodily cavity located in a body; (ii) a manipulable portion located at least proximate the distal end of the shaft, the manipulable portion selectively moveable between a delivery configuration in which the manipulable portion is sized to be delivered though the bodily opening and an expanded configuration in which the manipulable portion is sized too large for delivery through the bodily opening; (iii) an elongated control element; and (iv) a control system configured to cause movement of a portion of the elongated control element along a path extending toward the manipulable portion. The control system may be configured, when a portion of the elongated control element is located at a particular position along the path, to meter movement of: (a) the portion of the elongated control element at a first rate in a first direction along the path away from the particular position at least in response to occurrence of a first state that triggers a transition of the manipulable portion toward the expanded configuration, and (b) the portion of the control element at a second rate in a second direction along the path away from the particular position at least in response to occurrence of a second state that triggers a transition of the manipulable portion toward the delivery configuration. The second direction along the path may be different than the first direction along the path, and the second rate may be different than the first rate. 
     In some embodiments, a catheter system may be summarized as including (i) a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath; (ii) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least part of the shaft sized for delivery through the lumen of the catheter sheath, and at least the distal end of the shaft arranged to be delivered through the lumen of the catheter sheath prior to at least the elongated portion of the shaft; (iii) a manipulable portion physically coupled to the shaft and located at least proximate the distal end of the shaft, the manipulable portion configurable in a delivery configuration in which the manipulable portion is shaped for delivery through the lumen of the catheter sheath; (iv) a control element receivable in the lumen of the catheter sheath and physically coupled to the manipulable portion to transmit force to the manipulable portion; and (v) an actuator operatively coupled to the control element, at least a portion of the actuator moveable at least in one particular direction to manipulate at least a portion of the control element. Movement of at least the portion of the actuator in the one particular direction may facilitate or cause a length of a part of the control element extending outside the distal end of the catheter sheath to increase and then subsequently decrease during the movement of at least the portion of the actuator in the one particular direction. A part of the manipulable portion may extend outside the distal end of the catheter sheath and have a size too large to fit in the lumen of the catheter sheath during the movement of at least the portion of the actuator in the one particular direction. 
     In some embodiments, the catheter system may further include a control system housing enclosing at least (a) some of the shaft, (b) some of the control element, (c) some of the actuator, (a) and (b), (b) and (c), (a) and (c), or (a), (b), and (c). Movement of at least the portion of the actuator in the one particular direction may be with respect to the control system housing. The control system housing may be located at least proximate the proximal end of the shaft. The control system housing may enclose at least the proximal end of the shaft. 
     In some embodiments, the one particular direction is a first direction, and at least the portion of the actuator is selectively moveable in each of the first direction and a second direction to manipulate at least the portion of the control element, the second direction being different than the first direction. Movement of at least the portion of the actuator in the second direction may cause a length of the part of the control element extending outside the distal end of the catheter sheath to increase and then subsequently decrease during the movement of at least the portion of the actuator in the second direction. The part of the manipulable portion may have a size too large to fit in the lumen of the catheter sheath during the movement of at least the portion of the actuator in the second direction. The catheter system may further include a control system housing enclosing at least (a) some of the shaft, (b) some of the control element, (c) some of the actuator, (a) and (b), (b) and (c), (a) and (c), or (a), (b), and (c). Movement of at least the portion of the actuator in each of the first direction and the second direction may be with respect to the control system housing. 
     In some embodiments, the actuator may be operatively coupled to the control element to manipulate at least the portion of the control element to cause the length of the part of the control element extending outside the distal end of the catheter sheath to increase and subsequently decrease during an advancement of the manipulable portion outwardly from the distal end of the catheter sheath. In some embodiments, the actuator may be operatively coupled to the control element to manipulate at least the portion of the control element to cause the length of the part of the control element extending outside the distal end of the catheter sheath to increase and subsequently decrease during a retraction of the manipulable portion inwardly into the distal end of the catheter sheath. In some embodiments, the actuator may be operatively coupled to the control element to manipulate at least the portion of the control element to cause the length of the part of the control element extending outside the distal end of the catheter sheath to increase and subsequently decrease during a relative longitudinal movement between the shaft and the catheter sheath when the part of the shaft is located in the lumen of the catheter sheath. 
     In some embodiments, the manipulable portion is selectively moveable between the delivery configuration and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. The actuator may be operatively coupled to the control element to manipulate at least the portion of the control element to cause the length of the part of the control element extending outside the distal end of the catheter sheath to increase and subsequently decrease during a transition of the manipulable portion toward the expanded configuration. The actuator may be operatively coupled to the control element to manipulate at least the portion of the control element to cause the length of the part of the control element extending outside the distal end of the catheter sheath to increase and subsequently decrease during a transition of the manipulable portion toward the delivery configuration. 
     In some embodiments, the movement of at least the portion of the actuator may be associated with a relative movement between the shaft and the catheter sheath, when the part of the shaft is located in the lumen of the catheter sheath. 
     In some embodiments, the catheter system may further include a modulation actuator operatively coupled to the manipulable portion. The manipulable portion may be selectively moveable between the delivery configuration and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. The modulation actuator may be configured to modulate at least a size, a shape, or both a size and a shape of at least the part of the manipulable portion at least when the manipulable portion transitions between the delivery configuration and the expanded configuration in a state in which at least the part of the manipulable portion and the part of the control element extend outside the distal end of the catheter sheath. The actuator may be operatively coupled to the control element to cause, when a particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during a transition toward the expanded configuration, at least a first portion of the control element to be metered with a first rate. The actuator may be further operatively coupled to the control element to cause, when the particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during a transition toward the delivery configuration, at least a second portion of the control element to be metered with a second rate different than the first rate. The manipulable portion may be configured to transition, at least in part, toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath. The manipulable portion may be configured to transition, at least in part, toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. 
     In some embodiments, the catheter system may further include a modulation actuator operatively coupled to the manipulable portion. The manipulable portion may be selectively moveable between the delivery configuration and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. The modulation actuator may be configured to facilitate modulation of at least a size, a shape, or both a size and a shape of at least the part of the manipulable portion at least when the manipulable portion transitions between the delivery configuration and the expanded configuration in a state in which at least the part of the manipulable portion and the part of the control element extend outside the distal end of the catheter sheath. The actuator may be operatively coupled to the control element to cause, when a particular relative positioning exists between the catheter sheath and the part of the shaft located in the lumen of the catheter sheath during a transition toward the expanded configuration, the control element to have a first amount of length located outside of the distal end of the catheter sheath. The actuator may be operatively coupled to the control element to cause, when the particular relative positioning exists between the catheter sheath and the part of the shaft located in the lumen of the catheter sheath during a transition toward the delivery configuration, the control element to have a second amount of length located outside of the distal end of the catheter sheath, the second amount of length different than the first amount of length. The manipulable portion may be configured to transition, at least in part, toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath. The manipulable portion may be configured to transition, at least in part, toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. The particular relative positioning may be a relative longitudinal positioning. In some embodiments, the control element may include a sleeve and a cable located, at least in part, in a lumen of the sleeve. The actuator may be operatively coupled to the control element to cause, when the particular relative positioning exists between the catheter sheath and the part of the shaft located in the lumen of the catheter sheath during the transition toward the expanded configuration, the cable to have a third amount of length located outside of an end of the sleeve. The actuator may be operatively coupled to the control element to cause, when the particular relative positioning exists between the catheter sheath and the part of the shaft located in the lumen of the catheter sheath during the transition toward the delivery configuration, the cable to have a fourth amount of length located outside of the end of the sleeve, the fourth amount of length different than the third amount of length. 
     In some embodiments, the control element may include a sleeve and a cable located, at least in part, in a lumen of the sleeve, each of the cable and the sleeve located, at least in part, in a lumen of the shaft. 
     In some embodiments, the elongated portion of the shaft has a length extending between the proximal and the distal ends of the shaft and is sized to position the proximal end of the shaft at a location outside a body when the manipulable portion is located in a bodily cavity within the body. The actuator may be located, at least in part, at a location at least proximate the proximal end of the shaft. 
     In some embodiments, the manipulable portion includes a set of one or more transducers. In some embodiments, the shaft, the catheter sheath, or each of the shaft and the catheter sheath is bendable during a respective delivery to a bodily cavity. 
     In some embodiments, the manipulable portion includes a distal end, the distal end of the manipulable portion arranged to be advanced first outwardly from the distal end of the catheter sheath with respect to other parts of the manipulable portion, The actuator may be operatively coupled to the control element to manipulate at least the portion of the control element to cause the length of the part of the control element extending outside the distal end of the catheter sheath to increase and then subsequently decrease during the movement of at least the portion of the actuator in the one particular direction while the distal end of the manipulable portion advances along an arcuate path extending outwardly from the distal end of the catheter sheath. The actuator may be operatively coupled to the control element to manipulate at least the portion of the control element to cause the length of the part of the control element extending outside the distal end of the catheter sheath to increase and then subsequently decrease during the movement of at least the portion of the actuator in the one particular direction while the distal end of the manipulable portion advances along a coiled path extending outwardly from the distal end of the catheter sheath. 
     In some embodiments, the catheter system may further include a modulation actuator operatively coupled to the manipulable portion to modulate at least a size, a shape, or both a size and a shape of at least the part of the manipulable portion at least in a state in which at least the part of the manipulable portion and the part of the control element extend outside the distal end of the catheter sheath. In some embodiments, the actuator includes the modulation actuator. In some embodiments, the actuator and the modulation actuator are distinct. 
     Various systems may include combinations and subsets of all the systems summarized above. 
     In some embodiments a catheter system may be summarized as including: (i) a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath; (ii) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least part of the shaft sized for delivery through the lumen of the catheter sheath, and the distal end of the shaft arranged to be delivered through the lumen of the catheter sheath prior to at least the elongated portion of the shaft; (iii) a manipulable portion physically coupled to the shaft and located at least proximate the distal end of the shaft, the manipulable portion selectively moveable between a delivery configuration in which the manipulable portion is shaped to be delivered though the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath; (iv) a control element physically coupled to the manipulable portion to transmit force to the manipulable portion, the control element receivable in the lumen of the catheter sheath; and (v) an actuator system. The actuator system may be operatively coupled to at least the control element to cause at least, when a particular amount of the manipulable portion is located outside the distal end of the catheter sheath, the control element to have a first amount of length located outside of the distal end of the catheter sheath, at least in response to occurrence of a first state that triggers a transition of the manipulable portion toward the expanded configuration. The actuator system may be operatively coupled to at least the control element to cause at least, when the particular amount of the manipulable portion is located outside the distal end of the catheter sheath, the control element to have a second amount of length located outside of the distal end of the catheter sheath, at least in response to occurrence of a second state that triggers a transition of the manipulable portion toward the delivery configuration. The second amount of length may be different than the first amount of length. 
     In some embodiments, the actuator system may be operatively coupled to the control element to transition the manipulable portion, at least in part, toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath, and to transition the manipulable portion, at least in part, toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. 
     In some embodiments, the control element may include a cable. In some embodiments, the control element may include a sleeve and a cable located, at least in part, in a lumen of the sleeve. Each of the cable and the sleeve may be located in a lumen of the shaft. The actuator system may be operatively coupled to the control element to cause at least, when the particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during the transition toward the expanded configuration, the cable to have a third amount of length located outside an end of the sleeve. The actuator system may be operatively coupled to the control element to cause at least, when the particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during the transition toward the delivery configuration, the cable to have a fourth amount of length located outside the end of the sleeve, the fourth amount of length different than the third amount of length. 
     In some embodiments, the actuator system may be operatively coupled to the control element to cause at least, when the particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during the transition toward the expanded configuration, at least a portion of the control element to be metered with a first rate. The actuator system may be operatively coupled to the control element to cause at least, when the particular amount of the manipulable portion is located outside of the distal end of the catheter sheath during the transition toward the delivery configuration, at least the portion of the control element to be metered with a second rate different than the first rate. 
     The shaft, the catheter sheath, or each of the shaft and the catheter sheath may be bendable during a respective delivery to a bodily cavity. In some embodiments, the manipulable portion may include a coiled form in the expanded configuration. In some embodiments, the manipulable portion includes a distal end, the distal end of the manipulable portion arranged to be advanced first outwardly from the distal end of the catheter sheath with respect to other parts of the manipulable portion. The distal end of the manipulable portion may advance along an arcuate path as the manipulable portion is advanced outwardly from the distal end of the catheter sheath. The distal end of the manipulable portion may advance along a coiled path as the manipulable portion is advanced outwardly from the distal end of the catheter sheath. 
     In some embodiments, the control element includes a distal end positionable outside of the distal end of the catheter sheath when the particular amount of the manipulable portion is located outside of the distal end of the catheter sheath. The distal end of the control element may advance along a coiled path as the manipulable portion is advanced outwardly from the distal end of the catheter sheath. 
     In some embodiments, the actuator system may include a transition actuator operatively coupled to the manipulable portion to transition the manipulable portion at least partially between the expanded configuration and the delivery configuration. 
     In some embodiments, the manipulable portion includes a distal end, the distal end of the manipulable portion arranged to be advanced first outwardly from the distal end of the catheter sheath with respect to other parts of the manipulable portion. In some embodiments, the particular amount of the manipulable portion located outside the distal end of the catheter sheath maybe a particular size of the manipulable portion between the distal end of the catheter sheath and the distal end of the manipulable portion. In some embodiments, the particular amount of the manipulable portion located outside the distal end of the catheter sheath may be a particular length of the manipulable portion extending from the distal end of the catheter sheath to the distal end of the manipulable portion. In some embodiments, the particular amount of the manipulable portion located outside the distal end of the catheter sheath may be a particular length of the manipulable portion extending along a surface of the manipulable portion from the distal end of the catheter sheath to the distal end of the manipulable portion. The manipulable portion may include at least one transducer located on the surface of the manipulable portion. 
     Various systems may include combinations and subsets of all the systems summarized above. 
     In some embodiments, a catheter system may be summarized as including: (i) a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath; (ii) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least part of the shaft sized for delivery through the lumen of the catheter sheath, and the distal end of the shaft arranged to be delivered through the lumen of the catheter sheath prior to at least the elongated portion of the shaft; (iii) a manipulable portion physically coupled to the shaft and located at least proximate the distal end of the shaft, the manipulable portion selectively moveable between a delivery configuration in which the manipulable portion is shaped to be delivered though the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath; (iv) a control element physically coupled to the manipulable portion to transmit force to the manipulable portion, the control element receivable in the lumen of the catheter sheath; and (v) an actuator system. The actuator system may be operatively coupled to at least the control element to cause at least, when a particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during a transition of the manipulable portion toward the expanded configuration, the control element to have a first amount of length located outside of the distal end of the catheter sheath, at least in response to occurrence of a first state that triggers a transition of the manipulable portion toward the expanded configuration. The actuator system may be operatively coupled to at least the control element to cause at least, when the particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during a transition of the manipulable portion toward the delivery configuration, the control element to have a second amount of length located outside of the distal end of the catheter sheath, at least in response to occurrence of a second state that triggers a transition of the manipulable portion toward the delivery configuration. The second amount of length may be different than the first amount of length in various embodiments. 
     In some embodiments, the particular relative positioning may be a relative longitudinal positioning. In some embodiments, the actuator system may be operatively coupled to the control element to transition the manipulable portion toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath, and to transition the manipulable portion toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. 
     In some embodiments, the control element includes a cable. In some embodiments, the control element is received in a lumen of the shaft. In some embodiments, the control element includes a sleeve and a cable located, at least in part, in a lumen of the sleeve. The actuator system may be operatively coupled to the control element to cause at least, when the particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward the expanded configuration, the cable to have a third amount of length located outside of an end of the sleeve. The actuator system may be operatively coupled to the control element to cause at least, when the particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward the delivery configuration, the cable to have a fourth amount of length located outside of the end of the sleeve, the fourth amount of length different than the third amount of length. 
     In some embodiments, the actuator system may be operatively coupled to the control element to cause at least, when the particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward the expanded configuration, at least a portion of the control element to be metered with a first rate. The actuator system may be operatively coupled to the control element to cause at least, when the particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward the delivery configuration, at least the portion of the control element to be metered with a second rate different than the first rate. 
     In some embodiments, the manipulable portion may include a set of one or more transducers. The shaft, the catheter sheath, or each of the shaft and the catheter sheath may be bendable during a respective delivery to a bodily cavity. 
     In some embodiments, the manipulable portion may include a coiled form in the expanded configuration. In some embodiments, the manipulable portion includes a distal end, the distal end of the manipulable portion arranged to be advanced first outwardly from the distal end of the catheter sheath with respect to other parts of the manipulable portion. In some embodiments, the distal end of the manipulable portion advances along an arcuate path as the manipulable portion is advanced outwardly from the distal end of the catheter sheath. In some embodiments, the distal end of the manipulable portion advances along a coiled path as the manipulable portion is advanced outwardly from the distal end of the catheter sheath. In some embodiments, the control element includes a distal end, the distal end of the control element advancing along a coiled path as the manipulable portion is advanced outwardly from the distal end of the catheter sheath. In some embodiments, the actuator system may include a transition actuator operatively coupled to the manipulable portion to transition the manipulable portion at least partially between the expanded configuration and the delivery configuration. 
     Various systems may include combinations and subsets of all the systems summarized above. 
     In some embodiments, a catheter system may be summarized as including: (i) a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath; (ii) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least part of the shaft sized for delivery through the lumen of the catheter sheath, and the distal end of the shaft arranged to be delivered through the lumen of the catheter sheath prior to at least the elongated portion of the shaft; (iii) a manipulable portion physically coupled to the shaft and located at least proximate the distal end of the shaft, the manipulable portion configurable in a delivery configuration in which the manipulable portion is shaped for delivery through the lumen of the catheter sheath; and (iv) a control element physically coupled to the manipulable portion to transmit force to the manipulable portion, the control element receivable in the lumen of the catheter sheath. A method for controlling the catheter system may be summarized as modulating at least a shape of at least part of the manipulable portion at least in a state in which the part of the manipulable portion and a part of the control element extends outside the distal end of the catheter sheath, and manipulating the control element to cause a length of the part of the control element extending outside the distal end of the catheter sheath to increase and subsequently decrease during the modulation of the manipulable portion. The manipulable portion may have a size during the modulation too large to fit in the lumen of the catheter sheath. 
     In some embodiments, a catheter system may be summarized as including: (i) a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath; (ii) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least part of the shaft sized for delivery through the lumen of the catheter sheath, and the distal end of the shaft arranged to be delivered through the lumen of the catheter sheath prior to at least the elongated portion of the shaft; (iii) a manipulable portion physically coupled to the shaft and located at least proximate the distal end of the shaft, the manipulable portion selectively moveable between a delivery configuration in which the manipulable portion is shaped to be delivered though the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath; and (iv) a control element physically coupled to the manipulable portion to transmit force to the manipulable portion, the control element receivable in the lumen of the catheter sheath. A method for controlling the catheter system may summarized as including transitioning the manipulable portion at least partially between the expanded configuration and the delivery configuration; causing the control element to have a first amount of length located outside of the distal end of the catheter sheath when a particular amount of the manipulable portion is located outside the distal end of the catheter sheath during a transition toward the expanded configuration; and causing the control element to have a second amount of length located outside of the distal end of the catheter sheath, when the particular amount of the manipulable portion is located outside the distal end of the catheter sheath during a transition toward the delivery configuration. The second amount of length may be different than the first amount of length in various embodiments. 
     The method may further include transitioning the manipulable portion toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath, and transitioning the manipulable portion toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. 
     In some embodiments, the manipulable portion includes a distal end, the distal end of the manipulable portion arranged to be advanced first outwardly from the distal end of the catheter sheath with respect to other parts of the manipulable portion. The particular amount of the manipulable portion located outside the distal end of the catheter sheath may be a particular size of the manipulable portion between the distal end of the catheter sheath and the distal end of the manipulable portion. The particular amount of the manipulable portion located outside the distal end of the catheter sheath may be a particular length of the manipulable portion extending from the distal end of the catheter sheath to the distal end of the manipulable portion. The particular amount of the manipulable portion located outside the distal end of the catheter sheath may be a particular length of the manipulable portion extending along a surface of the manipulable portion from the distal end of the catheter sheath to the distal end of the manipulable portion. The manipulable portion may include at least one transducer located on the surface of the manipulable portion. 
     Various methods may include combinations and subsets of all the systems summarized above. 
     In some embodiments, a catheter system may be summarized as including: (i) a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath; (ii) a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end of the shaft and the distal end of the shaft, at least part of the shaft sized for delivery through the lumen of the catheter sheath, and the distal end of the shaft arranged to be delivered through the lumen of the catheter sheath prior to at least the elongated portion of the shaft; (iii) a manipulable portion coupled to the shaft and located at least proximate the distal end of the shaft, the manipulable portion selectively moveable between a delivery configuration in which the manipulable portion is shaped to be delivered though the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath; and (iv) a control element physically coupled to the manipulable portion to transmit force to the manipulable portion, the control element receivable in the lumen of the catheter sheath. A method for controlling the catheter system may be summarized as including transitioning the manipulable portion at least partially between the expanded configuration and the delivery configuration; causing the control element to have a first amount of length located outside of the distal end of the catheter sheath when a particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward the expanded configuration; and causing the control element to have a second amount of length located outside of the distal end of the catheter sheath when the particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward the delivery configuration. The second amount of length may be different than the first amount of length in various embodiments. 
     In some embodiments, the method further includes transitioning the manipulable portion toward the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath, and transitioning the manipulable portion toward the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. 
     In some embodiments, a catheter system may be summarized as including (i) a shaft member that includes a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end and the distal end, wherein at least the distal end of the shaft is sized for delivery through a bodily opening leading to a bodily cavity located in a body; (ii) a manipulable portion physically coupled to the shaft and located at least proximate to the distal end of the shaft for delivery through the bodily opening to the bodily cavity located in the body; (iii) a plurality of Bowden cables, at least a part of one of which is operatively coupled to the manipulable portion, the plurality of Bowden cables including at least a first Bowden cable and a second Bowden cable other than the first Bowden cable, each of the plurality of Bowden cables including a respective sleeve and a respective cable located in a lumen of the respective sleeve, the lumen extending between a first end and a second end of the respective sleeve, and a first part of the respective cable of each Bowden cable extending outwardly from the first end of the respective sleeve of the Bowden cable; and (iv) an actuator system operatively coupled to each of at least some of the plurality of Bowden cables to vary an amount of length of the first part of the respective cable of each of the at least some of the plurality of Bowden cables that extends outwardly from the first end of the respective sleeve thereof during a change in a size, a shape, or both a size and a shape of the manipulable portion. The first part of the respective cable of the second Bowden cable may be operatively coupled to the first Bowden cable to cause at least the first end of the respective sleeve of the first Bowden cable to translate in response to a varying of the amount of length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable caused by the actuator system. 
     In some embodiments, the actuator system may be operatively coupled to the first Bowden cable to cause a decrease in the length of the first part of the respective cable of the first Bowden cable during at least part of the varying of the length of the first part of the respective cable of the second Bowden cable. In some embodiments, the actuator system may be operatively coupled to the first Bowden cable to cause an increase in the length of the first part of the respective cable of the first Bowden cable that extends outwardly from the first end of the respective sleeve of the first Bowden cable during at least part of the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. In some embodiments, the actuator system may be operatively coupled to the second Bowden cable to translate the second end of the respective sleeve of the second Bowden cable during at least part of the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. 
     In some embodiments, a second part of the respective cable of each Bowden cable extends outwardly from the second end of the respective sleeve of the Bowden cable. In some embodiments, an amount of translation undergone by a terminus of the second part of the respective cable of the second Bowden cable at a particular time during the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable may have a magnitude less than an amount of translation undergone by the second end of the respective sleeve of the second Bowden cable at the particular time during the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. 
     In some embodiments, the actuator system may be operatively coupled to the second Bowden cable to translate the second end of the respective sleeve of the first Bowden cable during at least part of the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. In some embodiments, the actuator system may be operatively coupled to the second Bowden cable to translate each of the second end of the respective sleeve of the second Bowden cable and the second end of the respective sleeve of the first Bowden cable during at least part of the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. 
     In some embodiments, the actuator system, in a state in which the first end of the respective sleeve of the first Bowden cable has translated by a predetermined amount, may cause: (v) the first Bowden cable to vary the length of the first part of the respective cable of the first Bowden cable that extends outwardly from the first end of the respective sleeve of the first Bowden cable; and (vi) the second Bowden cable to cease varying the length of the first part of the respective cable of the second Bowden cable during a varying of the length of the first part of the respective cable of the first Bowden cable that extends outwardly from the first end of the respective sleeve of the first Bowden cable after at least the first end of the respective sleeve of the first Bowden cable has translated by the predetermined amount. In some embodiments, in the state in which the first end of the respective sleeve of the first Bowden cable has translated by the predetermined amount, the actuator system may cause at least the second end of the respective sleeve of the second Bowden cable to translate during the varying of the length of the first part of the respective cable of the first Bowden cable that extends outwardly from the first end of the respective sleeve of the first Bowden cable after at least the first end of the respective sleeve of the first Bowden cable has translated by the predetermined amount. 
     In some embodiments, an amount of translation undergone through the lumen of the respective sleeve of the first Bowden cable by a portion of the respective cable of the first Bowden cable at a particular time during the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable may be at least equal in magnitude to an amount of translation undergone through the lumen of the respective sleeve of the second Bowden cable by a portion of the respective cable of the second Bowden cable at the particular time during the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. In some embodiments, an amount of translation undergone through the lumen of the respective sleeve of the first Bowden cable by a portion of the respective cable of the first Bowden cable at a particular time during the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable may be greater in magnitude than an amount of translation undergone through the lumen of the respective sleeve of the second Bowden cable by a portion of the respective cable of the second Bowden cable at the particular time during the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. 
     The shaft member may further include a housing located at a location at least proximate the proximal end of the shaft. In some embodiments, the elongated portion of the shaft may have a length extending between the proximal end and the distal end of the shaft sized to position the housing outside the body when the manipulable portion is located in the bodily cavity, and each of the first end and the second end of the respective sleeve member of the second Bowden cable may be located at a respective location in the housing. In some embodiments, each of the first end and the second end of the respective sleeve member of the first Bowden cable may be located at a respective location in the housing. In some embodiments, the catheter system may further include a stop positioned to restrict at least the first end of the respective sleeve of the first Bowden cable from being translated by more than a maximum amount. 
     In various embodiments, a second part of the respective cable of each Bowden cable extends outwardly from the second end of the respective sleeve of the Bowden cable. In some embodiments, the actuator system may include a particular actuator including a first moveable portion and a second moveable portion other than the first moveable portion. The second part of the respective cable of the second Bowden cable may be physically coupled to the first moveable portion of the particular actuator. A portion of the respective sleeve of the second Bowden cable located at least proximate to the second end of the respective sleeve of the second Bowden cable may be physically coupled to the second moveable portion of the particular actuator, and the first moveable portion of the particular actuator may include a locking device configured to restrict movement of the first moveable portion of the particular actuator at least during the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. In some embodiments, the locking device may be configured to allow movement of the first moveable portion of the particular actuator after completion of the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. In some embodiments, the particular actuator may restrict further varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable during the movement of the first moveable portion of the particular actuator when the locking device is operated to cease restricting movement of the first moveable portion of the particular actuator. In some embodiments, the locking device may be configured to allow movement of the first moveable portion of the particular actuator after the second moveable portion of the particular actuator translates by a defined amount. In some embodiments, the particular actuator may further include a tether, the tether physically coupling the first moveable portion of the particular actuator to the second moveable portion of the particular actuator. The locking device may be configured to restrict movement of the first moveable portion of the particular actuator when a tension in the tether has a magnitude lower than a defined threshold, and the locking device may be configured to allow movement of the first moveable portion of the particular actuator when a tension in the tether has a magnitude greater than the defined threshold. 
     In some embodiments, the catheter system may further include a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath. The catheter sheath is insertable in the bodily opening and at least a part of the shaft may be receivable in the lumen of the catheter sheath to deliver the manipulable portion through the lumen of the catheter sheath to the bodily cavity. In various embodiments, the actuator system may be responsive to variances in a relative positioning between the shaft and the catheter sheath when the part of the shaft is received in the lumen of the catheter sheath to vary the length of the first part of the respective cable of at least the second Bowden cable that extends from the respective sleeve thereof. 
     In some embodiments, the catheter system may further include a catheter sheath that includes a proximal end, a distal end, and a lumen extending between the proximal end of the catheter sheath and the distal end of the catheter sheath. In various embodiments, the catheter sheath may be deliverable, distal end first, through the bodily opening toward the bodily cavity and at least a part of the shaft is receivable in the lumen of the catheter sheath to deliver the manipulable portion through the lumen of the catheter sheath to the bodily cavity. In various embodiments, the manipulable portion may be selectively moveable between a delivery configuration in which the manipulable portion is sized to be delivered through the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is sized too large for delivery through the lumen of the catheter sheath. In some embodiments, the actuator system may cause, when the part of the shaft is received in the lumen of the catheter sheath, and when a particular relative positioning exists between the catheter sheath and the part of the shaft received in the lumen of the catheter sheath during a transition toward the expanded configuration, the first part of the respective cable of the first Bowden cable to have a first amount of length located outside of the distal end of the catheter sheath. In some embodiments, the actuator system may cause, when the part of the shaft is received in the lumen of the catheter sheath, and when the particular relative positioning exists between the catheter sheath and the part of the shaft received in the lumen of the catheter sheath during a transition toward the delivery configuration, the first part of the respective cable of the first Bowden cable to have a second amount of length located outside of the distal end of the catheter sheath, the second amount of length different than the first amount of length. 
     In various embodiments, the first part of the respective cable of the first Bowden cable may be physically coupled to the manipulable portion to, at least in part, change the size, the shape, or both a size and a shape of the manipulable portion. For each of at least one of the plurality of Bowden cables, the actuator system may be configured to (a) move the respective sleeve independently or separately from the respective cable to cause the respective sleeve to slide over the respective cable, and (b) move the respective cable independently or separately from the respective sleeve to cause the respective cable to slide through the lumen of the respective sleeve. For the first Bowden cable, the actuator system may be configured to (a) move the respective sleeve independently or separately from the respective cable to cause the respective sleeve to slide over the respective cable, and (b) move the respective cable independently or separately from the respective sleeve to cause the respective cable to slide through the lumen of the respective sleeve. 
     In some embodiments, the manipulable portion may include a set of one or more transducers. The shaft may include a bendable portion that is bendable during a respective delivery to the bodily cavity. 
     In some embodiments, the lumen of the respective sleeve of the Bowden cable extends longitudinally in a particular direction from the first end of the respective sleeve of the first Bowden cable, and the first part of the respective cable of the second Bowden cable may be operatively coupled to the first Bowden cable to cause at least the first end of the respective sleeve of the first Bowden cable to translate in a direction having a component parallel to the particular direction at least during part of the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. 
     In some embodiments, the first part of the respective cable of the second Bowden cable may be operatively coupled to the first Bowden cable to cause at least the first end of the respective sleeve of the first Bowden cable to translate in a direction that causes the length of the first part of the respective cable of the first Bowden cable to vary at least during part of the varying of the length of the first part of the respective cable of the second Bowden cable that extends outwardly from the first end of the respective sleeve of the second Bowden cable. 
     In some embodiments, the catheter system may further include a control system operatively coupled to the actuator system and operable to control activation of one or more actuators of the actuator system to vary the amount of length of the first part of the respective cable of each of the at least some of the plurality of Bowden cables that extends outwardly from the first end of the respective sleeve thereof during the change in the size, the shape, or both a size and a shape of the manipulable portion. 
     Various systems may include combinations and subsets of all the systems summarized above. 
     In some embodiments, a catheter system may be summarized as including: (i) a shaft member that includes a shaft that includes a proximal end, a distal end, and an elongated portion extending between the proximal end and the distal end, wherein at least the distal end of the shaft is sized for delivery through a bodily opening leading to a bodily cavity located in a body; (ii) a manipulable portion physically coupled to the shaft and located at least proximate to the distal end of the shaft for delivery through the bodily opening to the bodily cavity located in the body; (iii) a Bowden cable that includes a sleeve and a cable located in a lumen of the sleeve, the lumen extending between a first end and a second end of the respective sleeve; and (iv) an actuator system operatively coupled to the Bowden cable to (a) move the sleeve independently or separately from the cable to cause the sleeve to slide over the cable during a first manipulation of the manipulable portion to change, a size, a shape or both thereof, and (b) move the cable independently or separately from the sleeve to cause the cable to slide through the lumen of the sleeve during a second manipulation of the manipulable portion to change, a size, a shape or both thereof. 
     Various systems may include combinations and subsets of all the systems summarized above or otherwise described herein. 
     Various methods may include combinations and subsets of all the methods summarized above or otherwise described herein. 
     In some embodiments, some or all of any of the systems or devices summarized above or otherwise described herein, or one or more combinations thereof, may be controlled by one or more control methods for executing some or all of the functionality of such systems or devices summarized above or otherwise described herein. In some embodiments, a computer program product may be provided that comprises program code portions for performing some or all of any of such control methods, when the computer program product is executed by a computing device. The computer program product may be stored on one or more computer-readable storage mediums. In some embodiments, each of the one or more computer-readable storage mediums is a non-transitory computer-readable storage medium. In some embodiments, such control methods are implemented or executed in part or in whole by at least one data processing device or system upon configuration thereof by one or more programs executable by the at least one data processing device or system and stored in one or more computer-readable storage mediums. In some embodiments, each of the one or more computer-readable storage mediums is a non-transitory computer-readable storage medium. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       It is to be understood that the attached drawings are for purposes of illustrating aspects of various embodiments and may include elements that are not to scale. 
         FIG. 1  is a schematic representation of a system, according to some example embodiments, the system including a data processing device system, an input-output device system, and a processor-accessible memory device system. 
         FIG. 2  is a cutaway diagram of a heart showing a transducer-based device percutaneously placed in a left atrium of the heart, according to some example embodiments. 
         FIG. 3A  is a partially schematic representation of a catheter system, according to some example embodiments, the system, which may also be referred to as a medical system, including a data processing device system, an input-output device system, a processor-accessible memory device system, and a manipulable portion shown in a delivery or unexpanded configuration. 
         FIG. 3B  is the catheter system of  FIG. 3A  with the manipulable portion shown in a deployed or expanded configuration, according to some example embodiments. 
         FIG. 4  is a schematic representation of a transducer-based device that includes a flexible circuit structure, according to some example embodiments. 
         FIG. 5A  is a perspective representation of a catheter system, according to some example embodiments. 
         FIG. 5B  is a perspective view of an elongate member of a structure provided by a manipulable portion of the catheter system of  FIG. 5A , according to some example embodiments. 
         FIG. 5C  is a perspective view of a manipulable portion of the catheter system of  FIG. 5A , the manipulable portion in an initial or predisposed configuration, according to some example embodiments. 
         FIGS. 5D, 5E, and 5F  are various side elevation views of a positioning of a shaft into a catheter sheath at three successive points in time, each of the shaft and the catheter sheath provided by the catheter system of  FIG. 5A , according to some example embodiments. 
         FIG. 5G  is a perspective view of a manipulable portion of the catheter system of  FIG. 5A , the manipulable portion in a delivery configuration, according to some example embodiments. 
         FIGS. 5H, 5I, and 5J  are various side elevation views of various respective parts of a manipulable portion positioned at three successive points in time as a part of the manipulable portion is advanced outwardly from the confines of a lumen of a catheter sheath, according to some example embodiments, each of the manipulable portion and the catheter sheath provided by the catheter system of  FIG. 5A , according to some example embodiments. 
         FIG. 5K  is a side elevation view of a retraction of a manipulable portion to a particular location relative to a catheter sheath, each of the manipulable portion and the catheter sheath provided by the catheter system of  FIG. 5A , according to some example embodiments. 
         FIG. 5L-1  is a perspective view of a manipulable portion of the catheter system of  FIG. 5A  configured in an expanded configuration known as a first fanned configuration, according to some example embodiments. 
         FIG. 5L-2  is a top plan view of the manipulable portion configured in the first fanned configuration of  FIG. 5L-1 , according to some example embodiments. 
         FIG. 5M-1  is a perspective view of a manipulable portion of the catheter system of  FIG. 5A  configured in an expanded configuration known as a second fanned configuration, according to some example embodiments. 
         FIG. 5M-2  is a top plan view of the manipulable portion configured in the second fanned configuration of  FIG. 5M-1 , according to some example embodiments. 
         FIG. 5N  is a perspective view of a manipulable portion of the catheter system of  FIG. 5A  configured in an expanded configuration known as enlarged expanded configuration, according to some example embodiments. 
         FIG. 5O  is a perspective view of a manipulable portion of the catheter system of  FIG. 5A  configured in an expanded configuration known as a flattened expanded configuration, according to some example embodiments. 
         FIG. 5P  is a perspective view of a manipulable portion of the catheter system of  FIG. 5A  configured in an expanded configuration known as an open clam shell configuration, according to some example embodiments. 
         FIG. 5Q  is a perspective view of a manipulable portion of the catheter system of  FIG. 5A  configured in an expanded configuration known as a closed clam shell configuration, according to some example embodiments. 
         FIGS. 5R-1 and 5R-2  are respective top and bottom perspective views of a portion of the catheter system of  FIG. 5A  with various external portions of a housing thereof removed, according to some example embodiments. 
       Each of  FIGS. 5R-3 and 5R-4  represents a detailed view of a respective one of an engagement and disengagement between various parts of the catheter system of  FIG. 5A , according to some example embodiments. 
         FIGS. 5S-1, 5S-2, 5S-3, 5S-4, 5S-5, and 5S-6  are top plan views of a number of actuators affiliated with a handle portion of the catheter system of  FIG. 5A , various ones of the actuators positioned in respective activation positions, according to some example embodiments. 
         FIGS. 5T, 5U, and 5V  are various side elevation views of a positioning of a shaft into a catheter sheath at three successive points in time, according to some example embodiments. 
         FIGS. 5W-1, 5W-2, 5W-3, and 5W-4  each respectively show plan and elevation views of a portion of a catheter system, according to some embodiments. 
         FIG. 6  is a graph that includes various lines representative of a metering of a control element during a take-up thereof and a play-out thereof, according to some example embodiments. 
         FIGS. 7A and 7B  are schematic representations of least one actuator at two successive points in time as employed in some example embodiments. 
         FIGS. 8A and 8B  are schematic views of a locking device at two successive points in time as employed in some example embodiments. 
         FIG. 9A  is a flow chart representing a method for controlling a catheter system, according to some example embodiments. 
         FIG. 9B  is a flow chart representing a method for controlling a catheter system, according to some example embodiments. 
         FIG. 9C  is an exploded view of one of the blocks in the flow chart of  FIG. 9B , according to some example embodiments. 
         FIG. 9D  is a flow chart representing a method for controlling a catheter system, according to some example embodiments. 
         FIG. 9E  is a flow chart representing a method for controlling a catheter system, according to some example embodiments. 
         FIGS. 10A, 10B, 10C, and 10D  illustrate a slider locking device, according to some example embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     In the following description, certain specific details are set forth in order to provide a thorough understanding of various embodiments of the invention. However, one skilled in the art will understand that the invention may be practiced without one or more of these details. In some instances, well-known structures have not been shown or described in detail to avoid unnecessarily obscuring descriptions of various embodiments of the invention. 
     Reference throughout this specification to “one embodiment” or “an embodiment” or “an example embodiment” or “an illustrated embodiment” or “a particular embodiment” and the like means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” or “in an example embodiment” or “in this illustrated embodiment” or “in this particular embodiment” and the like in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures or characteristics of different embodiments may be combined in any suitable manner to form one or more other embodiments. 
     Unless otherwise explicitly noted or required by context, the word “or” is used in this disclosure in a non-exclusive sense. In addition, unless otherwise explicitly noted or required by context, the word “set” is intended to mean one or more, and the word “subset” is intended to mean a set having the same or fewer elements of those present in the subset&#39;s parent or superset. 
     Further, the phrase “at least” is used herein at times merely to emphasize the possibility that other elements may exist besides those explicitly listed. However, unless otherwise explicitly noted (such as by the use of the term “only”) or required by context, non-usage herein of the phrase “at least” nonetheless includes the possibility that other elements may exist besides those explicitly listed. For example, the phrase ‘based at least upon A’ includes A as well as the possibility of one or more other additional elements or functions besides A. In the same manner, the phrase, ‘based upon A’ includes A, as well as the possibility of one or more other additional elements or functions besides A. However, the phrase, ‘based only upon A’ includes only A. For another similar example, each of the phrases ‘configured at least to A’ and ‘configured to at least A’ includes a configuration to perform A, as well as the possibility of one or more other additional actions besides A. In the same manner, the phrase ‘configured to A’ includes a configuration to perform A, as well as the possibility of one or more other additional actions besides A. However, the phrase ‘configured only to A’, for example, means a configuration to perform only A. 
     The word “ablation” as used in this disclosure should be understood to include, for example, any disruption to certain properties of tissue. Most commonly, the disruption is to the electrical conductivity and is achieved by heating, which can be generated with resistive or radio-frequency (RF) techniques for example. However, any other technique for such disruption may be included when the term “ablation” is used, such as mechanical, chemical, or optical techniques. 
     The word “fluid” as used in this disclosure should be understood to include, for example, any fluid that can be contained within a bodily cavity or can flow into or out of, or both into and out of a bodily cavity via one or more bodily openings positioned in fluid communication with the bodily cavity. In the case of cardiac applications, fluid such as blood will flow into and out of various intra-cardiac cavities (e.g., a left atrium or right atrium). 
     The words “bodily opening” as used in this disclosure should be understood to include, for example, a naturally occurring bodily opening or channel or lumen; a bodily opening or channel or lumen or perforation formed by an instrument or tool using techniques that can include, but are not limited to, mechanical, thermal, electrical, chemical, and exposure or illumination techniques; a bodily opening or channel or lumen formed by trauma to a body; or various combinations of one or more of the above. Various elements having respective openings, lumens or channels and positioned within the bodily opening (e.g., a catheter sheath or catheter introducer) may be present in various embodiments. These elements may provide a passageway through a bodily opening for various devices employed in various embodiments. 
     The words “bodily cavity” as used in this disclosure should be understood to mean a cavity in a body. The bodily cavity may be a cavity provided in a bodily organ (e.g., an intra-cardiac cavity or chamber of a heart). The bodily cavity may be provided by a bodily vessel. 
     The word “tissue” as used in some embodiments in this disclosure should be understood to include, for example, any surface-forming tissue that is used to form a surface of a body or a surface within a bodily cavity, a surface of an anatomical feature or a surface of a feature associated with a bodily opening positioned in fluid communication with the bodily cavity. The tissue can include, for example, part or all of a tissue wall or membrane that defines a surface of the bodily cavity. In this regard, the tissue can form an interior surface of the cavity that surrounds a fluid within the cavity. In the case of cardiac applications, tissue can include, for example, tissue used to form an interior surface of an intra-cardiac cavity such as a left atrium or right atrium. In some embodiments, tissue is non-excised tissue. In some embodiments, the word tissue can refer to a tissue having fluidic properties (e.g., blood). 
     The term “transducer” as used in this disclosure should be interpreted broadly as any device capable of distinguishing between fluid and tissue, sensing temperature, creating heat, ablating tissue, measuring electrical activity of a tissue surface, stimulating tissue, or any combination thereof. A transducer can convert input energy of one form into output energy of another form. Without limitation, a transducer can include, for example, an electrode that functions as, or as part of, a sensing device included in the transducer, an energy delivery device included in the transducer, or both a sensing device and an energy delivery device included in the transducer. A transducer may be constructed from several parts, which may be discrete components or may be integrally formed. 
     The term “activation” as used in this disclosure should be interpreted broadly as making active a particular function as related to various transducers disclosed in this disclosure. Particular functions can include, but are not limited to, tissue ablation, sensing electrophysiological activity, sensing temperature and sensing electrical characteristics (e.g., tissue impedance). For example, in some embodiments, activation of a tissue ablation function of a particular transducer is initiated by causing energy sufficient for tissue ablation from an energy source device system to be delivered to the particular transducer. Alternatively, in this example, the activation can be deemed to be initiated when the particular transducer is activated to cause a temperature sufficient for the tissue ablation due to the energy provided by the energy source device system. Also in this example, the activation can last for a duration of time concluding when the ablation function is no longer active, such as when energy sufficient for the tissue ablation is no longer provided to the particular transducer. Alternatively, in this example, the activation period can be deemed to be concluded when the temperature caused by the particular transducer is below the temperature sufficient for the tissue ablation. In some contexts, however, the word “activation” can merely refer to the initiation of the activating of a particular function, as opposed to referring to both the initiation of the activating of the particular function and the subsequent duration in which the particular function is active. In these contexts, the phrase or a phrase similar to “activation initiation” may be used. 
     The term “program” in this disclosure should be interpreted as a set of instructions or modules that can be executed by one or more components in a system, such as a controller system or data processing device system, in order to cause the system to perform one or more operations. The set of instructions or modules can be stored by any kind of memory device, such as those described subsequently with respect to the memory device system  130  shown in  FIG. 1 . In addition, instructions or modules of a program may be described as being configured to cause the performance of a function or action. 
     The phrase “configured to” in this context is intended to include, for example, at least (a) instructions or modules that are presently in a form executable by one or more data processing devices to cause performance of the function (e.g., in the case where the instructions or modules are in a compiled and unencrypted form ready for execution), and (b) instructions or modules that are presently in a form not executable by the one or more data processing devices, but could be translated into the form executable by the one or more data processing devices to cause performance of the function (e.g., in the case where the instructions or modules are encrypted in a non-executable manner, but through performance of a decryption process, would be translated into a form ready for execution). The word “module” can be defined as a set of instructions. 
     The word “device” and the phrase “device system” both are intended to include, for example, one or more physical devices or sub-devices (e.g., pieces of equipment) that interact to perform one or more functions, regardless of whether such devices or sub-devices are located within a same housing or different housings. In this regard, the word “device” may equivalently be referred to as a “device system”. 
     Further, the phrase “in response to” may be used in this disclosure. For example, this phrase might be used in the following context, where an event A occurs in response to the occurrence of an event B. In this regard, such phrase includes, for example, that at least the occurrence of the event B causes or triggers the event A. 
     The phrase “physically coupled” is intended to include, for example, a coupling between two objects that involves a physical contacting of the two objects. The phrase “fixedly coupled” is intended to include, for example, a secure coupling between two objects that may, in some instances, not involve a mechanism configured to release the coupling of the two objects. The phrase “operatively coupled” is intended to include, for example, a coupling between two objects that transmits force, energy, information, or other influence at least from one of the two objects to the other of the two objects. An operative coupling does not exclude the possibility of a physical or fixed coupling in addition to the operative coupling. 
       FIG. 1  schematically illustrates a system  100 , according to some embodiments. The system  100  includes a data processing device system  110 , an input-output device system  120 , and a processor-accessible memory device system  130 . The processor-accessible memory device system  130  and the input-output device system  120  are communicatively connected to the data processing device system  110 . 
     The data processing device system  110  includes one or more data processing devices that implement methods by controlling, driving, or otherwise interacting with various structural components described herein, including, but not limited to, one or more of the various structural components illustrated in  FIGS. 2-5, 7, 8, and 10 . Each of the phrases “data processing device”, “data processor”, “processor”, and “computer” is intended to include any data processing device, such as a central processing unit (“CPU”), a desktop computer, a laptop computer, a mainframe computer, a tablet computer, a personal digital assistant, a cellular phone, and any other device for processing data, managing data, or handling data, whether implemented with electrical, magnetic, optical, biological components, or otherwise. 
     The memory device system  130  includes one or more processor-accessible memory devices configured to store information, including the information needed to execute the methods, including, in some embodiments, some or all of one or more of the methods of  FIG. 9 , implemented by the data processing device system  110 . The memory device system  130  may be a distributed processor-accessible memory device system including multiple processor-accessible memory devices communicatively connected to the data processing device system  110  via a plurality of computers and/or devices. On the other hand, the memory device system  130  need not be a distributed processor-accessible memory system and, consequently, may include one or more processor-accessible memory devices located within a single housing or data processing device. 
     Each of the phrases “processor-accessible memory” and “processor-accessible memory device” is intended to include any processor-accessible data storage device, whether volatile or nonvolatile, electronic, magnetic, optical, or otherwise, including but not limited to, registers, floppy disks, hard disks, Compact Discs, DVDs, flash memories, ROMs, and RAMs. In some embodiments, each of the phrases “processor-accessible memory” and “processor-accessible memory device” is intended to include or be a processor-accessible (or computer-readable) data storage medium. In some embodiments, each of the phrases “processor-accessible memory” and “processor-accessible memory device” is intended to include or be a non-transitory processor-accessible (or computer-readable) data storage medium. In some embodiments, the memory device system  130  may be considered to include or be a non-transitory processor-accessible (or computer-readable) data storage medium system. And, in some embodiments, the memory device system  130  may be considered to include or be a non-transitory processor-accessible (or computer-readable) data storage medium system. 
     The phrase “communicatively connected” is intended to include any type of connection, whether wired or wireless, between devices, data processors, or programs in which data may be communicated. Further, the phrase “communicatively connected” is intended to include a connection between devices or programs within a single data processor, a connection between devices or programs located in different data processors, and a connection between devices not located in data processors at all. In this regard, although the memory device system  130  is shown separately from the data processing device system  110  and the input-output device system  120 , one skilled in the art will appreciate that the memory device system  130  may be located completely or partially within the data processing device system  110  or the input-output device system  120 . Further in this regard, although the input-output device system  120  is shown separately from the data processing device system  110  and the memory device system  130 , one skilled in the art will appreciate that such system may be located completely or partially within the data processing system  110  or the memory device system  130 , depending upon the contents of the input-output device system  120 . Further still, the data processing device system  110 , the input-output device system  120 , and the memory device system  130  may be located entirely within the same device or housing or may be separately located, but communicatively connected, among different devices or housings. In the case where the data processing device system  110 , the input-output device system  120 , and the memory device system  130  are located within the same device, the system  100  of  FIG. 1  can be implemented by a single application-specific integrated circuit (ASIC) in some embodiments. 
     The input-output device system  120  may include a mouse, a keyboard, a touch screen, a computer, a processor-accessible memory device, some or all of a catheter device system (e.g.,  FIGS. 3A, 3B, 4 , or catheter system  500 , described below), or any device or combination of devices from which a desired selection, desired information, instructions, or any other data is input to the data processing device system  110 . The input-output device system  120  may include a user-activatable control system that is responsive to a user action. The input-output device system  120  may include any suitable interface for receiving a selection, information, instructions, or any other data from other devices or systems described in various ones of the embodiments. In this regard, the input-output device system  120  may include various ones or portions of other systems or devices described in various embodiments. 
     The input-output device system  120  also may include an image generating device system, a display device system, a processor-accessible memory device, some or all of a catheter device system (e.g.,  FIGS. 3A, 3B, 4 , or catheter system  500 , described below), or any device or combination of devices to which information, instructions, or any other data is output by the data processing device system  110 . In this regard, if the input-output device system  120  includes a processor-accessible memory device, such memory device may or may not form part or all of the memory device system  130 . The input-output device system  120  may include any suitable interface for outputting information, instructions, or any other data to other devices or systems described in various ones of the embodiments. In this regard, the input-output device system  120  may include various other devices or systems described in various embodiments. 
     Various embodiments of catheter systems are described herein. It should be noted that any catheter system described herein may also be referred to as a medical system. Some of the described devices of such systems are medical devices that are percutaneously or intravascularly deployed. Some of the described devices are deployed through a bodily opening that is accessible without puncturing, cutting or otherwise perforating bodily tissue to create an access to the bodily opening. Some of the described devices employ transducer-based devices or device systems. Some of the described devices are moveable between a delivery or unexpanded configuration in which a portion of the device is sized, shaped, or both for passage through a bodily opening leading to a bodily cavity, and an expanded or deployed configuration in which the portion of the device has a size, shape, or both too large for passage through the bodily opening leading to the bodily cavity. An example of an expanded or deployed configuration is when the portion of the catheter system is in its intended-deployed-operational state inside the bodily cavity. Another example of the expanded or deployed configuration is when the portion of the catheter system is being changed from the delivery configuration to the intended-deployed-operational state to a point where the portion of the device now has a size, shape, or both too large for passage through the bodily opening leading to the bodily cavity. 
     In some example embodiments, the catheter system includes transducers that sense characteristics (e.g., convective cooling, permittivity, force) that distinguish between fluid, such as a fluidic tissue (e.g., blood), and tissue forming an interior surface of the bodily cavity. Such sensed characteristics can allow a medical device system to map the cavity, for example using positions of openings or ports into and out of the cavity to determine a position or orientation (i.e., pose), or both of the portion of the device in the bodily cavity. In some example embodiments, the described devices are capable of ablating tissue in a desired pattern within the bodily cavity. In some example embodiments, the devices are capable of sensing characteristics (e.g., electrophysiological activity) indicative of whether an ablation has been successful. In some example embodiments, the devices are capable of providing stimulation (e.g., electrical stimulation) to tissue within the bodily cavity. Electrical stimulation may include pacing. 
       FIG. 2  shows a portion of a catheter system, according to some embodiments, such portion including a transducer-based device  200 , which may be at least part of a medical device useful in investigating or treating a bodily organ, for example a heart  202 , according to some example embodiments. The transducer-based device  200  may also be referred to as a manipulable portion, due to its ability to have its size, shape, or both size and shape altered, according to some embodiments described below. Transducer-based device  200  can be percutaneously or intravascularly inserted into a portion of the heart  202 , such as an intra-cardiac cavity like left atrium  204 . 
     In the example of  FIG. 2 , the illustrated portion of the catheter system also includes a catheter  206 , which may be inserted via the inferior vena cava  208  and may penetrate through a bodily opening in transatrial septum  210  from right atrium  212 . In other embodiments, other paths may be taken. 
     Catheter  206  includes an elongated flexible rod or shaft member appropriately sized to be delivered percutaneously or intravascularly. Various portions of catheter  206  may be steerable. Catheter  206  may include one or more lumens. The lumen(s) may carry one or more communications or power paths, or both. For example, the lumens(s) may carry one or more electrical conductors  216  (two shown in this embodiment). Electrical conductors  216  provide electrical connections to transducer-based device  200  that are accessible externally from a patient in which the transducer-based device  200  is inserted. 
     In various embodiments, transducer-based device, or manipulable portion,  200  includes a frame or structure  218 , which assumes an unexpanded configuration for delivery to left atrium  204 . Structure  218  is expanded (i.e., shown in a deployed or expanded configuration in  FIG. 2 ) upon delivery to left atrium  204  to position a plurality of transducers  220  (three called out in  FIG. 2 ) proximate the interior surface formed by tissue  222  of left atrium  204 . In this regard, it can be stated that one or more of the transducers  220  are moveable with one or more parts of the transducer-based device, or manipulable portion,  200 . In some embodiments, at least some of the transducers  220  are used to sense a physical characteristic of a fluid (i.e., blood) or tissue  222 , or both, that may be used to determine a position or orientation (i.e., pose), or both, of a portion of transducer-based device  200  within, or with respect to left atrium  204 . For example, transducers  220  may be used to determine a location of pulmonary vein ostia (not shown) or a mitral valve  226 , or both. In some embodiments, at least some of the transducers  220  may be used to selectively ablate portions of the tissue  222 . For example, some of the transducers  220  may be used to ablate a pattern or path around various ones of the bodily openings, ports or pulmonary vein ostia, for instance to reduce or eliminate the occurrence of atrial fibrillation. 
       FIGS. 3A and 3B  show a catheter system (i.e., a portion thereof shown schematically) that includes a transducer-based device  300  according to one illustrated embodiment. The transducer-based device  300  may correspond to the transducer-based device  200  and, in this regard, may also be referred to as a manipulable portion, due to its ability to have its size, shape, or both size and shape altered, according to some embodiments described below. Transducer-based device  300  may include a plurality of elongate members  304  (three called out in each of  FIGS. 3A and 3B ) and a plurality of transducers  306  (three called out in  FIG. 3A , and three called out in  FIG. 3B  as  306   a ,  306   b  and  306   c ). As will become apparent, the plurality of transducers  306  are positionable within a bodily cavity. For example, in some embodiments, the transducers  306  are able to be positioned in a bodily cavity by movement into, within, or into and within the bodily cavity, with or without a change in a particular configuration of the plurality of transducers  306 . In some embodiments, the plurality of transducers  306  are arrangeable to form a two- or three-dimensional distribution, grid or array of the transducers capable of mapping, ablating, or stimulating an inside surface of a bodily cavity or lumen without requiring mechanical scanning. As shown, for example, in  FIG. 3A , the plurality of transducers  306  are arranged in a distribution receivable in a bodily cavity, as the transducer-based device  300  and its plurality of transducers  306  are located within the catheter sheath  312 . Stated differently, in  FIG. 3A , for example, the plurality of transducers  306  are arranged in a distribution suitable for delivery to a bodily cavity. (It should also be noted, however, that the expanded or deployed configuration (e.g.,  FIGS. 2, 3B ) may also be considered to have the transducers  306  arranged in a distribution receivable in a bodily cavity, as the transducer-based device  300  and its transducers  306  may be returned to the delivery configuration of  FIG. 3A , for example.) In some embodiments, each of the transducers  306  includes an electrode  315  (one called out in  FIG. 3B ) having an energy transmission surface  319  (one called out in  FIG. 3B ) suitable for transmitting energy in various directions. In some embodiments, tissue-ablating energy is transmitted toward or away from an electrode  315 . In some embodiments, tissue-based electrophysiological energy is transmitted toward an electrode  315 . 
     The elongate members  304  form part of a manipulable portion, and in various embodiments, are arranged in a frame or structure  308  that is selectively moveable between an unexpanded or delivery configuration (i.e., as shown in  FIG. 3A ) and an expanded or deployed configuration (i.e., as shown in  FIG. 3B ) that may be used to position elongate members  304  against a tissue surface within the bodily cavity or position the elongate members  304  in the vicinity of or in contact with the tissue surface. In this regard, it may also be stated that the transducer-based device, or manipulable portion,  300  is selectively moveable between an unexpanded or delivery configuration (i.e., as shown in  FIG. 3A ) and an expanded or deployed configuration (i.e., as shown in  FIG. 3B ). In some embodiments, the transducer-based device, or manipulable portion,  300 , (e.g., the structure  308  thereof) has a size, shape, or both a size and a shape in the unexpanded or delivery configuration suitable for percutaneous delivery through a bodily opening (for example, via catheter sheath  312 , not shown in  FIG. 3B ) to the bodily cavity. In some embodiments, structure  308  has a size, shape, or both a size and a shape in the expanded or deployed configuration too large for percutaneous delivery through a bodily opening (i.e., via catheter sheath  312 ) to the bodily cavity. The elongate members  304  may form part of a flexible circuit structure (i.e., also known as a flexible printed circuit board (PCB) circuit). The elongate members  304  can include a plurality of different material layers, and each of the elongate members  304  can include a plurality of different material layers. The structure  308  can include a shape memory material, for instance Nitinol. The structure  308  can include a metallic material, for instance stainless steel, or non-metallic material, for instance polyimide, or both a metallic and non-metallic material by way of non-limiting example. The incorporation of a specific material into structure  308  may be motivated by various factors including the specific requirements of each of the unexpanded or delivery configuration and expanded or deployed configuration, the required position or orientation (i.e., pose) or both of structure  308  in the bodily cavity, or the requirements for successful ablation of a desired pattern. The number of elongate members depicted in  FIG. 3B  is non-limiting. 
       FIG. 4  is a schematic side elevation view of at least a portion of a transducer-based device  400  that includes a flexible circuit structure  401  that is employed to provide a plurality of transducers  406  (two called out) according to an example embodiment. In some embodiments, the flexible circuit structure  401  may form part of a structure (e.g., structure  308 ) that is selectively moveable between a delivery configuration sized for percutaneous delivery and an expanded or deployed configuration sized too large for percutaneous delivery. In some embodiments, the flexible circuit structure  401  may be located on, or form at least part of, of a structural component (e.g., elongate member  304 ) of a transducer-based device system. 
     The flexible circuit structure  401  can be formed by various techniques including flexible printed circuit techniques. In some embodiments, the flexible circuit structure  401  includes various layers including flexible layers  403   a ,  403   b  and  403   c  (i.e., collectively flexible layers  403 ). In some embodiments, each of flexible layers  403  includes an electrical insulator material (e.g., polyimide). One or more of the flexible layers  403  can include a different material than another of the flexible layers  403 . In some embodiments, the flexible circuit structure  401  includes various electrically conductive layers  404   a ,  404   b  and  404   c  (collectively electrically conductive layers  404 ) that are interleaved with the flexible layers  403 . In some embodiments, each of the electrically conductive layers  404  is patterned to form various electrically conductive elements. For example, electrically conductive layer  404   a  is patterned to form a respective electrode  415  of each of the transducers  406 . Electrodes  415  have respective electrode edges  415 - 1  that form a periphery of an electrically conductive surface associated with the respective electrode  415 .  FIG. 3B  shows another example of electrode edges  315 - 1  and illustrates that the electrode edges can define electrically-conductive-surface-peripheries of various shapes. 
     Returning to  FIG. 4 , electrically conductive layer  404   b  is patterned, in some embodiments, to form respective temperature sensors  408  for each of the transducers  406  as well as various leads  410   a  arranged to provide electrical energy to the temperature sensors  408 . In some embodiments, each temperature sensor  408  includes a patterned resistive member  409  (two called out) having a predetermined electrical resistance. In some embodiments, each resistive member  409  includes a metal having relatively high electrical conductivity characteristics (e.g., copper). In some embodiments, electrically conductive layer  404   c  is patterned to provide portions of various leads  410   b  arranged to provide an electrical communication path to electrodes  415 . In some embodiments, leads  410   b  are arranged to pass though vias in flexible layers  403   a  and  403   b  to connect with electrodes  415 . Although  FIG. 4  shows flexible layer  403   c  as being a bottom-most layer, some embodiments may include one or more additional layers underneath flexible layer  403   c , such as one or more structural layers, such as a steel or composite layer. These one or more structural layers, in some embodiments, are part of the flexible circuit structure  401  and can be part of, e.g., elongate member  304 . In addition, although  FIG. 4  shows only three flexible layers  403   a - 403   c  and only three electrically conductive layers  404   a - 404   c , it should be noted that other numbers of flexible layers, other numbers of electrically conductive layers, or both, can be included. 
     In some embodiments, electrodes  415  are employed to selectively deliver RF energy to various tissue structures within a bodily cavity (e.g., an intra-cardiac cavity). The energy delivered to the tissue structures may be sufficient for ablating portions of the tissue structures. The energy delivered to the tissue may be delivered to cause monopolar tissue ablation, bipolar tissue ablation or blended monopolar-bipolar tissue ablation by way of non-limiting example. 
     Energy that is sufficient for tissue ablation may be dependent upon factors including tissue characteristics, transducer location, size, shape, relationship with respect to another transducer or a bodily cavity, material or lack thereof between transducers, et cetera. 
     In some embodiments, each electrode  415  is employed to sense an electrical potential in the tissue proximate the electrode  415 . In some embodiments, each electrode  415  is employed in the generation of an intra-cardiac electrogram. In some embodiments, each resistive member  409  is positioned adjacent a respective one of the electrodes  415 . In some embodiments, each of the resistive members  409  is positioned in a stacked or layered array with a respective one of the electrodes  415  to form at least part of a respective one of the transducers  406 . In some embodiments, the resistive members  409  are connected in series to allow electrical current to pass through all of the resistive members  409 . In some embodiments, leads  410   a  are arranged to allow for a sampling of electrical voltage in between each resistive member  409 . This arrangement allows for the electrical resistance of each resistive member  409  to be accurately measured. The ability to accurately measure the electrical resistance of each resistive member  409  may be motivated by various reasons including determining temperature values at locations at least proximate the resistive member  409  based at least on changes in the resistance caused by convective cooling effects (e.g., as provided by blood flow). In some embodiments in which the transducer-based device is deployed in a bodily cavity (e.g., when the transducer-based device  300  is part of a catheter system and may be arranged to be percutaneously or intravascularly delivered to a bodily cavity via a catheter), it may be desirable to perform various mapping procedures in the bodily cavity. For example, when the bodily cavity is an intra-cardiac cavity, a desired mapping procedure can include mapping electrophysiological activity in the intra-cardiac cavity. Other desired mapping procedures can include mapping of various anatomical features within a bodily cavity. An example of the mapping performed by devices according to various embodiments may include locating the position of the ports of various bodily openings positioned in fluid communication with a bodily cavity. For example, in some embodiments, it may be desired to determine the locations of various ones of the pulmonary veins or the mitral valve that each interrupts an interior surface of an intra-cardiac cavity such as a left atrium. 
     Referring to  FIGS. 3A, 3B , transducer-based device or manipulable portion  300  may communicate with, receive power from, or be controlled by a control system  322 . In some embodiments, elongate members  304  can form a portion of an elongated cable  316  of control leads  317 , for example by stacking multiple layers, and terminating at a connector  321  or other interface with control system  322 . The control leads  317  may correspond to the electrical connectors  216  in  FIG. 2  in some embodiments. The control system  322  may include a controller  324  that may include a data processing device system  310  (e.g., data processing device system  110  from  FIG. 1 ) and a memory device system  330  (e.g., memory device system  130  from  FIG. 1 ) that stores data and instructions that are executable by the data processing device system  310  to process information received from transducer-based device  300  or to control operation of transducer-based device  300 , for example activating various selected transducers  306  to ablate tissue. Controller  324  may include one or more controllers. 
     In some embodiments, the controller  324  may be configured to control deployment, expansion, retraction, or other manipulations of the shape, positioning, or both shape and positioning of the transducer-based device (e.g., manipulable portion)  300  at least by driving (e.g., by an electric or other motor) movement of various actuators or other catheter system components described below, with respect to, e.g.,  FIGS. 5 and 7 . 
     In this regard, in some embodiments, some of which are described later in this disclosure, the controller  324  is at least part of a control system, which may include one or more actuators, configured to advance at least part of the transducer-based device (e.g.,  200 ,  300 ,  400 , or  502 ), at least a portion of which may be considered a manipulable portion, out of the catheter sheath  312 , retract at least part of the transducer-based device back into the catheter sheath  312 , expand, contract, or otherwise change at least part of the shape of the transducer-based device. 
     Control system  322  may include an input-output device system  320  (e.g., an example of  120  from  FIG. 1 ) communicatively connected to the data processing device system  310  (i.e., via controller  324  in some embodiments). Input-output device system  320  may include a user-activatable control that is responsive to a user action. Input-output device system  320  may include one or more user interfaces or input/output (I/O) devices, for example one or more display device systems  332 , speaker device systems  334 , keyboards, mice, joysticks, track pads, touch screens or other transducers to transfer information to, from, or both to and from a user, for example a care provider such as a health care provider or technician. For example, output from a mapping process may be displayed on a display device system  332 . 
     Control system  322  may also include an energy source device system  340  including one or more energy source devices connected to transducers  306 . In this regard, although  FIG. 3A  shows a communicative connection between the energy source device system  340  and the controller  324  (and its data processing device system  310 ), the energy source device system  340  may also be connected to the transducers  306  via a communicative connection that is independent of the communicative connection with the controller  324  (and its data processing device system  310 ). For example, the energy source device system  340  may receive control signals via the communicative connection with the controller  324  (and its data processing device system  310 ), and, in response to such control signals, deliver energy to, receive energy from, or both deliver energy to and receive energy from one or more of the transducers  306  via a communicative connection with such transducers  306  (e.g., via one or more communication lines through catheter body  314 , elongated cable  316  or catheter sheath  312 ) that does not pass through the controller  324 . In this regard, the energy source device system  340  may provide results of its delivering energy to, receiving energy from, or both delivering energy to and receiving energy from one or more of the transducers  306  to the controller  324  (and its data processing device system  310 ) via the communicative connection between the energy source device system  340  and the controller  324 . 
     In any event, the number of energy source devices in the energy source device system  340  may be fewer than the number of transducers in some embodiments. The energy source device system  340  may, for example, be connected to various selected transducers  306  to selectively provide energy in the form of electrical current or power (e.g., RF energy), light or low temperature fluid to the various selected transducers  306  to cause ablation of tissue. The energy source device system  340  may, for example, selectively provide energy in the form of electrical current to various selected transducers  306  and measure a temperature characteristic, an electrical characteristic, or both at a respective location at least proximate each of the various transducers  306 . The energy source device system  340  may include as its energy source devices various electrical current sources or electrical power sources. In some embodiments, an indifferent electrode  326  is provided to receive at least a portion of the energy transmitted by at least some of the transducers  306 . Consequently, although not shown in  FIG. 3A , the indifferent electrode  326  may be communicatively connected to the energy source device system  340  via one or more communication lines in some embodiments. In addition, although shown separately in  FIG. 3A , indifferent electrode  326  may be considered part of the energy source device system  340  in some embodiments. In some embodiments, the indifferent electrode  326  is provided outside the body or at least the bodily cavity in which the transducer-based device (e.g.,  200 ,  300 , or  400 ) or catheter system  500  is, at least in part, located. 
     In some embodiments, the energy source device system  340  may include one or more driving motors configured to drive movement, in response to instructions from the controller  324 , of various actuators or other catheter system components described, below, with respect to, e.g.,  FIGS. 5 and 7  to control deployment, expansion, retraction, or other manipulations of the shape, positioning, or both shape and positioning of the transducer-based device (e.g., manipulable portion)  300 . 
     It is understood that input-output device system  320  may include other systems. In some embodiments, input-output device system  320  may optionally include energy source device system  340 , transducer-based device  300  or both energy source device system  340  and transducer-based device  300  by way of non-limiting example. 
     Structure  308  of transducer-based device  300  can be delivered and retrieved through a catheter member, for example, a catheter sheath  312 . In some embodiments, the structure  308  provides expansion and contraction capabilities for a portion of a medical device (e.g., an arrangement, distribution or array of transducers  306 ). The transducers  306  can form part of, be positioned or located on, mounted or otherwise carried on the structure and the structure may be configurable to be appropriately sized to slide within a lumen of catheter sheath  312  in order to be deployed percutaneously or intravascularly.  FIG. 3A  shows one embodiment of such a structure. In some embodiments, each of the elongate members  304  includes a respective distal end  305  (only one called out), a respective proximal end  307  (only one called out) and an intermediate portion  309  (only one called out) positioned between the proximal end  307  and the distal end  305 . The respective intermediate portion  309  of each elongate member  304  includes a first or front surface  318   a  that is positionable to face an interior tissue surface within a bodily cavity and a second or back surface  318   b  opposite across a thickness of the intermediate portion  309  from the front surface  318   a . In various embodiments, the intermediate portion  309  of each of the elongate members  304  includes a respective pair of side edges of the front surface  318   a , the back surface  318   b , or both the front surface  318   a  and the back surface  318   b , the side edges of each pair of side edges opposite to one another, the side edges of each pair of side edges extending between the proximal end  307  and the distal end  305  of the respective elongate member  304 . In some embodiments, each pair of side edges includes a first side edge  327   a  (only one called out in  FIG. 3A ) and a second side edge  327   b  (only one called out in  FIG. 3A ). In some embodiments, each of the elongate members  304 , including each respective intermediate portion  309 , is arranged front surface  318   a -toward-back surface  318   b  in a stacked array during an unexpanded or delivery configuration (e.g.,  FIG. 3A, 5G ). In many cases, a stacked array allows the structure  308  to have a suitable size for percutaneous or intravascular delivery. A stacked array can allow structure  308  to have a spatially efficient size for delivery through a lumen of catheter sheath  312 . In some embodiments, the elongate members  304  are arranged to be introduced into a bodily cavity distal end  305  first. For clarity, not all of the elongate members  304  of structure  308  are shown in  FIG. 3A . A flexible catheter body or shaft  314  is used to deliver structure  308  through catheter sheath  312 . In some embodiments, each elongate member includes a twisted portion proximate proximal end  307  (e.g., also  FIG. 5B , discussed below). 
     In some embodiments, each of the elongate members  304  is arranged in a fanned arrangement  370  in  FIG. 3B . In some embodiments, the fanned arrangement  370  is formed during the expanded or deployed configuration in which the transducer-based device (e.g., manipulable portion)  300  or structure  308  thereof is manipulated to have a size, shape, or both size and shape too large for percutaneous or intravascular delivery, for example a size, shape, or both size and shape too large for percutaneous or intravascular delivery toward a bodily cavity, or a size, shape, or both size and shape too large for percutaneous or intravascular delivery away from a bodily cavity. In some embodiments, the fanned arrangement  370  is formed during the expanded or deployed configuration in which the transducer-based device (e.g., manipulable portion)  300  or structure  308  thereof is manipulated to have a size, shape, or both size and shape too large for delivery through a lumen of catheter sheath  312 , for example, a size, shape, or both size and shape too large for delivery through a lumen of catheter sheath  312  toward a bodily cavity, or a size, shape, or both size and shape too large for delivery through a lumen of catheter sheath  312  away from a bodily cavity. 
     In some embodiments, the transducer-based device (e.g., manipulable portion)  300  or structure  308  thereof includes a proximal portion  308   a  having a first domed shape  309   a  and a distal portion  308   b  having a second domed shape  309   b  when the transducer-based device (e.g., manipulable portion)  300  or structure  308  thereof is in the expanded or deployed configuration. In some embodiments, the proximal and the distal portions  308   a ,  308   b  include respective portions of elongate members  304 . In some embodiments, the transducer-based device (e.g., manipulable portion)  300  or structure  308  thereof is arranged to be delivered or advanced distal portion  308   b  first into a bodily cavity when the transducer-based device (e.g., manipulable portion)  300  or structure  308  thereof is in the unexpanded or delivery configuration as shown in  FIG. 3A . In some embodiments, the proximal and the distal portions  308   a ,  308   b  are arranged in a clam shell configuration in the expanded or deployed configuration shown in  FIG. 3B . In various example embodiments, each of the front surfaces  318   a  (two called out in  FIG. 3B ) of the intermediate portions  309  of the plurality of elongate members  304  face outwardly from the structure  308  when the structure  308  is in the deployed configuration. In various example embodiments, each of the front surfaces  318   a  of the intermediate portions  309  of the plurality of elongate members  304  are positioned adjacent an interior tissue surface of a bodily cavity in which the structure  308  (i.e., in the deployed configuration) is located. In various example embodiments, each of the back surfaces  318   b  (two called out in  FIG. 3B ) of the intermediate portions  309  of the plurality of elongate members  304  face an inward direction when the structure  308  is in the deployed configuration. 
     The transducers  306  can be arranged in various distributions or arrangements in various embodiments. In some embodiments, various ones of the transducers  306  are spaced apart from one another in a spaced apart distribution in the delivery configuration shown in  FIG. 3A . In some embodiments, various ones of the transducers  306  are arranged in a spaced apart distribution in the deployed configuration shown in  FIG. 3B . In some embodiments, various pairs of transducers  306  are spaced apart with respect to one another. In some embodiments, various regions of space are located between various pairs of the transducers  306 . For example, in  FIG. 3B  the transducer-based device  300  includes at least a first transducer  306   a , a second transducer  306   b  and a third transducer  306   c  (all collectively referred to as transducers  306 ). In some embodiments each of the first, the second, and the third transducers  306   a ,  306   b  and  306   c  are adjacent transducers in the spaced apart distribution. In some embodiments, the first and the second transducers  306   a ,  306   b  are located on different elongate members  304  while the second and the third transducers  306   b ,  306   c  are located on a same elongate member  304 . In some embodiments, a first region of space  350  is between the first and the second transducers  306   a ,  306   b . In some embodiments, the first region of space  350  is not associated with any physical portion of structure  308 . In some embodiments, a second region of space  360  associated with a physical portion of device  300  (i.e., a portion of an elongate member  304 ) is between the second and the third transducers  306   b ,  306   c . In some embodiments, each of the first and the second regions of space  350 ,  360  does not include a transducer of transducer-based device  300 . In some embodiments, each of the first and the second regions of space  350 ,  360  does not include any transducer. It is noted that other embodiments need not employ a group of elongate members  304  as employed in the illustrated embodiment. For example, other embodiments may employ a structure having one or more surfaces, at least a portion of the one or more surfaces defining one or more openings in the structure. In these embodiments, a region of space not associated with any physical portion of the structure may extend over at least part of an opening of the one or more openings. In other example embodiments, other structures may be employed to support or carry transducers of a transducer-based device such as a transducer-based catheter device. For example, an elongated catheter member may be used to distribute the transducers in a linear or curvilinear array. Basket catheters or balloon catheters may be used to distribute the transducers in a two-dimensional or three-dimensional array. 
     In some embodiments, a manipulable portion, such as, but not limited to, a transducer-based device (e.g.,  200  or  300 ) is manipulated to transition between a delivery configuration (e.g.,  FIG. 3A ) and an expanded or deployed configuration (e.g.,  FIG. 3B ) manually (e.g., by a user&#39;s manual operation) or at least in part by way of motor-based driving (e.g., from the energy source device system  340 ) of one or more actuators or other catheter system components described, below, with respect to, e.g.,  FIGS. 5 and 7 . Motor-based driving may augment or otherwise be in response to manual actions, may be responsive to automated control of a data processing device system (e.g.,  110  in  FIG. 1 or 310  in  FIGS. 3A and 3B ), or may use a hybrid manual-automated approach. 
     In this regard, each of the individual figures of  FIG. 5  and  FIG. 7  shows some or all of a catheter system  500 , which includes a manipulable portion  502 , according to various embodiments. In this regard, it should be noted that any of the catheter systems described herein may also be referred to as a medical system and, consequently, that catheter system  500  may be referred to as a medical system  500 . In some embodiments, the manipulable portion  502  corresponds to the transducer-based device  200  or  300 , although the manipulable portion  502  need not be a transducer-based device and may be some other form of catheter-based manipulable portion (e.g., a stent or other implant). 
     According to some embodiments, the catheter system  500  includes several different types of motions to control the deployment, retraction, positioning, size, and shape of the manipulable portion  502 . These different types of motions may include coiling, uncoiling, fanning, un-fanning, bifurcated doming, flattening, clam shelling, or a combination of some or all of these motions. In some embodiments, these motions facilitate accommodation of different bodily cavity sizes (e.g., different atrium sizes), as well as proper positioning of the manipulable-portion within the bodily cavity (e.g., atrium) and contact with one or more tissue walls of the bodily cavity. 
     With respect to these types of motions, for example, deployment of the manipulable portion  502  may involve a coiling of the manipulable portion  502  by way of a built-in predisposition of the manipulable portion  502  to autonomously coil when released from the confines of a catheter sheath  512  or some other confining member, by way of a control element  513  (e.g., a cable  513   b ), or by way of both autonomous coiling and a control element. See, e.g., the sequence of  FIGS. 5H, 5I, and 5J , discussed in detail below. In some embodiments, the control element (e.g., cable  513   b ) is physically coupled to the manipulable portion  502  (e.g., at least proximate to a distal end  505   a  thereof) to transmit force to the manipulable portion and to control a positioning of at least part of the manipulable portion  502  during coiling. Uncoiling of the manipulable portion  502  during retraction is described in more detail below, with respect to at least the sequence of FIGS. of  5 J,  5 I, and  5 H. Such uncoiling may occur by way of a control element  513  (e.g., a cable  513   b ), by way of a containment force applied by the catheter sheath  512  or some other confining member as the manipulable portion  502  is retracted into the catheter sheath  512  or other confining member, or by way of both a control element and a containment force of a confining member into which the manipulable portion  502  is retracted. 
     In some embodiments, the coiling/uncoiling motion during deployment/retraction of the manipulable portion  502  is caused and controlled, at least in part, by activation or movement of a second particular actuator  540   b  and an internal receiving mechanism  546  with respect to a first particular actuator  540   a , which may act as an anchor in some configurations. In some embodiments, the coiling/uncoiling motion during deployment/retraction involves a metering of a portion of the control element  513  (e.g., a cable  513   b ) with different rates under the control of a master slider  556   a , a sleeve slider  556   b , and the second particular actuator  540   b , which are described in more detail, below, with respect to at least  FIGS. 7A and 7B . 
     In some embodiments, once the manipulable portion  502  is extended outside of the distal end  512   b  of the catheter sheath  512 , as shown, for example, at least in  FIGS. 5L-1 and 5L-2 , the manipulable portion  502  may be fanned, or additionally fanned, as shown in  FIGS. 5M-1 and 5M-2  by action of a sliding actuator  572 , of which a cover  520   a  is a part, which are described in more detail, below, with respect to at least  FIGS. 5S-1 and 5S-2 . Un-fanning of the manipulable portion  502  to return the manipulable portion  502  back into a retraction-ready shape may also be controlled by the sliding actuator  572 , as described in more detail, below. 
     In some embodiments, at least when the manipulable portion  502  is fanned, different portions  508   a ,  508   b  (e.g., hemispheres in some embodiments) of the manipulable portion  502  may be controlled to have different domed shapes. This type of motion may be referred to as bifurcated doming and is described in more detail, below, with respect to  FIGS. 5M-1 and 5M-2 , for example. This type of motion may be controlled by positioning of cover  520   a , described in more detail, below, with respect to  FIGS. 5S-1 and 5S-2 , for example.  FIGS. 5N-5Q , discussed below, also illustrate different domed shapes to which the manipulable portion  502  may be controlled to have, according to some embodiments. 
     In some embodiments, at least when the manipulable portion  502  is fanned, the manipulable portion  502  may be flattened, as described in more detail, below, with respect to  FIGS. 5N and 5O . In some embodiments, this flattening motion may be caused and controlled by activation or action of the first particular actuator  540   a , which is described in more detail, below, with respect to  FIGS. 5S, 7A, and 7B . 
     In some embodiments, at least when the manipulable portion  502  is fanned, the manipulable portion  502  may be subjected to clam shelling as described in more detail, below, with respect to  FIGS. 5P and 5Q . In some embodiments, this clam shelling may be caused and controlled by activation or action of the second particular actuator  540   b , which is described in more detail, below, with respect to  FIGS. 5S, 7A, and 7B . 
     Now, each of the figures of  FIG. 5  (collectively referred to as “ FIGS. 5 ”) will be described.  FIG. 5  illustrate various views of various aspects of medical systems or catheter systems, according to various embodiments. In this regard, the systems of  FIG. 5  (as well as the other remaining figures) may be particular implementations of the systems of  FIGS. 2 and 3 , according to some embodiments. Accordingly, descriptions herein regarding the systems of  FIGS. 2 and 3  apply to the systems of  FIG. 5  (as well as the other remaining figures), according to some embodiments. 
     As shown in  FIG. 5A , catheter system  500  includes various devices including a catheter shaft member  500   a  (also referred to as shaft member  500   a ) and, in some embodiments, a catheter sheath member  500   b  (also referred to as sheath member  500   b ). Shaft member  500   a  includes a shaft  510  (e.g., the same or similar to catheter body  314 ) that includes a proximal end  510   a , a distal end  510   b , and an intermediate or elongated portion  510   c  extending between the proximal end  510   a  and the distal end  510   b  (e.g., extending along a path that connects proximal end  510   a  and distal end  510   b ). In some embodiments associated with various ones of  FIG. 5 , the manipulable portion  502  is located at least proximate the distal end  510   b.    
     Catheter sheath member  500   b  includes a catheter sheath  512  (e.g., the same or similar to sheath  312 ) that includes proximal end  512   a , a distal end  512   b  and a body portion  512   c  between the proximal end  512   a  and the distal end  512   b . In various embodiments, catheter sheath  512  includes one or more lumens, each of at least some of the one or more lumens extending between proximal end  512   a  and distal end  512   b  (e.g., extending along a path that connects proximal end  512   a  and distal end  512   b ). In various embodiments associated with various ones of  FIG. 5 , catheter sheath  512  includes a first lumen  512   d  extending between (or connecting, in some embodiments) proximal end  512   a  and distal end  512   b . Catheter sheath member  500   b  is provided in various embodiments to provide a passageway for at least a portion of shaft member  500   a  (e.g., a part of shaft  510 ) to be delivered therethrough to a location within a body during a medical procedure. In some embodiments, catheter sheath member  500   b  is deployed percutaneously or intravascularly into a body. In this regard, it may be stated that at least part of the shaft  510  is sized for percutaneous delivery to the bodily cavity. In various embodiments, at least a portion of catheter sheath member  500   b  (e.g., at least a portion of the catheter sheath  512 ) is delivered distal end  512   b  first through a naturally occurring bodily opening toward a bodily cavity. For instance, the catheter sheath  512  may be receivable in, insertable into, or positionable in a bodily opening. In some of these various embodiments, the bodily opening is accessed by a natural orifice or port provided by the body. In some of these embodiments, the bodily opening is accessed by a perforation made in bodily tissue. In various embodiments, a portion or part of shaft member  500   a  (e.g., at least part of the shaft  510 ) is received in, receivable in, or sized for delivery through the first lumen  512   d  of the catheter sheath  512  to a bodily cavity or to deliver the manipulable portion  502  through the first lumen  512   d  of the catheter sheath  512  to a bodily cavity (e.g., a bodily vessel, chamber or cavity within a bodily organ). In this regard, in some embodiments, at least the distal end  510   b  of the shaft  510  is sized for delivery through a bodily opening leading to a bodily cavity located in a body. It is understood that, although each of shaft  510  and catheter sheath  512  is depicted in  FIG. 5A  in an essentially straight configuration, each of shaft  510  (or at least part of the shaft  510  receivable in the lumen  512   d  of the catheter sheath  512 ) and catheter sheath  512  may be flexible or bendable or may include one or more flexible or bendable portions that that allow bending or deflection or the assumption of a bent or curved (e.g., arcuate) form, e.g., during or for delivery to a bodily cavity. In various embodiments, shaft member  500   a  is arranged with respect to catheter sheath member  500   b  such that the distal end  510   b  of shaft  510  is configured, arranged, or sized to be delivered through the first lumen  512   d  of the catheter sheath  512  prior to at least the elongated portion  510   c  of the shaft  510 , when the distal end  510   b  of shaft  510  is delivered toward or to the bodily cavity. In various embodiments, shaft member  500   a  is arranged with respect to catheter sheath member  500   b  such that the distal end  510   b  of shaft  510  is configured, arranged, or sized to be delivered through the first lumen  512   d  of the catheter sheath  512  in a direction extending from the proximal end  512   a  of catheter sheath  512  toward the distal end  512   b  of catheter sheath  512  when the distal end  510   b  of shaft  510  is delivered toward or to the bodily cavity. 
     In various embodiments, the manipulable portion  502  includes a proximal end  501   a  (e.g., in the vicinity of elongate member proximal ends  507  in  FIG. 5G ), a distal end  501   b  (e.g., in the vicinity of elongate member distal ends  505  in  FIG. 5G ), and an elongated part  501   c  (e.g.,  FIG. 5G ) extending between the proximal end  501   a  and the distal end  501   b  of the manipulable portion  502 . In some embodiments, the manipulable portion is delivered and advanced outwardly, e.g., distal end  501   b  first with respect to or as compared to other parts of the manipulable portion  502 , through the first lumen  512   d  of the catheter sheath  512  toward or to the bodily cavity as the shaft  510  is advanced accordingly through first lumen  512   d . It is noted that each of shaft  510  and catheter sheath  512  has a respective elongated portion that can have longitudinal or axial components. For example, the shaft  510  has a longitudinal length  510   d  extending between the respective proximal end  510   a  and distal end  510   b , according to some embodiments. Similarly, the sheath  512  has a longitudinal length  512   f  extending between the respective proximal end  512   a  and distal end  512   b , according to some embodiments. As used in this disclosure, words such as “longitudinal” or “axial” are not limited to various members having generally straight forms but can include members that have bent or arcuate forms or forms that have been bent from a generally straight form into a generally non-straight form. 
     In various embodiments, manipulable portion  502  is selectively configurable or moveable, e.g., based at least upon user (e.g., a health care provider, technician, or other user) input (e.g., by way of actuators  540   a ,  540   b , or  546  described with respect to  FIG. 7 , below, by way of actuator  572  described with respect to  FIG. 5S , below, or by relative movement of the shaft  510  and catheter sheath  512 ) or other sensory input (e.g., from sensors in the input-output device system  120  of  FIG. 1 ), into various configurations. For example, in some embodiments, the manipulable portion  502  may form at least part of a steerable portion of shaft member  500   a . Catheter devices employing steerable portions may be used to better negotiate tortuous paths sometimes encountered during delivery to a bodily cavity. Catheter devices employing steerable portions may be employed to better achieve a desired positioning of various devices (e.g., implants or transducer systems). In some embodiments, the manipulable portion  502  may be selectively detachable from the shaft member  500   a . For example, the manipulable portion  502  may, in some embodiments, form part of an implant (e.g., a stent). In some of these embodiments, an implant provided at least in part by the manipulable portion  502  may be selectively configurable or moveable (e.g., by way of a modulation or other actuator described in this disclosure) between a delivery configuration in which the implant is appropriately sized for delivery through the first lumen  512   d  toward or to a particular location in the bodily opening or bodily cavity and a deployed configuration in which the implant is sized too large for delivery through the first lumen  512   d  toward or to the particular location in the bodily opening or bodily cavity. In some of these embodiments, the implant may be positioned in the deployed configuration when implanted or otherwise brought into engagement with tissue (e.g., a stent that is selective expanded to grip or to otherwise be secured within a bodily vessel). 
     In some embodiments associated with various ones of  FIG. 5 , manipulable portion  502  forms a part of a transducer-based device (e.g.,  200 ,  300 ) with various sets of one or more transducers located on, or forming part of the manipulable portion  502 . For example, in some embodiments, manipulable portion  502  includes a structure  502   a  (e.g., the same or similar to structure or frame  308 ) and various transducers  506  (not shown for clarity in  FIG. 5A , but may be the same or similar to transducers  220 ,  306 ,  406 ) that are located on or carried by a surface of the manipulable portion  502  or the structure  502   a  thereof. In a manner that is the same or similar to other embodiments described above in this disclosure, manipulable portion  502  or structure  502   a  is selectively configurable or moveable (e.g., by way of a modulation or other actuator described in this disclosure) between a delivery configuration in which at least the structure  502   a  is appropriately sized, shaped, or both sized and shaped for delivery through the first lumen  512   d  of the catheter sheath  512  at least toward or to a bodily cavity located in a body and an expanded or deployed configuration in which at least the structure  502   a  is sized, shaped, or both sized and shaped too large for delivery through the first lumen  512   d  of the catheter sheath  512  at least toward or to the bodily cavity. In various embodiments, the manipulable portion  502  or structure  502   a  thereof is physically coupled to the shaft  510  at a location at least proximate the distal end  510   b  of the shaft  510 . In this regard, the manipulable portion  502  or structure  502   a  thereof may include a plurality of elongate members  504  (two called out in  FIG. 5A ) that are physically coupled to shaft  510 , which is employed to transport the elongate members  504  through first lumen  512   d  when the structure  502   a  is in a delivery configuration. The number of elongate members  504  shown in various ones of  FIG. 5  is non-limiting. An enlarged view of the manipulable portion  502  illustrated in  FIG. 5A  is shown in  FIG. 5C , which is described in more detail below. 
       FIG. 5B  is an isometric view of a representative one of the elongate members  504  in an initial or predisposed configuration as employed in some embodiments. Various dimensions of the representative one of the elongate member  504  have been exaggerated for clarity in  FIG. 5B . Each of the elongate members  504  includes a respective first or distal end  505  and a respective second or proximal end  507 . Each intermediate portion includes a respective length between the respective proximal and distal ends  507 ,  505  of the elongate member  504 . Each elongate member  504  includes a respective length between the respective proximal and distal ends  507 ,  505  of the elongate member  504 . In various embodiments, two or more of the elongate members  504  may have substantially equal lengths or substantially unequal lengths. In various example embodiments, a respective portion of each of the elongate members  504  has a length that is at least approximately equal to or greater than a circumference of a portion of an interior tissue surface of a bodily cavity into which the elongate member  504  is to be positioned at least proximate to when the manipulable portion  502  is in an expanded or deployed configuration. The circumference of the portion of the interior tissue surface may have a measured or anticipated value. In a manner that is the same or similar to other described embodiments, a set of transducer elements  506  (two called out) are distributed along a surface (e.g., surface  518   a ) of each of various ones of the elongate members  504 . In some example embodiments, each elongate member  504  includes at least a portion of a flexible circuit structure (e.g., the same or similar to that employed by embodiments of  FIG. 4 ) that at least provides an electrically communicative path to various ones of the transducer elements  506 . 
     In various embodiments, each of the elongate members  504  includes a plurality of various portions including first portion  509   a , second portion  509   b , and third portion  509   c  (collectively portions  509 ) arranged between the respective proximal and distal ends  507 ,  505  of the elongate member  504 . The second portion  509   b , which may be considered an intermediate portion of the respective elongate member  504 , may be positioned between the first (e.g., distal) end  505  and the second (e.g., proximal) end  507  of the respective elongate member  504 . In some embodiments, each intermediate portion  509   b  includes a set of two opposing major faces or surfaces  518  denominated as a front surface  518   a  and a back surface  518   b  in  FIG. 5B . The two opposing surfaces  518  may be separated from one another by a thickness  517  of the elongate member  504 , such that the back surface  518   b  is opposite across the thickness  517  from the front surface  518   a . In some embodiments, each of one or more of portions  509  may be considered an intermediate portion of the respective elongate member  504 . In  FIG. 5B , the third portion  509   c , positioned between the first and the second portions  509   a ,  509   b , and first portion  509   a  is located along the elongate member  504  relatively closer to proximal end  507  than to distal end  505 , and the second portion  509   b  is located along the elongate member  504  relatively closer to distal end  505  than to proximal end  507 . In various embodiments, the various portions  509  are combined in a unitary structure. In various embodiments, a number of the respective portions  509  of various ones of the elongate members  504  include various distortions or deformations. As used in reference to this context, the words “distortion” or “deformation” are used interchangeably herein to mean modification in shape away from an elongated strip-like form that, prior to any distortion or deformation, was predominately a body with a relatively small thickness as compared to a length or width, although major faces of the body may not necessarily have smooth planar surfaces. For example, the respective second portion  509   b  of the representative elongate member  504  shown in  FIG. 5B  has a coiled profile (e.g., a profile that curves or curls back on itself). In this particular embodiment, the respective second portion  509   b  includes a volute shaped profile in the initial or predisposed configuration. Also for example, the respective third portion  509   c  of the representative elongate member  504  shown in  FIG. 5B  includes a twisted profile about a respective twist axis  533  extending across at least part of the third portion  509   c  of the elongate member  504 , the twist in the third portion  509   c  arranged to rotationally offset (e.g., angularly rotated or twisted out of plane about an axis that may extend generally along a length of the elongate member prior to any distortion of deformation thereof) the respective second portion  509   b  of the elongate member  504  from the respective first portion  509   a  of the elongate member  504  along a portion of the length of the elongate member  504 . In this example embodiment of  FIG. 5B , the respective first portion  509   a  of the representative elongate member  504  includes a bent profile about a respective bending axis  531 . It is understood that the number of elongate members  504  employed by the various embodiments of manipulable portion  502  associated with various ones of  FIG. 5  is non-limiting. 
     In  FIGS. 5A, 5B, and 5C , each of the elongate members  504  is arranged in an arrangement having an initial or predisposed configuration in which each elongate member  504  is provided essentially in its distorted form. In various embodiments, the initial or predisposed configuration is associated with an initial, low, or lowest (potential) energy state. In various embodiments, each elongate member  504  is a resilient member and further distortion of various portions  509  of the elongate member  504  can increase spring or potential energy of the elongate member  504  and thereby bring it into a higher energy state. The (a) bent profiles of the respective first portions  509   a , (b) the twisted profiles of the respective third portion  509   c , or both (a) and (b) of various ones of the elongate members  504  in the initial or predisposed configuration may be arranged to fan or partially fan at least the respective second portions  509   b  of various ones of elongate members  504  into a fanned array as shown, for example, in  FIG. 5C . It is noted, however, that various fanning angles  519  (only one called out in  FIG. 5C ) may be achieved between a respective pair of the first and the second portions  509   a ,  509   b  by positional adjustments of the twist axis  533 , according to some embodiments. 
     In some embodiments, various ones of the elongate members  504  are physically or operatively coupled with at least one other elongate member  504  by at least one coupler. In  FIG. 5C , at least one coupler is arranged to couple at least the respective first portions  509   a  of the elongate members  504  together in the initial configuration. Various couplers may be employed in these embodiments. For example, in embodiments where each of various ones of the elongate members  504  includes a flexible printed structure having a relatively large number of electrically conductive traces, a coupler that couples at least the side edges of the first portions  509   a  may be well suited to avoid imposing undesired space constraints on the placement of the electrically conductive traces. In various example embodiments, additional couplers may also be employed to couple various other portions (e.g., portions  509 ) of various ones of the elongate members  504  together. In this regard, as shown in  FIG. 5C , a control cable  513   b  passes through openings at distal end portions of the elongate members  504  to operatively couple such distal end portions of elongate members  504  in some embodiments. A coupling system like that illustrated by control cable  513   b  in  FIG. 5C  may be used to couple other portions (e.g., various portions  509 ) of elongate members  504  in some embodiments. 
     Referring back to  FIG. 5A , in various embodiments, the intermediate or elongated portion  510   c  of the shaft  510  has a length  510   d  extending between the proximal end  510   a  and the distal end  510   b  of shaft  510 . The length  510   d  may be sized to position the proximal end  510   a  at a location outside of a body when the distal end  510   b  (or the manipulable portion  502 ) is located in a bodily cavity within the body. In various embodiments associated with  FIG. 5 , a housing  520  of the shaft member  500   a  is physically or operatively coupled to shaft  510  at a location at least proximate the proximal end  510   a  of the shaft  510 , the proximal end  512   a  of the catheter sheath  512 , or both (e.g., at a location outside a body when the manipulable portion  502  is positioned at a desired location within a bodily cavity located in the body). 
     One or more control systems (e.g., one or more components of control system  322 , control system  545 , or both control system  322  and control system  545  described in this disclosure) may be provided by housing  520  (e.g., in, on, or both in and on housing  520 ). In this regard, the housing  520  may be referred to as a control system housing. Such housing  520  may be located at least proximate the proximal end  510   a  of the shaft  510 . 
     Various actuator sets described in this disclosure may be provided by housing  520  (e.g., in, on, or both in and on housing  520 ). For example, in some embodiments, at least (a) some of the shaft  510  (e.g., at least part of the proximal end  510   a  of the shaft  510 ), (b) some of the control element  513 , (c) some of one or more of the actuators described herein with respect to  FIGS. 5R, 5S, 5W, 7, 8, and 10 , (a) and (b), (a) and (c), (b) and (c), or (a), (b), and (c) may be enclosed within the housing  520 . The various actuator sets may, by way of non-limiting example, be part or all of such control system(s) and be configured to control or modulate, in response to user or other input, a size, shape, or both size and shape of various configurations of manipulable portion  502  (e.g., delivery and expanded or deployed configurations). One or more of the various actuator sets may be referred to as an actuator system, such that, for example, the actuator system is located, at least in part, in the housing  520 . An actuator system may, by way of non-limiting example, be operatively coupled to the manipulable portion  502  and configured to move or transition, in response to or under the control of user or other input, manipulable portion  502  between various configurations (e.g., delivery and expanded or deployed configurations). The actuator system may, by way of non-limiting example, be configured to control, in response to or under the control of user or other input (e.g., from a control system such as controller  324  or data processing device system  110 ), various control elements employed by catheter system  500 . For example, at least some of these control elements may be controlled, e.g., by user or otherwise (e.g., from a control system such as controller  324  or data processing device system  110 ) to selectively provide (a) a desired amount of force outputted by an actuator in the actuator system, (b) a desired duration of a force outputted by an actuator in the actuator system, or both (a) and (b) to manipulable portion  502 . 
     Control elements may include, by non-limiting example, control rods, control lines, control cables, Bowden cables, other force transmission components configured or arranged to selectively deliver force or energy outputted by an actuator to a particular device or structure (e.g., manipulable portion  502 ). In some embodiments, a control element forms part of a bending system that operates on the manipulable portion  502  to bend at least some of the manipulable portion  502 . For example, the control element may be employed to transmit a bending force to the manipulable portion  502  to bend at least a part thereof. 
     In some embodiments, an actuator system includes at least a portion of one or more of the various actuators described herein (e.g., with respect to at least any one of the figures in  FIGS. 5R, 5S, 5W, 7, 8, and 10 ). In this regard, in embodiments where the actuator system is controlled by a control system (e.g., from a control system such as controller  324  or data processing device system  110 ), such control system is operatively coupled to the actuator system, for example, to control motion or other activation of at least a portion of the one or more of the actuators in the actuator system. 
     In various embodiments, housing  520  includes a cover  520   a  that is moveable along a surface of housing  520  to provide access to an interior portion of housing  520 . In some of these various embodiments, cover  520   a  is moveable to provide access (e.g., user access) to various actuators associated with housing  520 . In various embodiments, housing  520  may be directly handled by a user during a medical procedure in which catheter system  500  is employed. As shown in  FIG. 5A , housing  520  may include at least part of an electrical coupling  521  which may in some embodiments allow for data, power, or both data and power communication with various transducers (e.g., transducers  506 ). Electrical coupling  521  may allow for electrical communication with (a) a controller (e.g., controller  324  or data processing device system  110 ) or (b) an energy source device system (e.g., energy source device system  340 ) or both (a) and (b). 
     As best shown in  FIG. 5C , shaft  510  can include, in various embodiments, one or more lumens extending between the proximal end  510   a  (not shown in this figure) and the distal end  510   b  of shaft  510 , the one or more lumens including at least a second lumen  511  (to be distinguished from the first lumen  512   d  of the catheter sheath  512 ). In various embodiments at least one control element is provided in the second lumen  511 . For example, an elongated control element  513  is provided in second lumen  511  in  FIG. 5C . In embodiments where the shaft  510  is within the first lumen  512   d  of the catheter sheath  512 , the control element  513  within the second lumen  511  of the shaft  510  may also be considered to be within the first lumen  512   d  of the catheter sheath  512 , because the shaft  510  is within the catheter sheath  512  in these embodiments. It is understood that additional or alternate control elements may be received in the second lumen  511  in other embodiments. 
     In various embodiments, control element  513  is physically coupled to the manipulable portion  502  to transmit force to the manipulable portion and includes multiple components or portions. For example, in  FIG. 5C , control element  513  includes a sleeve  513   a  and a control cable  513   b  located, at least in part, in a lumen of the sleeve  513   a . The control cable  513   b  may be physically coupled to the manipulable portion  502  to transmit force to the manipulable portion. Each of the cable  513   b  and the sleeve  513   a  may be located, at least in part, in the lumen  511  of the shaft  510 . In some embodiments, sleeve  513   a  and cable  513   b  (and any sleeve and cable of a Bowden cable described herein) are moveable independently or separately with respect to one another to allow (a) the sleeve  513   a  to move independently or separately from the cable  513   b  to cause the sleeve  513   a  to slide over the cable  513   b  (e.g., during a first manipulation of the manipulable portion  502  to change a size, shape, or both thereof), and to allow (b) the cable  513   b  to move independently or separately from the sleeve  513   a  to cause the cable  513   b  to slide through the lumen of the sleeve  513   a  (e.g., during a second manipulation of the manipulable portion to change a size, a shape, or both thereof). This can occur, for example, when the at least a portion of the cable  513   b  received in the lumen of the sleeve  513   a  is translated in a direction that the lumen of the sleeve  513   a  extends along. In some embodiments, a portion of cable  513   b  and a portion of sleeve  513   a  are each translated concurrently (for example, in a direction that a portion of the lumen of the sleeve  513   a  extends along). In some embodiments, cable  513   b  is provided by a flexible control line (e.g., a flexible control line having a polymeric, metallic, or composite composition). In this regard, the control element  513  may be considered a flexible control element in some embodiments. In some embodiments, sleeve  513   a  is also flexible and can be bent (i.e., elastically or plastically) to have an arcuate form. In various embodiments, sleeve  513   a  comprises sufficient axial stiffness to withstand a particular compressive force, for example created by a tensioning of cable  513   b . In various embodiments, sleeve  513   a  has a polymeric, metallic or composite composition. For example, the present inventors have employed thin-walled stainless steel tubing in some embodiments. 
     In some embodiments, sleeve  513   a  and cable  513   b  form part of a Bowden cable. A Bowden cable is a generally flexible cable used to transmit force by the movement of an inner cable relative to a hollow outer cable housing (also sometimes referred to as a sleeve or sheath). The housing may be generally of composite construction, for example a tightly helically wound metallic wire sometimes lined with a friction reducing polymer. Typically, a first part of the cable extends outwardly from a first end of the sleeved housing, and a second part of the cable extends outwardly from a second end of the sleeved housing. The translational movement of the inner cable is most often used to transmit a pulling force, although push/pull cables are also employed. The cable housing provides the Bowden cable with compressive strength to resist buckling during a tensioning of the inner cable. The cable housing maintains a fixed separation with respect to the length of the inner cable so that displacing the inner cable relative to one end of the cable housing results in an equal displacement at the other end, regardless of the cable&#39;s path in-between. In  FIG. 5C  a portion  514  of cable  513   b  (i.e., also called part  514  in some embodiments) of elongated control element  513  extends or is located outwardly from an end  513   a - 1  of sleeve  513   a  and is physically coupled to the manipulable portion  502  at least by being physically coupled to one or more of the elongate members  504 . In this regard, cable  513   b  (an example of a control element or an elongated control element) includes a distal end positionable outside of the distal end  512   b  of the catheter sheath  512  when a particular amount of the manipulable portion  502  is located outside of the distal end  512   b  of the catheter sheath  512 . In embodiments such as those illustrated by  FIG. 5C , cable  513   b  extends through a respective opening provided near the distal end  505  (not called out in  FIG. 5C ) of each of a majority of the elongate members  504  and terminates near the distal end  505  of another of the elongate members  504 . In some embodiments, this arrangement couples distal end portions of the elongate members  504  and allows the distal ends  505  of the elongate members  504  to be drawn together in a purse string-like manner. In various embodiments, both the sleeve  513   a  and the cable  513   b  extend through the second lumen  511  to housing  520  (not shown in  FIG. 5C ). In various embodiments, (e.g., as described later in this disclosure) each of the sleeve  513   a  and the cable  513   b  extends through the second lumen  511  to a respective actuator provided by housing  520 , which, in some embodiments, couples at least one of the respective actuators to the manipulable portion  502 . In some embodiments, each of these respective actuators is operable to move a respective one of the sleeve  513   a  and the cable  513   b  independently or separately of the other of the sleeve  513   a  and the cable  513   b . In some embodiments, each of these respective actuators is operable to move a respective one of the sleeve  513   a  and the cable  513   b  independently or separately of the other of the sleeve  513   a  and the cable  513   b  to cause translational movement of a portion of the cable  513   b  through a portion of the sleeve  513   a  or to cause translational movement of a portion of the sleeve  513   a  over a portion of the cable  513   b . In  FIG. 5C , cable  513   b  may be in a slackened configuration or a configuration having limited tension imposed on the cable  513   b  when the manipulable portion  502  is in the initial configuration. 
     In various embodiments, the body portion  512   c  of catheter sheath  512  has a length  512   f  (e.g.,  FIG. 5A ) extending between the proximal end  512   a  and the distal end  512   b  and sized and dimensioned to position manipulable portion  502  at a desired location outwardly from the distal end  512   b , when the shaft  510  has delivered the manipulable portion  502  through the first lumen  512   d  (i.e., along a path extending from the proximal end  512   a  toward the distal end  512   b  of catheter sheath  512 ), such that the proximal end  510   a  of the shaft  510  is positioned at a desired location with respect to the proximal end  512   a  of the catheter sheath  512 . Positioning indicia set  523   a  may be provided on a visible surface of the elongated portion  510   c  of shaft  510  proximate the proximal end  510   a , to provide a user with a visual indication of a distance between a location on the shaft  510  (e.g., proximal end  510   a ) and a location on the sheath  512  (e.g., the proximal end  512   a ) as the two locations are advanced with respect to one another to reduce a distance therebetween (for example, during an advancement of manipulable portion  502  toward a bodily cavity as the manipulable portion  502  is moved through first lumen  512   d ). Positioning indicia set  523   b  may be provided on a visible surface of the elongated portion  510   c  of shaft  510  proximate the distal end  510   b , to provide a user a visual indication of a distance between a location on the shaft  510  (e.g., the distal end  510   b ) and a location on the sheath  512  (e.g., the proximal end  512   a ) as the two locations are advanced with respect to one another to increase a distance therebetween (for example during a retraction of manipulable portion  502  away from a bodily cavity as the manipulable portion  502  is moved through first lumen  512   d ). 
     The positioning indicia sets  523   a  and  523   b  can visually indicate a magnitude of their respective shaft  510 -to-catheter sheath  512  spacing in various ways. For example, in some embodiments associated with  FIG. 5A , the spacing between successive pairs of indicia in each one of the respective sets  523   a ,  523   b  is reduced (i.e., as compared to the pair of indicia immediately preceding the successive pair) to indicate a reduction in the magnitude of the respective shaft  510 -to-catheter sheath  512  distance. The positioning indicia sets  523   a ,  523   b  can be employed by a user to determine an approach of an end-of-travel condition between the shaft  510  and the catheter sheath  512 . 
     In some embodiments, catheter sheath  512  includes a steerable portion  512   e . In  FIG. 5A , steerable portion  512   e  is located at least proximate to distal end  512   b  but may be located at other locations in other embodiments. The steerable portion can be caused to bend or deflect in a desired manner by user or other (e.g., data processing device system) operation of a catheter sheath actuator  516 . Steering of the steerable portion  512   e  may be motivated by various reasons including assisting delivery of the catheter sheath  512  through a bodily opening extending along a tortuous path to the bodily cavity. Various suitable catheter sheath steering mechanisms are known in the art and are not elaborated in further detail in this disclosure. In some embodiments, catheter sheath  512  includes a flushing portion  524  that includes various ports  524   a ,  524   b  configured to provide an inlet or outlet, or both an inlet and outlet for a fluid (e.g., saline) to be introduced to reduce occurrences of gas (e.g., air) that may be present or sometimes entrapped within first lumen  512   d . In some embodiments, flushing portion  524  is detachable from catheter sheath  512 . In various embodiments, an extension or projection  528  extends from a location proximate a first one of the proximal end  512   a  of catheter sheath  512  and the proximal end  510   a  of shaft  510 . In some embodiments, projection  528  extends beyond the first one of the proximal end  512   a  of catheter sheath  512  and the proximal end  510   a  of shaft  510  at least when a part of the shaft  510  is received in first lumen  512   d . In some embodiments, projection  528  extends outwardly from the first one of the proximal end  512   a  of catheter sheath  512  and the proximal end  510   a  of shaft  510  toward one of the proximal end  512   a  of catheter sheath  512  and the proximal end  510   a  of shaft  510  other than the first one, at least when part of the shaft  510  is received in first lumen  512   d . In some embodiments, a receiver  529  located, at least in part, in the housing  520 , and sized to matingly receive at least a portion of the projection  528 , is provided at a location proximate a second one of the proximal end  512   a  of catheter sheath  512  and the proximal end  510   a  of shaft  510 . In some of these various embodiments, the projection  528  and the receiver  529  are configured to matingly engage at least when a first amount of part of the shaft  510  is received in the first lumen  512   d  of the catheter sheath  512 , but to not matingly engage at least when a second amount of the part of the shaft is received in the lumen of the catheter sheath, the second amount being a non-zero amount in some embodiments. For example, projection  528  may form part of a male component while receiver  529  forms part of a female component sized to mate with the male component. In some embodiments, the projection  528  and the receiver  529  are configured or arranged to additionally matingly engage the catheter member  512  to the shaft  510  at least when part of the shaft  510  is matingly received in the first lumen  512   d  of the sheath  512 . In various embodiments, the projection  528  includes a length (e.g., a longitudinal length) that extends from a location at least proximate the first one of the proximal end  512   a  of the catheter sheath  512  and the proximal end  510   a  of the shaft  510  to an end  528   b  of the projection  528 , the end  528   b  of the projection  528  configured to be received first in the receiver  529 , as compared to other parts of the projection  528  when the projection  528  is inserted into receiver  529 . In various embodiments, projection  528  has a length  528   a  (called out in  FIG. 5D ) that is different than the longitudinal length  510   d  of the shaft  510 . In this regard, in some embodiments, the longitudinal length  510   d  of the shaft  510  is greater than the longitudinal length  528   a  of the projection  528 . 
     It is noted that in some embodiments, the first one of the proximal end  512   a  of catheter sheath  512  and the proximal end  510   a  of shaft  510  is a same one as the second one of the proximal end  512   a  of catheter sheath  512  and the proximal end  510   a  of shaft  510  (for example, when projection  528  and receiver  529  are integrated into or form part of a plunger assembly located on one of the shaft  510  (or shaft member  500   a ) and the catheter sheath  512  (or catheter sheath member  500   b ).  FIGS. 5T, 5U, and 5V  are various side elevation views of a catheter system  501  comprising a shaft  510 - 1  physically coupled to a housing  520 - 1 , the shaft  510 - 1  sized and dimensioned for insertion into a lumen of a catheter sheath  512 - 1  according to some embodiments. In particular,  FIGS. 5T, 5U, and 5V  show a positioning of shaft  510 - 1  into the lumen of catheter sheath  512 - 1  at three successive points in time (from  FIG. 5T  to  FIG. 5V , or vice versa). Catheter system  501  includes a plunger assembly  530  that includes a projection  528 - 1  received in a receiver  529 - 1 , each of the projection  528 - 1  and receiver  529 - 1  provided at least in part in housing  520 - 1  (i.e., shown partially sectioned) at a location proximate a proximal end  510   a - 1  of the shaft  510 - 1 . In  FIG. 5T , shaft  510 - 1  has been inserted into the lumen of catheter sheath  512 - 1  by an amount insufficient to cause an end of projection  528 - 1  to engage with the catheter sheath  512 - 1  (e.g., at a location proximate a proximal end  512   a - 1  of the catheter sheath  512 ). As the amount of the shaft  510 - 1  inserted into the lumen of catheter sheath  512  increases, the distance between the proximal end  512   a - 1  of catheter sheath  512 - 1  and the proximal end  510   a - 1  of the shaft  510 - 1  decreases and causes engagement between the projection  528 - 1  and the catheter sheath  512 - 1  to occur. As the amount of the shaft  510 - 1  inserted into the lumen of catheter sheath  512  increases, the distance between the proximal end of catheter sheath  512 - 1  and the proximal end  510   a - 1  of the shaft  510 - 1  decreases and causes increasing amounts of projection  528 - 1  to be received in receiver  529 - 1  as shown in  FIGS. 5U and 5V . In some embodiments, a biasing device such as a spring provides a restoring force sufficient to move projection  528 - 1  to its extended configuration as the distance between the proximal end of catheter sheath  512 - 1  and the proximal end  510   a - 1  of the shaft  510 - 1  increases. 
     In other embodiments, the first one of the proximal end  512   a  of catheter sheath  512  and the proximal end  510   a  of shaft  510  (i.e., the “first one” being the end proximate the location from which the extension or projection  528  extends) is different than the second one of the proximal end  512   a  of catheter sheath  512  and the proximal end  510   a  of shaft  510  (i.e., the “second one” being the end proximate the location at which the receiver  529  is provided). For example, in some embodiments associated with  FIG. 5A , the projection  528  is located at least proximate the proximal end  512   a  of catheter sheath  512 , the projection  528  sized and dimensioned to be matingly received in at least a receiver  529  provided, in some embodiments, at a location at least proximate the proximal end  510   a  of shaft  510  (e.g., in the housing  520  in  FIG. 5A ) at least when a part of shaft  510  is received in first lumen  512   d . In some of the embodiments associated with  FIG. 5A , a longitudinal axis of the first lumen  512   d  (e.g., when catheter sheath  512  assumes a straightened form) is not coaxial with a longitudinal axis of first projection  528 . In some of the embodiments associated with  FIG. 5A , a longitudinal axis of the first lumen  512   d  (e.g., when catheter sheath  512  assumes a straightened form) is not coaxial with a longitudinal axis along which projection  528  is moveable within receiver  529 . In some of the embodiments associated with  FIG. 5A , the manipulable portion  502  is arranged to not be inserted into the receiver  529  when the manipulable portion  502  is delivered though first lumen  512   d  of the catheter sheath  512 , e.g., to a bodily cavity. In some embodiments, the receiver  529  and first lumen  512   d  may be coaxially arranged when the manipulable portion  502  is delivered outwardly from the distal end  512   b  of catheter sheath  512 . In some embodiments, the projection  528  is coupled to, or forms part of, shaft member  500   a . In some embodiments, the receiver  529  is coupled to, or forms part of, sheath member  500   b . In some embodiments, the projection  528  is distinct from shaft member  500   a.    
       FIGS. 5D, 5E, and 5F  are various side elevation views of a positioning of shaft  510  into the first lumen  512   d  (not called out in these figures) of catheter sheath  512  at three successive points in time (from  FIG. 5D  to  FIG. 5F , or vice versa). At least one portion of the catheter system  500  (e.g., manipulable portion  502 , not shown in  FIGS. 5D, 5E and 5F ) is selectively reconfigured according to various embodiments during at least some of these points in time. It is understood that in each of  FIGS. 5D, 5E and 5F , the distal end  510   b  (not shown in  FIGS. 5D-5F ) of shaft  510  has been introduced into the first lumen  512   d  (not shown in  FIGS. 5D-5F ) of catheter sheath  512  and is advanced from the proximal end  512   a  of the catheter sheath  512  toward the distal end  512   b  (not shown in  FIGS. 5D-5F ) of catheter sheath  512 . As best shown in  FIG. 5A , in some embodiments, shaft  510  includes a longitudinal length  510   d  extending between the proximal and distal ends  510   a ,  510   b  of shaft  510 , the longitudinal length  510   d  of the shaft being different (e.g., greater in  FIG. 5A ) than the longitudinal length  528   a  of projection  528 . 
     In some embodiments associated with various ones of  FIG. 5 , a first particular amount of the longitudinal length  528   a  of the first projection  528  is located in receiver  529  when a second particular amount of the longitudinal length  510   d  of shaft  510  is located inside first lumen  512   d  of the catheter sheath  512 , the first particular amount of the longitudinal length  528   a  of the first projection  528  being less than the second particular amount of the longitudinal length  510   d  of shaft  510 . In various embodiments, the projection  528  and receiver  529  are configured to matingly engage at least when a first amount of part of the shaft  510  is received in the first lumen  512   d  (e.g., as shown respectively by each of  FIGS. 5E and 5F ), and the projection  528  and receiver  529  are configured not to matingly engage at least when a second amount of the part of the shaft  510  is received in the first lumen  512   d  (e.g., as shown in  FIG. 5D ). In some of these various embodiments, the first amount is different (e.g., greater) than the second amount, and in some embodiments, the first amount and the second amount are each an amount of the longitudinal length  510   d  of the shaft  510 . 
     In some embodiments, projection  528  and receiver  529  are configured to matingly engage when shaft  510  is not received in first lumen  512   d . This circumstance can occur in some embodiments, when projection  528  and receiver  529  form part of a plunger assembly (e.g., plunger assembly  530 ) provided on one of shaft  510  and catheter sheath  512 . This circumstance can occur in some embodiments that are the same or similar to that shown in  FIG. 5A  where a particular positioning and orientation between shaft  510  and catheter sheath  512  allow for a mating between projection  528  and receiver  529  without the shaft  510  being received in first lumen  512   d.    
     In  FIG. 5D , projection  528  extending from the proximal end  512   a  of catheter sheath  512  has not been received in the first receiver  529  provided in the housing  520 , while various amounts of the projection  528  have been received in receiver  529  in  FIGS. 5E and 5F , the amounts varying (e.g., increasing) with the advancement of shaft  510  through first lumen  512   d . In the configuration evolution from  FIG. 5D , to  FIG. 5E , and to  FIG. 5F , manipulable portion  502  (not shown in  FIGS. 5D, 5E and 5F ) is advanced through the first lumen  512   d  from the proximal end  512   a  of the catheter sheath  512  toward the distal end  512   b  of catheter sheath  512 . A control system or actuator system (e.g., one or more components of control system  322  or system  545 , possibly including one or more of the components of at least  FIG. 5R, 5S, 5W, 7, 8 , or  10 ) may respond to or be controlled by varying amounts of the length  528   a  of the projection  528  being within the receiver  529  and alter aspects of the manipulable portion  502  in response to or under the control of these varying amounts. For example, the control system or actuator system physically or operatively coupled to the manipulable portion  502  may respond to or be controlled by varying amounts of the length  528   a  of projection of  528  being within receiver  529  by varying force transmitted to the manipulable portion  502  in accordance with the varying amounts of the length  528   a  of projection of  528  being within receiver  529 , e.g., while the distal end of the manipulable portion  502  advances outwardly from the distal end  512   b  of the catheter sheath  512  along an arcuate or coiled path (for instance,  FIGS. 5H, 5I, 5J ). 
     As shown in  FIG. 5G , the respective first portions  509   a  (only one called out) of the elongate members  504  (only one called out) are arranged with respect to one another front surface  518   a -toward-back surface  518   b  in a first direction represented by arrow  530   a  in a first stacked array  515   a  (see, e.g., proximal end  307  in  FIG. 3A  for a closer look at such a first stacked array) sized and shaped to be delivered through first lumen  512   d  of catheter sheath  512  when a portion of the catheter system  500  (e.g., manipulable portion  502 ) is in a delivery configuration also known as a first or unexpanded configuration in some embodiments. In various embodiments, manipulable portion  502  is in the delivery configuration as it is delivered through the first lumen  512   d  as described above, for example, in regards to  FIGS. 5D, 5E, and 5F . As shown in  FIG. 5G , the respective second (intermediate) portions  509   b  (only one called out) of the elongate members  504  are arranged with respect to one another front surface  518   a -toward-back surface  518   b  in a second direction as represented by arrow  530   b  in a second stacked array  515   b  sized to be delivered through the first lumen  512   d  when the portion of the catheter system  500  is in the delivery configuration. In various embodiments, the first direction (i.e., arrow  530   a ) and the second direction (i.e., arrow  530   b ) are non-parallel directions at least when the arrayed elongate members  504  assume a straightened form. 
     In various embodiments, the elongate members  504  of the manipulable portion  502  are arranged within catheter sheath  512  such that each elongate member  504  is to be advanced distal end  505  first into a bodily cavity. In various embodiments, the elongate members  504  are arranged within catheter sheath  512  such that each elongate member  504  is to be advanced out distal end  505  first from the distal end  512   b  of catheter sheath  512 . In some embodiments, manipulable portion  502  includes a first or proximal portion  508   a  and a second or distal portion  508   b , each of these portions comprising a respective part of each of at least some of the elongate members  504 . In some embodiments, the proximal and the distal portions  508   a ,  508   b  include respective portions of elongate members  504 . In some embodiments, the manipulable portion  502  is arranged to be delivered second or distal portion  508   b  first through the lumen  512   d  of the catheter sheath  512  into a bodily cavity when the manipulable portion  502  is delivered in the unexpanded or delivery configuration as shown, e.g., in  FIG. 5G . 
     Notably, as used herein, the term “stacked” does not necessarily require the elongate members  504  rest directly or even indirectly upon one another, but rather refers to an ordered arrangement which may include spaces or gaps between immediately adjacent or most immediate neighboring pairs of elongate members  504 . It is also noted that while illustrated in  FIG. 5G  as a plurality of substantially parallel stacked plates or strips, the elongate members  504  need not be perfectly rigid, so there may be some flex, sag, or curvature even when the catheter sheath  512  is essentially straight. It is further noted that in use, the catheter sheath  512  may curve or even twist to follow a bodily lumen. The elongate members  504  may adopt or conform to such curvatures or twists as the elongate members  504  are advanced through catheter sheath  512 . In either of these situations, the elongate members  504  generally maintain the relative positions to one another as a stacked arrangement. 
     In various embodiments, the respective first, second, and third portions  509   a ,  509   b  and  509   c  (only one of each called out in  FIG. 5G ) of various ones of the elongate members  504  have been stressed into a higher energy state illustrated in  FIG. 5G , as compared to a lower energy state shown, e.g., in  FIGS. 5A, 5B, and 5C . In various embodiments, the respective second portions  509   b  of various ones of the elongate members  504  in the initial or predisposed configuration (e.g., as shown in  FIGS. 5A, 5B, and 5C ) have been stressed into a higher energy state suitable for unbending or uncoiling them sufficiently enough to allow the elongate members  504  to be delivered through catheter sheath  512  in the delivery configuration as shown in  FIG. 5G . In various embodiments, at least one of the respective first portions  509   a  and the third portions  509   c  of each of various ones of the elongate members  504  has been stressed into a higher energy state by un-fanning at least the second portions  509   b  of the elongate members  504  sufficiently to allow the elongate members  504  to be introduced into, and delivered though catheter sheath  512 . In some of these embodiments, potential energy is imparted to the various elongate members  504  in the delivery configuration by the higher energy state, the potential energy sufficient to return the arrangement of elongate members  504  generally back toward a lower energy state when released from the confines of catheter sheath  512 . 
     In some example embodiments, the arrangement of elongate members  504  is stressed into a higher energy state by retracting the arrangement of elongate members  504  into at least a portion of catheter sheath  512  prior to inserting catheter sheath  512  into a body. For example, in various embodiments the arrangement of elongate members  504  is stressed into a higher energy state by retracting the arrangement of elongate members  504  at least into the flushing portion  524  of catheter sheath  512 . In some of these various embodiments, the flushing portion  524  is detached from the remainder of the catheter sheath  512  when the arrangement of elongate members  504  is retracted into the flushing portion  524  with the flushing portion  524  subsequently attached or reattached to the remainder of the catheter sheath  512  after the retraction. This technique may advantageously allow for a more efficient operation as the arrangement of elongate members  504  need not be retracted through the entirety of the catheter sheath  512 . 
     In some embodiments, the arrangement of elongate members  504  is stressed into a higher energy state by uncoiling the elongate members  504  and inserting the arrangement of elongate members  504  into catheter sheath  512 . In some embodiments, the arrangement of elongate members  504  is reconfigured from the initial or predisposed configuration shown in  FIGS. 5A, 5B, 5C , which is typically provided or calibrated at the time of manufacturing, to the delivery configuration shown in  FIG. 5G  at a point of use. In some embodiments, the arrangement of elongate members  504  is reconfigured from the initial or predisposed configuration shown in  FIGS. 5A, 5C  to the delivery configuration shown in  FIG. 5G  at a place of manufacture, assembly, or distribution. In various embodiments, various devices including various guides or manipulators may be employed to reconfigure the arrangement of elongate members  504  from the initial or predisposed configuration shown in  FIGS. 5A, 5C  to the delivery configuration shown in  FIG. 5G . In some of these various embodiments, these devices form part of catheter system  500  (e.g., flushing portion  524 ). In some embodiments, the devices are extraneous to catheter system  500 . The higher energy states may be controlled to not cause damage to portions of catheter system  500  during delivery through catheter sheath  512 . In  FIG. 5G , cable  513   b  is extended along the elongate members  504  in the delivery configuration. In various embodiments, cable  513   b  is delivered through first lumen  512   d  when the elongate members  504  are advanced in a delivery configuration toward a bodily cavity. In various embodiments, cable  513   b  is drawn through first lumen  512   d  by the manipulable portion  502  as the manipulable portion  502  is advanced in a delivery configuration toward a bodily cavity. 
       FIGS. 5H, 5I, and 5J  are various side elevation views of various respective parts of manipulable portion  502  positioned at three successive points in time as each respective part of the manipulable portion  502  or structure  502   a  thereof is advanced outwardly from the confines of the first lumen  512   d  (not called out in these figures) of catheter sheath  512  (i.e., from the distal end  512   b ). These figures illustrate coiling and uncoiling of the manipulable portion  502  during deployment and retraction, respectively, of the manipulable portion. 
       FIG. 5J  shows a portion of the catheter system  500  including the plurality of elongate members  504  (two called out) positioned in an expanded configuration also referred to as a second or bent configuration. In  FIG. 5J , the manipulable portion  502  (or at least an elongated part thereof) has a volute or coiled shape, e.g., after a control system or actuator system (e.g., as described herein) that is operatively or physically coupled to the manipulable portion  502  varies a size, shape, or both size and shape of at least part of the manipulable portion extending outside of the distal end  512   b  of the catheter sheath  512  to, at least in part, cause the distal end of the manipulable portion to move along a first trajectory. In  FIG. 5J , the respective second portions  509   b  (only one called out) of various ones of the elongate members  504  have cleared the confines of first lumen  512   d  (not called out) while other portions of the elongate members  504  remain within the confines of first lumen  512   d . In various embodiments, each of at least the respective second portions  509   b  of each elongate member  504  is curved about a respective bending axis  534  (i.e., one represented by symbol “X”) into an arcuate stacked array  532 . Each bending axis  534  extends in a direction having a directional component transversely oriented to the respective longitudinal length of the respective elongate members  504 . In various embodiments, each of the respective second portions  509   b  of various ones of the elongate members  504  in the arcuate stacked array  532  is coiled about a respective bending axis  534  into a coiled stacked array. In various embodiments, each respective second portion  509   b  is bent to have a scroll or volute shaped profile. In various embodiments, each second portion  509   b  is arranged to have a curvature that varies at least once along the respective length of the elongate member  504 . In some embodiments, when positioned in the second or bent configuration, a first portion  521   a  of the front surface  518   a  (only one called out) of the respective second portion  509   b  of each elongate member  504  is positioned diametrically opposite to a second portion  521   b  of the front surface  518   a  in the volute shaped structure  502   a . When positioned in the second or bent configuration, the coiled arrangement of elongate members  504  is sized, shaped, or both sized and shaped too large for delivery through the first lumen  512   d , at least in a direction toward the bodily cavity. In this regard, it can be said that when the coiled arrangement of elongate members  504  is in the second or bent configuration (e.g.,  FIG. 5J ), the manipulable portion  502  comprises a coiled form in an expanded configuration. 
     In various embodiments, the respective second portions  509   b  of various ones of the elongate members  504  are pre-formed to autonomously bend when the second portions  509   b  are advanced outwardly from the confines of first lumen  512   d . As the respective second portions  509   b  are advanced from the confines of first lumen  512   d , they are urged or biased to seek their low energy state (e.g., their initial coiled configuration). In various embodiments, the respective distal ends  505  of various ones of the elongate members  504  (only one called out in each of  FIGS. 5H, 5I, and 5J ) move along a trajectory that follows a coiled path (e.g., a path that curves back on itself) during the advancement of various parts of manipulable portion  502  outwardly from the confines of first lumen  512   d . In various embodiments, the coiled path makes at least one full turn. In some embodiments, at least part of the coiled path may extend along a volute path. In some embodiments, manipulable portion  502  or structure  502   a  thereof has a distal end (i.e., the same or different than a distal end  505  of an elongate member  504 ) configured to be delivered first, with respect to other parts of the manipulable portion  502  through the first lumen  512   d  or outwardly from the distal end  512   b  of catheter sheath  512 . 
     In various embodiments, the respective second portions  509   b  of various ones of the elongate members  504  are pre-formed to autonomously coil as they are advanced into a bodily cavity in a manner that may advantageously reduce physical interactions between at least the distal end  505  of the elongate members  504  and an interior tissue surface within the bodily cavity (not shown in  FIG. 5  but may be exemplified by left atrium  204  of  FIG. 2 ) into which they are deployed. In various embodiments, the elongate members  504  are arranged to continuously bend or curl to move at least the respective distal ends  505  of the elongate members away from an interior tissue surface within a bodily cavity into which they are advanced. A reduction of contact and other physical interaction of the elongate members  504  with an interior tissue surface within a bodily cavity during the advancement may reduce occurrences of, or the severity of, damage inflicted to various tissue structures (i.e., especially damage caused by the distal end  505  of an elongate member  504  which may catch on various tissue structures during the advancement). In some embodiments, the arcuate stacked array  532  is arranged to have a predetermined size that will allow the arcuate stacked array  532  to be positioned within a bodily cavity with at most relatively minor amounts of contact with an interior tissue surface within the bodily cavity. 
       FIGS. 5H, 5I, and 5J  show various interactions between a portion of control element  513  (e.g., cable  513   b ) and the manipulable portion  502  (e.g., structure  502   a ) as various respective parts of the manipulable portion  502  or structure  502   a  thereof are advanced outwardly from the confines of first lumen  512   d . For example,  FIGS. 5H, 5I, and 5J  show various interactions between the part or portion  514  ( FIG. 5C ) of cable  513   b  located outside the distal end  512   b  of catheter sheath  512  and the manipulable portion  502  (e.g., structure  502   a ) as various respective parts of the manipulable portion  502  or structure  502   a  thereof are advanced outwardly from the confines of first lumen  512   d . In some embodiments, a control system or actuator system (e.g., as described herein) responds to or is controlled by relative movement between shaft  510  and catheter sheath  512 , and may control one or more actuators to cause these interactions. In some embodiments, a control system (e.g., from a control system such as controller  324  or data processing device system  110 ) is operatively coupled to an actuator system and is operable to control activation of one or more actuators of the actuator system in response to the relative movement between shaft  510  and catheter sheath  512 . For example, in some embodiments, at least a portion of at least one actuator or modulation actuator (e.g., actuator  546 , some other actuator or actuator set, or a portion of at least one of these actuators) physically or operatively coupled to a control element (e.g.,  513 ) is moveable in each of a first direction and a second direction different than the first direction. In some embodiments, movement of at least the portion of the actuator (e.g., modulation actuator) in the first direction may accompany an increase in an amount of manipulable portion  502  extending outwardly from the distal end  512   b  of catheter sheath  512  (e.g., as shown by the sequence of  FIGS. 5H, 5I, and 5J ), e.g., as the shaft  510  is moved distally through the catheter sheath  512 . In some embodiments, movement of at least the portion of the actuator (e.g., modulation actuator) in the second direction may accompany a decrease in an amount of manipulable portion  502  extending outwardly from the distal end  512   b  of catheter sheath  512  (e.g., as shown by the sequence of  FIGS. 5J, 5I, and 5H ), e.g., as the shaft  510  is moved proximally through the catheter sheath  512 . 
     In various embodiments, it may be important to prevent tension levels in various control elements (e.g., cable  513   b ) from reducing below certain threshold levels during the outward advancement of the various respective parts of the manipulable portion  502  or structure  502   a  thereof from the confines of first lumen  512   d . For example, reduction of tension in the cable  513   b  to a level where slack develops in the cable member  513   b  as parts of the manipulable portion  502  or structure  502   a  are advanced outwardly from the confines of the first lumen  512   d  of catheter sheath  512  may lead to various undesired conditions. In some cases, if sufficient slack in cable  513   b  results, portions of cable  513   b  may become wrapped, or otherwise entangled with the manipulable portion  502  and interfere with, or restrict a current or subsequent manipulation or deployment of the manipulable portion  502  (e.g., a subsequent manipulation or deployment as shown in  FIGS. 5L-1, 5L-2, 5M-1, 5M-2, 5N, 5O, 5P and 5Q ). Maintaining a desired tension on cable  513   b  can be complicated when the elongate members  504  are advanced outwardly from the confines of first lumen  512   d  along a path that requires both an advancement of portions of the cable  513   b  from the first lumen  512   d  and a subsequent retraction of portions of the cable  513   b  into the first lumen  512   d  during the movement along the path. For example, the coiled path that a distal end of the manipulable portion  502  follows as the manipulable portion  502  is advanced outwardly from the confines of first lumen  512   d  of the catheter sheath  512  (e.g., as shown in  FIGS. 5H, 5I and 5J ) may require an advancement of various portions of the cable  513   b  from the first lumen  512   d  and a subsequent retraction of various portions of the cable  513   b  into the first lumen  512   d  when some desired level of tension is required in cable  513   b  (e.g., a level of tension sufficient to reduce occurrences of slackness in the cable  513   b ). In various embodiments, modulation of a size, a shape, or both, of the manipulable portion  502  or structure  502   a  thereof occurs at least in a state where at least a part of the manipulable portion  502  or structure  502   a  thereof and a part of the control element  513  (e.g., cable  513   b ) extends outside the distal end  512   b  of the catheter sheath  512 . In some of these embodiments, a length of the part of the control element  513  is required to increase and then subsequently decrease during or throughout the modulation of the manipulable portion  502  or structure  502   a . In some of these various embodiments, the manipulable portion  502  or structure  502   a  is sized or shaped during or throughout the modulation to have a size or shape sufficient to limit or restrict movement of at least the part of the manipulable portion  502  or structure  502   a  through the first lumen  512   d.    
       FIG. 6  is a graph that includes a data set (i.e., represented by plot  600 ) measured by some of the present inventors using a device that is the same or similar in construction to the manipulable portion  502  shown in  FIG. 5 . The device includes a structure comprised of a stacked array of resilient elongate members approximately 240 millimeters in length and pre-shaped to autonomously coil as the elongate members are advanced outwardly from the confines of a catheter lumen along which the device has been advanced (e.g., in a manner the same or similar to embodiments previously described with respect to  FIGS. 5H, 5I , and  5 J). Plot  600  represents a required movement of a control line physically coupled to the distal ends of the device elongate members (i.e., the same or similar to cable  513   b ) as the elongate members are positioned at different locations outwardly from the distal end of the catheter sheath as the elongate members autonomously bend to follow a coiled path upon advancement from the confines of the catheter sheath. The horizontal axis of the  FIG. 6  graph is associated with an amount that a distal end of the structure (e.g., a distal end of at least one of the elongate members, such as distal end  505 ) travels along a path that extends outwardly from a distal end of the catheter sheath while the vertical axis is associated with an amount of the control line that is metered during the movement along the path in accordance with various embodiments. 
     As used in this disclosure, the word “meter” means to supply or provide in a measured or regulated amount. In this regard, the metering of a control line (e.g., control cable  513   b  or other elongated control element or portion thereof) can occur in different directions. For example in some embodiments, the control line can be caused (e.g., by one or more of the actuators  540   a ,  540   b ,  546  in  FIG. 7 ) to be metered or to move along a path with a controlled or regulated rate in a first direction (e.g., an action associated with “take-up” of the control line) suitable to reduce or decrease an amount of at least a portion of the control line (e.g., control cable  513   b ) located outside a distal end (e.g., distal end  512   b ) of the catheter sheath (e.g., catheter sheath  512 ) during one of (a) a transition toward or to an expanded configuration of a manipulable portion (e.g., manipulable portion  502 ) and (b) a transition toward or to a delivery configuration of the manipulable portion (e.g., manipulable portion  502 ). In some embodiments, the control line can be caused (e.g., by one or more of the actuators  540   a ,  540   b ,  546  in  FIG. 7 ) to be metered or to move along a path with a controlled or regulated rate in a second direction (e.g., an action associated with “play-out” of the control line) suitable to increase an amount of at least a portion of the control line (e.g., control cable  513   b ) located outside a distal end (e.g., distal end  512   b ) of the catheter sheath (e.g., catheter sheath  512 ) during the other of (a) and (b), or which can result in a relatively larger portion of the control line being available for extension outwardly from a distal end of the sheath. 
     In various embodiments, metering during play-out can reduce tension in the control line, sometimes to the point of imparting slackness in the control line. In some of these various embodiments, metering during play-out may allow increased amounts of the control line to be pulled outwardly from the distal end of the catheter sheath (for example by a release of stored potential energy in manipulable portion  502 ). In some embodiments, metering during take-up can increase tension in the control line. It is noted that, in some circumstances, slack in the control line can exist during some part of a take-up procedure. For example, slack in cable  513   b  may arise if the metering rate during take-up is insufficient to take up a portion of the cable  513   b  that extends outwardly from the distal end  512   b  of sheath  512  with a rate appropriate for the advancement of manipulable portion  502  from the distal end  512   b  of sheath  512  along a coiled trajectory as shown in  FIGS. 5H, 5I and 5J . In various embodiments, the control line is metered with a rate that is dependent on a rate in which the distal end of the structure (e.g., structure  502   a ) advances outwardly from the distal end of the catheter sheath or advances inwardly into the distal end of the catheter sheath. 
     A portion  600   a  of plot  600  shows that the control line is advanced outwardly from the distal end of the catheter sheath up to about a point where the stacked elongate members have been initially advanced outwardly from the distal end of the catheter sheath by approximately 50 mm along the path (e.g., in a manner that is the same or similar to that shown in  FIG. 5H ). In various embodiments, the control line is not actively metered and the control line may be advanced outwardly from the catheter sheath as the stacked array of elongate members pulls the control line outwardly during this initial advancement. Any slack in the control line may be taken up at least in part during this initial advancement. Further advancement along the path (i.e., from 50 mm up to about 170 mm) of the stacked elongate members outwardly from the distal end of the catheter sheath requires, in these embodiments, that the control line be taken-up to cause a portion of the control line to be retracted back into the distal end of the catheter sheath. In particular, portion  600   b  of plot  600  is associated with an amount of the control line, in these embodiments, to be taken up without imparting particular force on the advanced portion of the elongate members extending outwardly from the distal end of the catheter sheath, the particular force sufficient to noticeably move the advanced portion of the elongate members away from their low potential energy state. It is noted that force transmitted to the elongate members by the control line can cause bending of the elongate members that in turn can impart potential or spring energy to the elongate members. It is understood that if an amount of control line taken-up between the 50 mm and 170 mm points on the horizontal axis is less than that required by plot  600  (i.e., below portion  600   b ), then slack in the control line may exist, which may in turn, lead to various undesired results. 
     In part  600   c  of plot  600 , the control line is controlled in accordance with a further movement of the coiled structure outwardly from the distal end of the catheter sheath according to various embodiments (for example as shown in  FIGS. 5C, 5L-1, 5L-2 ). It is understood that different plots will result for other devices having different dimensions or different configurations, and the plot  600  is only presented by way of non-limiting example. 
     Ideally, in some embodiments, the take-up of the control line of the device described above in conjunction with  FIG. 6  should occur above the “minimal” take-up amount specified by the portion  600   b  of plot  600  to increase the likelihood that the control line does not slacken during the advancement of the device outwardly from the confines of the catheter sheath. 
       FIG. 6  includes a line  602  associated with a particular control line metering action employed according to some embodiments. Portion  602   a  of line  602  is associated with a condition in which the control line is not taken up as the stacked elongate members are initially advanced outwardly from the distal end of the catheter sheath about 40 mm along a deployment path. During an additional or subsequent advancement of the stacked elongate members outwardly from the distal end of the catheter sheath along the deployment path, the control line is taken up or metered with a first rate (i.e., associated with the portion  602   b  of line  602 ) to cause a portion of the control line to be retracted inwardly into the distal end of the catheter sheath during a first part of the take-up. In  FIG. 6 , this first part of the control line take-up occurs when the stacked elongate members have been advanced between 40 mm and 90 mm along the deployment path outwardly from the distal end of the catheter sheath. During further advancement of the stacked arrangement of the elongate members outwardly from the distal end of the catheter sheath, the control line is taken up or metered with a second rate (i.e., associated with the portion  602   c  of line  602 ) during a second part of the take-up. In  FIG. 6 , this second part of the control line take-up occurs when the stacked elongate members have been advanced between 90 mm and 200 mm along the deployment path outwardly from the distal end of the catheter sheath. In various embodiments, the first metering rate is different than the second metering rate. For example, in  FIG. 6 , the first metering rate is twice the second metering rate as indicated by the difference in the slopes of line portions  602   b  and  602   c . In this regard, in some embodiments, the first metering rate may be referred to as a “2× rate”, and the second metering rate may be referred to as a “1× rate”. Different rates may be employed in other embodiments. In various embodiments, metering of the control line, with the first rate, the second rate or each of the first and second rates occurs along a particular direction that is relative to, or respective with, a reference frame that is provided by a portion of the catheter device (e.g., the catheter shaft to which the manipulable portion is coupled) that is moveable with respect to the catheter sheath. In various embodiments, metering of the control line, with the first rate, the second rate or each of the first and second rates, may lead to different respective rates of movement of the control line with respect to a reference point on the catheter sheath (e.g., a distal end of the catheter sheath). 
     A large portion of the control line take-up represented by portion  602   b  of line  602  is above the “minimum” threshold provided by the portion  600   b  of plot  600  and occurrences of slack in the control line are reduced when the control line is metered in accordance with line  602 . The different metering rates represented by portions  602   b ,  602   c  of line  600  may be motivated by different reasons. For example, with reference to  FIG. 5I , a first (e.g., a relatively higher) take-up rate similar to the first rate represented by the slope of portion  602   b  in  FIG. 6  may be employed to ensure proper retraction of control cable  513   b  since the manipulable portion  502  is being further advanced along a portion of its trajectory outwardly from the distal end  512   b  of the catheter sheath  512  (i.e., as compared between  FIGS. 5H and 5I ) along a path that coils or curls back on itself and may thus benefit from a relatively rapid take-up of the cable  513   b . It is noted that in various embodiments associated with  FIG. 5 , the manipulable portion  502  autonomously coils as the manipulable portion  502  is advanced outwardly from the confines of the first lumen  512   d . As previously described above in this disclosure, the autonomous coiling may be motivated by different reasons including reducing occurrences of undesired contact between a distal end  505   a  (e.g., provided by at least one of the distal ends  505  in some embodiments) of the manipulable portion  502  and a tissue surface defining a bodily cavity into which the manipulable portion  502  is advanced. The first take-up rate can be defined or predetermined to cause the take-up of the cable  513   b  to be sufficient to additionally bend the manipulable portion  502  or structure  502   a  thereof to cause portions thereof to assume a smaller radius of curvature than they would normally have from their autonomously formed shapes. This situation can in turn result in an advancement trajectory of the distal end of the manipulable portion  502  outwardly from the distal end  512   b  of the catheter sheath  512  that has a “tighter” curvature than an un-modified respective trajectory that the distal end of the manipulable portion  502  undergoes solely on the basis of its autonomous coiling during the advancement. In some embodiments, this situation can in turn result in a coiled advancement trajectory of the distal end of the manipulable portion  502  outwardly from the distal end  512   b  of the catheter sheath  512  that is “tighter” or more closely wound than an un-modified respective trajectory that the distal end of the manipulable portion  502  undergoes solely on the basis of its autonomous bending during the advancement. A tighter, more compact or more closely wound advancement path may, in some cases, further reduce occurrences of undesired contact between the distal end of the manipulable portion  502  and the tissue surface during the advancement of the distal end of the manipulable portion  502  into the bodily cavity. It is noted that this additional bending of the structure  502   a  during the take-up of the cable  513   b  with the first rate imparts additional potential or spring energy in the structure. However, unlike various embodiments described in co-assigned International Patent Application No. PCT/US2012/022061 in which similar structures are bent into an arcuate or coiled configuration from a low energy configuration in which the similar structures are generally straight in form, lower amounts of potential energy are imparted onto structure  502   a  by the take-up of cable  513   b  since structure  502   a  is being bent from a pre-formed coiled shape having a low energy state. Nonetheless, additional deflection imparted on manipulable portion  502  by cable  513   b  may be limited to reduce the amount of spring-back that would occur in manipulable portion  502  should a failure in cable  513   b  occur. A phantom line  502   b  is representative of a portion of structure  502  in its initial or predisposed configuration (i.e., a low energy state) in  FIG. 5I . 
     In various embodiments, further advancement of the manipulable portion  502  outwardly from the confines of first lumen  512   d  further advances the distal end of manipulable portion  502  along the coiled path and coils manipulable portion  502  from a state shown in a  FIG. 5I  to a state as shown in  FIG. 5J . In these embodiments, a second (e.g., a relatively lower) take-up rate similar to the second rate represented by the slope of portion  602   c  in  FIG. 6  may be employed to take up control cable  513   b  since the manipulable portion  502  is being further advanced along a portion of its trajectory back generally toward the distal end  512   b  of the catheter sheath  512  along a portion of the coiled path where a relatively slower take-up of the cable  513   b  may be required. The slower second take-up rate may be motivated for various reasons including providing a better match for the profile of plot  600 . In some embodiments, the distal portions of the elongate members  504  in the structure  502   a  may be pre-formed with a tight curvature in their initial or predisposed configuration to promote a rapid transition away from a tissue surface of the bodily cavity as the structure is advanced outwardly from the distal end  512   b  of the catheter sheath  512 . Although these relatively tightly coiled distal portions of the elongate members  504  may enhance advancement of the manipulable portion  502  into the bodily cavity, they may hinder or restrict other required functions of the manipulable portion  502 . For example, fanning of the various curved portions of the coiled elongate members  504  as described later in this disclosure may be required, and various factors such as the widths of the curved portions the elongate members  504  as well as the amount of curvature along the coiled form may restrict or hinder the required fanning. 
     In some embodiments associated with  FIG. 5J , the second take-up rate can be defined or predetermined to cause the take-up of the cable  513   b  to be sufficient to additionally bend the manipulable portion  502  to cause portions thereof to assume a larger radius of curvature than they would normally have from their autonomously formed shapes. The larger radius of curvature is contrasted with a phantom line  502   c , which is representative of a part of manipulable portion  502  in its initial or predisposed configuration (i.e., a low energy state). It is noted that the take-up of cable  513   b  associated with  FIG. 5J  has imparted larger dimensions to manipulable portion  502  or structure  502   a  thereof as compared with the initial or predisposed configuration of manipulable portion  502  or structure  502   a  thereof. In some embodiments, this may advantageously simplify or reduce complexity for additional actions to manipulate manipulable portion  502  to cause manipulable portion  502  or structure  502   a  thereof to better conform (e.g., to further expand to conform) with a tissue surface of a bodily cavity into which the manipulable portion  502  has been deployed. It is noted that a failure of cable  513   b  in  FIG. 5J  would cause manipulable portion  502  to contract inwardly onto itself from any release of stored potential energy caused by such a failure. This can, in some embodiments, reduce occurrences of tissue damage that may be possibly associated with a failure of cable  513   b . In the sequence depicted by  FIGS. 5H, 5I and 5J , an end or terminus of cable  513   b  (an example of at least part of a control element) advances along a coiled path as the manipulable portion  502  is advanced outwardly from the distal end  512   b  of the catheter sheath  512 . 
       FIG. 5L-1  shows an expanded configuration in which the manipulable portion  502  has been advanced outwardly from the confines of the first lumen  512   d  sufficiently to allow potential energy from at least the respective first portions  509   a  of the elongate members to be released and cause the first portions  509   a  to be urged or biased to assume a lower energy state (i.e., the same or similar to their initial or predisposed configuration shown in  FIG. 5A ). This situation in turn causes at least the respective second portions  509   b  of various ones of the elongate members  504  to autonomously fan at least in part, with respect to one another into an expanded configuration also known as a first fanned configuration  536 . In some example embodiments, as the respective third portions  509   c  are advanced from the confines of catheter sheath  512 , stored potential energy is released and the respective third portions  509   c  are urged or biased into a lower energy state to cause at least the respective second portions  509   b  of various ones of the elongate members  504  to autonomously fan, at least in part, with respect to one another into the first fanned configuration  536 . In some example embodiments, as both the respective third portions  509   c  and the respective first portions  509   a  of various ones of the elongate members  504  are advanced from the confines of catheter sheath  512 , stored potential energy is released and the respective first and third portions  509   a ,  509   c  are urged or biased into respective lower energy states to cause at least the respective second portions  509   b  of various ones of the elongate members  504  to autonomously fan at least in part, with respect to one another into the first fanned configuration  536 . In various embodiments, the manipulable portion  502  is sized too large for delivery through the first lumen  512   d  at least in a direction toward the distal end portion  512   b  of the catheter sheath  512  when the manipulable portion  502  is positioned in the first fanned configuration  536 . A crossing location between various elongate members  504  in the first fanned configuration  536  is positioned between the proximal and distal portions  508   a  and  508   b  of manipulable portion  502  in  FIG. 5L-1 . 
     In various embodiments, additional fanning mechanisms or actuators (for example, as described later in this disclosure, such as with respect to  FIG. 5S ) may be employed to assist in the fanning of, or to promote an additional fanning of various ones of the elongate members  504  as the elongate members  504  are moved into various additional expanded configurations. Additional manipulations of manipulable portion  502  (for example, as described later in this disclosure) may be employed to further modify the expanded configuration shown in  FIG. 5L-1 . In various embodiments, various manipulations of manipulable portion  502  may be employed to transition the expanded configuration of the manipulable portion  502  between various particular states. 
     A discussion will now be made on the interplay between the metering of cable  513   b  and a retraction of manipulable portion  502  into the confines of first lumen  512   d  that occurs in some embodiments. In the state of  FIG. 5J , if effort was made to retract manipulable portion  502  back into the confines of the first lumen  512   d  (for example by a relative movement between shaft  510  and catheter sheath  512 ), the tensioned cable  513   b  would likely impede or resist these efforts. In some cases, cable  513   b  would be subjected to significant forces in response to these attempts to urge the manipulable portion  502  into the first lumen  512   d . In some cases, these forces may be sufficient to raise concerns about damage to or failure of the cable  513   b  or manipulable portion  502 . 
     In some embodiments, the cable  513   b  is controlled to develop reduced tension in various portions of the cable  513   b  to a level or levels sufficient to reduce resistance (e.g., tension) that would impede the retraction of manipulable portion  502  into the first lumen  512   d . For example, in some embodiments, cable  513   b  is so controlled by clutching or decoupling a take-up mechanism coupled to the cable  513   b  to “free-wheel” so as to allow the cable  513   b  to be freely pulled outwardly from the distal end  512   b  of the catheter sheath  512  to allow various portions of manipulable portion  502  to be retracted into the first lumen  512   d  with reduced levels of resistance. In some embodiments, cable  513   b  is played out with a metered rate to allow a portion of the cable  513   b  to be moved outwardly from the distal end  512   b  of the catheter sheath  512  in a regulated manner during the retraction of the manipulable portion  502  into the first lumen  512   d . In some embodiments, cable  513   b  is metered to regulate reduced tension levels (e.g., slack) formed in the cable  513   b . In  FIG. 6 , line  604  represents a particular control line metering action employed according to some embodiments. Portion  604   b  of line  604  is associated with a condition in which the control line (e.g., control line previously described in conjunction with  FIG. 6 ) is played-out or metered with a third rate (e.g., represented by the slope of portion  604   b  of line  604 ) to cause a portion of the control line to have a reduced tension level (e.g., slackened). A slackened portion of the control line in some embodiments is sufficient to allow a portion of the array of elongate members protruding outwardly from the catheter sheath to autonomously bend toward (e.g., inwardly to) a lower energy position (for example, an inward location the same or similar to that represented by phantom line  502   c  in  FIG. 5J ) as the arrayed elongate members undergo retraction back into the catheter sheath. In  FIG. 6 , this part of the control line play-out occurs when the stacked elongate members have been retracted from a point approximately 200 mm along the coiled retraction path (i.e., as measured outwardly from the distal end of the catheter sheath) to a point approximately 180 mm along the coiled retraction path. At the point approximately 180 mm along the horizontal axis in  FIG. 6 , portion  604   b  of line  604  crosses plot  600  indicating that the arrayed structure is in a low energy state (for example as represented by a retraction of manipulable portion  502  to a particular location shown in  FIG. 5K ). In various embodiments, further play-out of the control line in accordance with the remaining part of portion  604   b  of line  604  and the subsequent portion  604   c  of line  604  essentially maintains a portion of the arrayed structure protruding outside the catheter sheath in a low energy state as the arrayed structure is retracted back into the lumen of the catheter sheath. For example, phantom line  502   b  in  FIG. 5I  may be used to envision a position of manipulable portion  502  in a low energy state during the further play-out of the cable  513   b  that occurs during the retraction of the manipulable portion  502  back into first lumen  512   d . It is understood that portions of the structure (e.g., structure  502   a ) entering the catheter sheath are brought into a higher energy state due to the shape restrictions imposed by the lumen of the catheter sheath. 
     During further retraction of the stacked arrangement of the elongate members into the distal end of the catheter sheath, the control line is played out or metered with a fourth rate (i.e., as represented by the slope of portion  604   c  of line  604 ) during a second part of the play-out to cause a portion of the control line to have a reduced tension level (e.g., slackened level). A slackened portion of cable  513   b  in some embodiments is sufficient to allow a portion of the arrangement of elongate members protruding outwardly from the catheter sheath to autonomously continue to bend toward (e.g., outwardly to) a lower energy configuration or generally maintain the lower energy configuration as the arrangement of elongate members continues to undergo retraction into the catheter sheath. In  FIG. 6 , this second part of the control line play-out occurs when the arrangement of elongate members has been retracted from a point of 150 mm along the retraction path to a point about 40 mm along the retraction path (i.e., again as measured outwardly from the distal end of the catheter sheath). In various embodiments, the third metering rate (e.g., as represented by the slope of portion  604   b  of line  604 ) is different than the fourth metering rate (e.g., as represented by the slope of portion  604   c  of line  604 ). For example, in  FIG. 6 , the third metering rate associated with the slope of portion  604   b  of line  604  is twice the fourth metering rate associated with the slope of portion  604   c  of line  604 . In some embodiments, the third metering rate associated with the slope of portion  604   b  of line  604  is generally equal to the first metering rate associated with the slope of portion  602   b  of line  602 . In some embodiments, the fourth metering rate associated with the slope of portion  604   c  of line  604  is generally equal to the second metering rate associated with the slope of portion  602   c  of line  602 . In this regard, in some embodiments, the third metering rate may be referred to as a “2× rate”, like the first metering rate, and the fourth metering rate may be referred to as a “1× rate” like the second metering rate. Different rates may be employed in other embodiments. It is noted in various embodiments associated with  FIG. 6  that a large part of line  604  remains below the data of plot  600  indicating that slack in the control line is present during or throughout the metering of the control line in conjunction with line  604 . 
     In various embodiments, advancement of various parts of manipulable portion  502  outwardly from the confines of first lumen  512   d  (i.e., outwardly from the distal end  512   b  of catheter sheath  512 ) accompanies a first relative movement between the shaft  510  and catheter sheath  512  that results in a reduction or decrease in a distance between the proximal end  510   a  of the shaft  510  and the proximal end  512   a  of the catheter sheath  512  (e.g., as shown by the sequence depicted in  FIGS. 5D, 5E and 5F ), and also results in an increase in an amount of at least a part of the manipulable portion  502  extending outside the distal end of the catheter sheath  512 . In this regard, in some embodiments, the distal end of the manipulable portion  502  is located outside of the distal end  512   b  of the catheter sheath  512  at a first location when a particular spatial relationship exists between the shaft  510  and the catheter sheath  512  during the first relative movement. See, e.g., the non-phantom lined first location of the distal end of the manipulable portion  502  in  FIG. 5I . A reduction in a distance between the proximal end  510   a  of shaft  510  and the proximal end  512   a  of catheter sheath  512  may correspond to a reduction in a distance between a location on shaft  510  and a location on catheter sheath  512  during the first relative movement. In various embodiments, this reduction in distance may be accomplished by (a) a forward advancement of shaft  510  (e.g., away from housing  520  in  FIG. 5A ), (b) a rearward retraction of catheter sheath  512  (e.g., toward housing  520 ), or both (a) and (b). 
     In various embodiments, retraction of various parts of manipulable portion  502  inwardly into the confines of first lumen  512   d  (i.e., inwardly into the distal end  512   b  of catheter sheath  512 ) accompanies a second relative movement between the shaft  510  and catheter sheath  512  that results in an increase in a distance between the proximal end  510   a  of the shaft  510  and the proximal end  512   a  of the catheter sheath  512  (i.e., for example, as may occur in a sequence reverse to the sequence depicted in  FIGS. 5D, 5E and 5F ), and also results in a decrease in an amount of at least a part of the manipulable portion  502  extending outside the distal end of the catheter sheath  512 . In this regard, in some embodiments, the distal end of the manipulable portion  502  is located outside of the distal end  512   b  of the catheter sheath  512  at a second location (different than, e.g., the non-phantom lined first location of the distal end of the manipulable portion  502  in  FIG. 5I ) when the same particular spatial relationship exists (as compared to advancement of various parts of manipulable portion  502  outwardly from the confines of first lumen  512   d , discussed above) between the shaft  510  and the catheter sheath  512  during the second relative movement, the particular spatial relationship being a spatial relationship between a third location on the shaft  510  and a fourth location on the catheter sheath  512 . See, e.g., the phantom lined second location of the distal end of the manipulable portion  502  in  FIG. 5I . An increase in a distance between the proximal end  510   a  of shaft  510  and the proximal end  512   a  of catheter sheath  512  may correspond to an increase in a distance between a (third) location on shaft  510  and a (fourth) location on catheter sheath  512  during the second relative movement. In various embodiments, this may be accomplished by (a) a rearward retraction of shaft  510  (e.g., in a direction toward the housing  520  in  FIG. 5A ), (b) a forward advancement of catheter sheath  512   b  (e.g., in a direction away from the housing  520 ), or both (a) and (b). 
     In some embodiments, a control system or actuator system (e.g., as described herein) that is operatively or physically coupled to the manipulable portion  502  varies a size, a shape, or both, of the manipulable portion  502 . In some embodiments, the control system or actuator system may respond to or be controlled by the first relative movement by causing at least one actuator to vary a size, a shape, or both, of at least part of the manipulable portion  502  extending outside (or located outside) the distal end  512   b  of catheter sheath  512  to, at least in part, cause the distal end of the manipulable portion  502  to move along a first trajectory during the first relative movement (for example as described above with respect to line  602  in  FIG. 6 ). As discussed above, the first relative movement may be a relative movement between the catheter sheath  512  and a part of the shaft  510  when a distance between a location on the part of the shaft  510  and a location on the catheter sheath  512  decreases (e.g., as shown by the sequence depicted in  FIGS. 5D, 5E and 5F ) 
     The control system or actuator system may additionally respond to or be controlled by the second relative movement by varying a size, a shape, or both of at least the part of the manipulable portion  502  extending outside (or located outside) the distal end  512   b  of catheter sheath  512  to, at least in part, cause the distal end of the manipulable portion  502  to move along a second trajectory during the second relative movement (for example as described above with respect to line  604  in  FIG. 6 ). In some of these embodiments, the first trajectory and the second trajectory are different trajectories. As discussed above, the second relative movement may be a relative movement between the catheter sheath  512  and a part of the shaft  510  when a distance between a location on the part of the shaft  510  and a location on the catheter sheath  512  increases (e.g., as may occur in a sequence reverse to the sequence depicted in  FIGS. 5D, 5E and 5F ). As used in this disclosure, the word trajectory means a path described by an object moving in space (e.g., a gaseous or fluidic space) under the influence of various forces. It is understood that the word trajectory refers to the path of movement and not the particular direction of travel along the path of movement. That is, travel along a particular trajectory from either direction is considered to be travel along the same trajectory in either case. 
     With respect to  FIGS. 5H, 5I and 5J , a distal end  505   a  of the manipulable portion  502  moves along a first trajectory under the influence of a control element (e.g., the metered cable  513   b ), according to some embodiments. The control element (e.g., metered cable  513   b ), in some embodiments, is operatively or physically coupled to a control system or actuator system to, at least in part, cause the distal end of the manipulable portion to move along the first trajectory. In this regard, in some embodiments, the first trajectory is a modified trajectory following a respective path along which the distal end of the manipulable portion  502  moves during the first relative movement as compared to a respective trajectory along which the distal end of the manipulable portion  502  would move during the first relative movement absent the control element (e.g., the metered cable  513   b ). For example, in some embodiments, the first trajectory is modified from a trajectory that the distal end  505   a  of the manipulable portion  502  would follow solely from the autonomous coiling of the manipulable portion during the advancement of the manipulable portion  502  outwardly from the distal end  512   b  of the catheter sheath  512 . 
     In some embodiments, (a) the distal end of the manipulable portion  502  follows a coiled path during the first relative movement, (b) the distal end of the manipulable portion  502  follows a coiled path during the second relative movement, or both (a) and (b). In some embodiments, the control system or actuator system responds to or is controlled by, the first relative movement by varying a radius of curvature of a surface of at least part of the manipulable portion  502  extending outside the distal end  512   b  of catheter sheath  512  to decrease during the first relative movement (for example, as shown in  FIG. 5I ) and then subsequently increase (for example as shown in  FIG. 5J ) during the first relative movement. 
     In various embodiments, the manipulable portion  502  is selectively moveable between a delivery configuration in which the manipulable portion  502  is sized, shaped, or both sized and shaped to be delivered through the first lumen  512   d  of catheter sheath  512  and an expanded configuration in which the manipulable portion  502  is sized, shaped or both sized and shaped too large for delivery through the first lumen  512   d . In some of these various embodiments, an actuator system (e.g., one or more of the components of at least  FIG. 5R, 5S, 5W, 7, 8 , or  10 ) is physically or operatively coupled to at least a control element (e.g., cable  513   b ), and may be controlled by a control system (e.g., one or more components of at least control system  322  or control system  545 ) to transition the manipulable portion  502 , at least in part, toward or to the expanded configuration as the manipulable portion is advanced out of the distal end  512   b  of the catheter sheath  512 , and to transition, at least in part, the manipulable portion  502  toward or to the delivery configuration as the manipulable portion is retracted into the distal end  512   b  of the catheter sheath  512 . In some embodiments, the control system or actuator system is operatively or physically coupled to the control element (e.g., cable  513   b ) to cause, when a particular amount of the manipulable portion  502  is located outside of the distal end  512   b  of the catheter sheath  512  during the transition toward or to the expanded configuration, at least a portion of the control element (e.g., cable  513   b ) to have a first amount of length located outside the distal end  512   b  of the catheter sheath  512  (for example, cable  513   b  in  FIG. 5I  is shown with a first amount of length during the outward advancement of manipulable portion  502 ). 
     The control system or actuator system may be operatively or physically coupled to the control element (e.g., cable  513   b ) to cause, when the same particular amount of the manipulable portion  502  is located outside of the distal end  512   b  of the catheter sheath  512  during the transition toward or to the delivery configuration, at least the portion of control element (e.g., cable  513   b ) to have a second amount of length located outside of the distal end  512   b  of the catheter sheath  512 , the second amount of length being different than the first amount of length. For example, although  FIG. 5I  is associated with the outward advancement of manipulable portion  502  from catheter sheath  512 , phantom line  502   b  can be envisioned to reflect a same particular amount (e.g., a length or other dimension) of the manipulable portion  502  extending outwardly from the distal end  512   b  of catheter sheath  512  to the distal end of the manipulable portion  502  during a retraction of the manipulable portion  502  as compared to advancement thereof. Cable  513   b  is represented as cable  513   b ( ret ) (i.e., shown in broken lines) for the case of retraction. When the same particular amount of the manipulable portion  502  is located outside the distal end  512   b  of catheter sheath  512  during the retraction of manipulable portion  502  as compared with the advancement of manipulable portion  502 , the amount of length of cable  513   b ,  513   b ( ret ) located outside of the distal end  512   b  of catheter sheath  512  is greater during the retraction of manipulable portion  502  than during the advancement of manipulable portion  502  (e.g., length of cable  513   b ( ret ) outside the distal end  512   b  is greater than length of cable  513   b  outside the distal end  512   b ). 
     In some embodiments, the particular amount of the manipulable portion located outside the distal end  512   b  of the catheter sheath  512  is a particular size of the manipulable portion between the distal end  512   b  of the catheter sheath  512  and the distal end of the manipulable portion  502 . In some embodiments, the particular amount of the manipulable portion located outside the distal end  512   b  of the catheter sheath  512  is a particular length of the manipulable portion  502  extending from the distal end  512   b  of the catheter sheath  512  to the distal end of the manipulable portion  502 . In some embodiments, the particular amount of the manipulable portion located outside the distal end  512   b  of the catheter sheath  512  is a particular length of the manipulable portion  502  extending along a surface of the manipulable portion  502  from the distal end  512   b  of the catheter sheath  512  to the distal end of the manipulable portion  502 . 
     In some embodiments, the control system or actuator system is physically or operatively coupled to the control element (e.g., cable  513   b ) to cause, when a particular relative positioning (e.g., a relative longitudinal positioning) exists between the catheter sheath  512  and the shaft  510  received in the first lumen  512   d  of the catheter sheath  512  during the transition toward or to the expanded configuration, at least part of the control element to have a first amount of length located outside of the distal end  512   b  of the catheter sheath  512 . The control system or actuator system may be physically or operatively coupled to the control element (e.g., cable  513   b ) to cause, when the same particular relative positioning exists between the catheter sheath  512  and the shaft  510  received in the first lumen  512   d  during the transition toward or to the delivery configuration, at least part of the control element (e.g., cable  513   b ) to have a second amount of length located outside of the distal end  512   b  of the catheter sheath  512 , the second amount of length being different than the first amount of length. In some embodiments, the control system or actuator system is physically or operatively coupled to the control element (e.g., cable  513   b ) to cause, when the particular relative positioning (e.g., a relative longitudinal positioning) exists between the catheter sheath  512  and the shaft  510  received in the first lumen  512   d  of the catheter sheath  512  during the transition toward or to the expanded configuration, the control element (e.g., cable  513   b ) to have a third amount of length located outside of end  513   a - 1  (i.e., shown in  FIG. 5C ) of sleeve  513   a . In addition, the control system or actuator system may be physically or operatively coupled to the control element (e.g., cable  513   b ) to cause, when the same particular relative positioning exists between the catheter sheath  512  and the shaft  510  received in the first lumen  512   d  during the transition toward or to the delivery configuration, the control element to have a fourth amount of length located outside of the end  513   a - 1  of sleeve  513   a , the fourth amount of length being different than the third amount of length. In some embodiments, cable  513   b  and sleeve  513   a  form part of a Bowden cable (e.g., third Bowden cable  555 , called out in  FIG. 7 ). 
     An actuator system (e.g., part or all of system  545 , in some embodiments), which may be controlled at least in part by a control system (e.g., one or more components of control system  322 , control system  545 , or both control system  322  and control system  545  described in this disclosure), may employ one or more various actuators to manipulate or control various portions of a control element (e.g., control element  513 ) in accordance with various embodiments. For example, in some embodiments the use of projection  528  and receiver  529  may be employed to control a portion of control element  513 . For instance, existence of a particular state (e.g., location, amount of tension, or both) of the control of control element  513  may be based, at least in part, on a particular amount of the length  528   a  received in receiver  529 . It is noted that, in some embodiments, a particular aspect of the control of control element  513  based on a particular positioning between catheter sheath  512  and shaft  510  in the first lumen  512   d  of catheter sheath  512  may be analogous to a particular aspect of the control of control element  513  that is based, at least in part, on a particular amount of the length  528   a  of projection  528  received in receiver  529 . 
     In some embodiments, the use of projection  528  and receiver  529  may be employed to meter cable  513   b  in a manner that is the same or similar to that described with respect to  FIG. 6 . In some embodiments, an actuator system (e.g., one or more of the components of at least  FIG. 7  or others, in some embodiments) is operatively or physically coupled to the manipulable portion  502  (e.g., via each of at least one of a plurality of Bowden cables, for example, first Bowden cable  552  (an example of at least part of a control element) or cable  513   b  thereof) to transmit force to the manipulable portion. This operative coupling between the actuator system and the manipulable portion  502  may be configured to meter, e.g., control cable  513   b  to vary an amount of the cable  513   b  that extends outwardly (or is located outwardly) from the distal end  512   b  of catheter sheath  512  when part of shaft  510  is received in the first lumen  512   d  of catheter sheath  512  and, e.g., during a change in a size, a shape, or both, of the manipulable portion  502 . In some embodiments, the actuator system may be configured to respond to, or be controlled by, varying amounts of the length  528   a  of projection  528  being within the receiver  529  by varying a rate in which the cable  513   b  is metered. In some embodiments, the actuator system responds to or is controlled by a rate of change in an amount of the length  528   a  of the projection  528  being within the receiver  529  by varying a rate in which the cable  513   b  is metered. 
     Turning now to  FIGS. 5R-1 and 5R-2 , respective top and bottom perspective views are illustrated of a part of catheter system  500  with various external portions of housing  520  removed for viewing of various internal mechanisms and actuators contained, at least in part, in housing  520 . In each of  FIGS. 5R-1 and 5R-2 , at least part of projection  528  is shown received in receiver  529 , while a portion of shaft  510  is received in first lumen  512   d  (not called out in  FIG. 5R-2 ). For clarity, various portions of catheter system  500  (e.g., manipulable portion  502 ) are not shown in  FIGS. 5R-1 and 5R-2 . As best seen in  FIG. 5R-1 , a first actuator set  540 , which may comprise some or all of an actuator system, includes a first particular actuator  540   a  and a second particular actuator  540   b , the operation of each of which is described later in this disclosure. In this regard, the first actuator set  540  is located at least proximate the proximal end  510   a  of the shaft  510 , according to some embodiments. As best seen in  FIG. 5R-1 , cable  513   b  (e.g., a portion of control element  513 ) extends along a particular path toward or to the second particular actuator  540   b . In some embodiments, each actuator in the first actuator set  540  is operatively coupled to the manipulable portion by at least one respective flexible control element (e.g., at least the control cable  513   b ) arranged to selectively transmit force provided by the respective actuator in at least the first actuator set  540  to the manipulable portion  502 . 
     Each of the actuators in the first actuator set  540  may be independently, separately, or selectively moveable from the other actuators in the first actuator set  540  from a respective first activation position toward or to a respective second activation position to vary a size, shape, or both a size and a shape of a deployed or expanded configuration of the manipulable portion  502  into a particular state. Each of the actuators in the first actuator set  540  may include various passive and active components suitable for causing force to be transmitted to manipulable portion  502  to change a size or shape thereof according to various embodiments. Different types of actuators may be employed in various embodiments. By way of non-limiting example, various ones of the first actuator set  540  can include a rotary actuator, a portion of which is rotatable from a first activation position toward or to a second activation position to cause a size, shape, or both a size and a shape of manipulable portion or structure  502   a  thereof to be varied. 
     In some embodiments, a third particular actuator  572  (described in detail later in this disclosure) is employed. In some embodiments, actuator  572  may be independently, separately, or selectively moveable from the other actuators (e.g., actuators in the first actuator set  540 ) from a respective first activation position toward or to a respective second activation position to vary a size, shape, or both a size and a shape of a deployed or expanded configuration of the manipulable portion  502  into a particular state. In some embodiments, actuator  572  is a particular actuator in a second actuator set  541 , in which actuator  572  is moveable between two activation positions to cause one or more actuators (or sometimes two or more actuators in some embodiments) in the first actuator set  540  that are positioned in their respective second activation positions to move away from their respective activation positions as described later in this disclosure. The second actuator set  541  may comprise some or all of an actuator system. In some embodiments, the second actuator set  541  is located at least proximate the proximal end  510   a  of the shaft  510 . 
     In  FIGS. 5R-1 and 5R-2 , each of actuators  540   a ,  540   b , and  572  is a linear actuator, a portion of each translatable from a respective first activation position toward or to a respective second activation position to cause a size, shape, or both a size and a shape of manipulable portion  502  or structure  502   a  thereof to be varied. In  FIGS. 5R-1 and 5R-2 , each of actuators  540   a ,  540   b ,  572  is a linear actuator, a portion of each translatable from a respective first activation position toward or to a respective second activation position (for example, as described later in this disclosure) to cause a size, shape, or both a size and a shape of an expanded configuration of the manipulable portion  502  or structure  502   a  thereof to be varied into a particular state. In  FIGS. 5R-1 and 5R-2 , a portion of each of actuators  540   a  and  540   b  is guided by a respective one of guides  542   a ,  542   b  of guide system  542 . In  FIG. 5R-1 , a portion of actuator  572  is guided by a guide  542   e . In various embodiments, guide system  542  is configured to capture various portions (e.g., slider portions) of each of actuators  540   a ,  540   b  and  572  while allowing the portions of each of actuators  540   a ,  540   b , and  572  to slide along a respective one of guides  542   a ,  542   b ,  542   e . In some embodiments, guide system  542  is provided at least in part by an extrusion (e.g., an aluminum extrusion) while various portions of each of actuators  540   a ,  540   b , and  572  can include a combination of metallic and non-metallic components. In various embodiments, each of various ones of the guides of guide system  542  includes a guide channel. In various embodiments, each of various ones of the guides of guide system  542  includes a guide rail. 
     In various embodiments illustrated in  FIGS. 5R-1 and 5R-2 , each of various ones of the guides (e.g., guides  542   a ,  542   b ) includes a channel-like member configured to at least partially enclose respective ones of at least some of the actuators in the first and second actuator sets  540 ,  541 . In various embodiments, each of actuators  542   a  and  542   b  includes a respective one of handles  543   a  and  543   b , each of the handles  543   a ,  543   b  manipulable by a user (e.g., a health care provider or technician) to move the respective one of actuators  540   a ,  540   b  at least toward or away from its respective second activation position. In various embodiments, each of the handles  543   a ,  543   b  is engageable to move the respective one of actuators  540   a ,  540   b  toward or away from (a) its respective first activation position, (b) its respective second activation position, or both (a) and (b). In various embodiments, each of one or more of actuators  540   a ,  540   b  is selectively lockable to maintain one or more desired positions (e.g., the second activation position) along respective ones of the guides  542   a ,  542   b . For example, in some embodiments, each or one or more of handles  543   a ,  543   b  is rotatable (for example, in a clockwise direction) to lock a respective one of actuators  540   a ,  540   b  so as to maintain a desired positioning along a respective one of guides  542   a ,  542   b . In some embodiments, each of one or more of handles  543   a ,  543   b  is rotatable (for example, in a counter-clockwise direction) to unlock a respective one of actuators  540   a ,  540   b  so as to allow the respective one of actuators  540   a ,  540   b  to move away from a particular positioning along a respective one of guides  542   a ,  542   b . The locking of a particular actuator of the first set actuators  540  may be accomplished by various mechanisms that can cause the particular actuator to grip or otherwise become secured to a guide  542 . 
     In some embodiments, various ones of handles  543   a ,  543   b  may be physically or operatively coupled to one or more cams that can be selectively brought into and out of frictional engagement with a guide of the guide system  542 . For example,  FIGS. 10A and 10B  show respective perspective views of a locking device  1010  employed by a slider  1000  which may function in a similar or same manner to one or both of actuators  540   a ,  540   b  according to some embodiments. In this regard, in some embodiments, each respective actuator in the first actuator set  540  may include a respective locking device like that shown in  FIG. 10 ). 
     In some embodiments, the locking device  1010  is selectively moveable between or operable in an unlocked configuration (e.g.,  FIGS. 10A and 10C ) and a locked configuration (e.g.,  FIGS. 10B and 10D ). In embodiments where the locking device  1010  is part of an actuator (e.g., each of one or more actuators in the first set of actuators  540 ), the unlocked configuration permits or allows the actuator to move (e.g., at least in a direction toward or away from a respective activation position). In embodiments where the locking device  1010  is part of an actuator (e.g., each of one or more actuators in the first set of actuators  540 ), the locked configuration restricts or prevents the actuator from moving (e.g., at least in the direction toward or away from a respective activation position). 
     In  FIG. 10A , locking device  1010  is in an unlocked configuration which allows slider  1000  to move with respect to a guide element (not shown for clarity but similar to, or the same as one or both of guides  542   a ,  542   b  in some embodiments), while in  FIG. 10B , locking device  1010  is in a locked configuration which restricts slider  1000  from moving with respect to the guide element. Detailed perspective views of locking device  1010  are provided in  FIG. 10C  (i.e., unlocked configuration) and  FIG. 10D  (i.e., locked configuration). Various parts of slider  1000  are not shown in  FIGS. 10C and 10D  to better show parts of locking device  1010  not visible in  FIGS. 10A and 10B . In some embodiments, locking device  1010  employs a plurality of locking cams  1015  (i.e., four in this illustrated embodiment) that may be selectively moved between the unlocked configuration and the locked configuration. In some embodiments, the locking cams  1015  are moved between the unlocked and the locked configuration by rotation of handle  1020  (which may correspond to handle  543   a ,  543   b , or each of  543   a  and  543   b  in some embodiments). For example, in some embodiments, handle  1020  is physically coupled to a drive cam  1025  of locking device  1010  in a manner suitable for rotating the drive cam  1025  in each of a clockwise or counter clockwise direction. In some embodiments, drive cam  1025  is engageable with one or more (two in this illustrated embodiment) cam followers  1030 . Each of the cam followers  1030  may include a drive pin  1035  received in a respective channel  1040  provided in each of the locking cams  1015 . Rotation of handle  1020  in a manner that rotates drive cam  1025  such that it forces the cam followers  1030  relatively further apart from one another causes the locking device  1010  to move from the unlocked configuration (e.g.,  FIGS. 10A, 10C ) toward or to the locked configuration (e.g.,  FIGS. 10B, 10D ) by causing the drive pins  1035  to rotate the locking cams  1015  (i.e., about pivots  1045 ) outwardly into frictional engagement with the guide element (not shown for clarity but similar to, or the same as one or both of guides  542   a ,  542   b  in some embodiments). Rotation of the drive cam  1025  in an opposite direction may be employed to restore the locking device  1010  back to its unlocked configuration. In some embodiments, biasing members  1050  employ a biasing action that biases the locking device  1010  toward or to the unlocked configuration. Other locking/unlocking mechanisms may be employed in other embodiments. 
     Returning to  FIGS. 5R-1 and 5R-2 , actuator  572  includes cover  520   a  in various embodiments. For example, in  FIGS. 5R-1 and 5R-2  cover  520   a  is operatively coupled to a first fanning slider  572   a  that makes up at least part of actuator  572  and which is guided by guide system  542 . In this illustrated embodiment, the cover  520   a  is physically coupled to first fanning slider  572   a  via fasteners  520   b  and biasing element  520   c . Biasing element  520   c  may include a compression spring in some embodiments. In some embodiments, cover  520   a  forms a handle of actuator  572 . Other operations or functions associated with cover  520   a  are described later in this disclosure. The interaction of cover  520   a  with respect to actuator  572  is shown in exploded view in each of  FIGS. 5R-1 and 5R-2  for clarity of illustration. 
     In various embodiments, catheter system  500  includes a control system  545  (which also may be referred to as an actuator system in some embodiments) comprising a set of devices or a device system that manages, controls, directs, or regulates the behavior of other device(s) or sub-system(s) that make up system  500 . For example, control system  545  can, in some embodiments, control or include a transition actuator (e.g., actuator  540   a ,  540   b ,  546 ,  572 , some other actuator or actuator set, or a portion of at least one of these actuators) physically or operatively coupled to the manipulable portion  502  to transition or modulate manipulable portion  502  or structure  502   a  thereof at least partially between various states or configurations (e.g., between a delivery configuration and an expanded or deployed configuration, or vice versa). In some embodiments, control system  545  is configured to control or include a modulation actuator (e.g., an actuator in  FIG. 7 , some other actuator or actuator set, or a portion of at least one of these actuators) physically or operatively coupled to the manipulable portion  502  (e.g., via at least the elongated control element  513 ) to modulate at least a size, a shape, or both a size and a shape of manipulable portion  502 , for example, at least in a state where at least a part of the manipulable portion  502  and a part of the control element  513  extend outside the distal end of the catheter sheath  512  (e.g.,  FIG. 5C ). In some embodiments, control system  545  can control or include a control element manipulation actuator (e.g., an actuator in  FIG. 5S or 7 , some other actuator or actuator set, or a portion of at least one of these actuators) to manipulate various control elements (e.g., control element  513 ) in system  500 . In some embodiments, various ones of the transition, modulation, and control element manipulation actuators may be the same or separate devices or may be combined into a single device or system. For example, one of the actuators in  FIG. 5S or 7  may be deemed a transition actuator, another one of these actuators may be deemed a modulation actuator, and yet another one of these actuators may be deemed a control element manipulation actuator. Or, in some embodiments, some or all of the transition actuator, modulation actuator, and control element manipulation actuator may be the same actuator. The points made in this discussion also apply to other actuators described herein. In various embodiments, various actuators (e.g., modulation, transition, and control element manipulation actuators) controlled by control system  545  may form part of control system  545  or may be distinct from control system  545 . In some embodiments, the control system  545  may include one or more components of system  100  or control system  322 , such as controller  324 , that control one or more of the actuators described in this paragraph or otherwise herein. 
     Control system (which may also be referred to as an actuator system)  545  may trigger, be triggered, or cause an operation of a series of mechanical actuators in the correct sequence to perform a task associated with catheter system  500 . Control system  545  may, in some embodiments, include a feedback system responsive to various inputs (e.g., user actions, machine action, or a combination of both) to initiate a particular function or transition between particular functions of system  500 . In some embodiments, control system  545  is provided at least in part by at least one data processor, for example, as provided by one or more components of system  100  or control system  322 , such as controller  324 , and as such may be responsive to or controlled by various transducer data, machine data, or data input by a user. In various embodiments, control system  545  includes or takes the form of a mechanical system that includes a receiving mechanism configured to receive input force or input movement and a conversion mechanism that converts the input force or input movement to achieve a particular application of output force or output movement. In some of these various embodiments, the mechanical system may include various sensors, force limiters, or movement limiters that compare the output to a desired value and then directs the input or the conversion of the input. In some embodiments, control system  545  is entirely provided by a mechanical system. In some embodiments, input force or input movement is provided manually. Manual application of force or movement may be preferred for some medical device systems to avoid undesired outcomes that may accompany a misapplication of power-based (e.g., electrical, hydraulic or pneumatic) force or movement. Some example operations associated with control system  545  are schematically represented, according to some embodiments, in  FIGS. 7A and 7B , which are described in more detail later in this disclosure. 
     In various embodiments, control system (which also may be referred to as an actuator system in some embodiments)  545  is responsive to or is controlled by relative movement between shaft  510  and catheter sheath  512  (e.g., at least when a portion of shaft  510  is received in the first lumen  512   d  of catheter sheath  512 ) to (a) modulate or control a particular configuration or state of manipulable portion  502  (e.g., by varying a force applied to the manipulable portion  502 ), (b) control a transition between various particular configurations or states of manipulable portion  502 , (c) manipulate a control element (e.g., control element  513 ) or some particular combination of some or all of (a), (b), and (c). In some embodiments, control system  545  is responsive to or controlled by varying amounts of the length  528   a  of projection  528  being received within receiver  529  to (a) modulate or control a particular configuration or state of manipulable portion  502  (e.g., by varying a force applied to the manipulable portion  502 ), (b) control a transition between various particular configurations or states of manipulable portion  502 , (c) manipulate a control element (e.g., control element  513 ), or some particular combination of some or all of (a), (b), and (c). In this regard, in some embodiments, the control system  545  responds to or is controlled by movement of the internal receiving mechanism  546  within the receiver  529  caused by a change in an amount of the length of the projection  528  within the receiver  529  by varying the force transmitted to the manipulable portion  502 . In some embodiments, the control system  545  responds to or is controlled by a rate of change in an amount of the length of the projection  528  within the receiver  529  by varying a rate at which a control cable (e.g., cable  513   b ) is metered, e.g., as described with respect to  FIG. 6  in this disclosure. 
     In some embodiments, at least a portion of at least one actuator (e.g.,  546 , described later in this disclosure, which may include a modulation actuator) is moveable in each of a first direction and a second direction different than the first direction. In some embodiments, the control system  545  may be configured to cause at least the portion of the actuator (e.g., modulation actuator) to move in the first direction to cause or accompany an increase in an amount of manipulable portion  502  extending outwardly from the distal end  512   b  of catheter sheath  512  and may be configured to cause at least the portion of the actuator (e.g., modulation actuator) to move in the second direction to cause or accompany a decrease in an amount of manipulable portion  502  extending outwardly from the distal end  512   b  of catheter sheath  512 . In other words, at least the actuator (e.g., modulation actuator) may be operable to cause or accompany an increase or decrease in the amount of manipulable portion  502  extending outwardly from the distal end  512   b  of catheter sheath  512 , depending upon when at least a portion of the actuator moves in the first direction or second direction, respectively. 
     In some embodiments associated with  FIGS. 5R-1 and 5R-2 , the receiver  529  includes an internal receiving mechanism  546  (which may be an example of an actuator or a particular actuator) configured to engage with a part of projection  528  received in receiver  529 . In some embodiments, the internal receiving mechanism  546  is sized to matingly receive at least a portion of the projection  528 . As best seen in  FIG. 5R-2 , the internal receiving mechanism  546  includes a coupler portion  546   a  (also referred to as coupler  546   a ) and a slider portion  546   b  (also referred to as receiver slider  546   b ) physically coupled to the coupler  546   a . Receiver slider  546   b  is configured to move along guide  542   c  of guide system  542 . In various embodiments, coupler  546   a  captively or otherwise physically couples the internal receiving mechanism  546  to at least the portion of the projection  528  matingly received in the internal receiving mechanism  546 . The captive coupling allows at least the coupler  546   a  of internal receiving mechanism  546  to move along guide  542   c  during each of a first relative movement between projection  528  and receiver  529  that increases the amount of length  528   a  of projection  528  within receiver  529 , and a second relative movement between projection  528  and receiver  529  that decreases the amount of length  528   a  of projection  538  within receiver  529 . In various embodiments, coupler  546   a  includes a set of gripper arms  546   c  configured to engage or otherwise physically couple with a recess  528   c  of first projection  528  as best shown in  FIG. 5R-3  which is a detailed view of part of  FIG. 5R-2 . In some of these various embodiments, the gripper arms  546   c  are biased to move apart (for example by means of a flexure) to disengage from recess  528   c  when the coupler  546   a  is positioned at a particular location along guide  542   c  (e.g., at location  535 ) where the gripper arms  546   c  are not constrained by a channel associated with guide system  542 . This arrangement advantageously allows at least a portion of the projection  528  to self-couple (e.g., physically couple) to the coupler  546   a  (and internal receiving mechanism  546 ) when a first relative positioning between projection  528  and receiver  529  positions the gripper arms  546   c  within a confining structure of guide  542   c , the positioning of the gripper arms  546   c  in the confining structure causing the gripper arms  546   c  to move together in a pinching or gripping manner that securely couples the gripper arms  546   c  to projection  528 . Additionally, this arrangement advantageously allows at least a portion of the projection  528  to self-decouple (e.g., physically de-couple) from coupler  546   a  (and internal receiving mechanism  546 ) when a second relative positioning (different than the first relative positioning) between projection  528  and receiver  529  positions the gripper arms  546   c  at a location (e.g., location  535 ) where the gripper arms  546   c  are not confined but are allowed to move or flex apart to release the projection  528  from the gripper arms  546   c , thereby allowing the shaft  510  and catheter sheath  512  to be pulled apart and become fully separated, if desired. 
       FIGS. 7A and 7B  schematically show an operation of at least one actuator of a control system (which may also be referred to as an actuator system in some embodiments)  545  associated with housing  520  at two successive points in time. In various embodiments, operation of various actuators and control elements associated with  FIGS. 7A and 7B  may be employed during a change in a size, a shape, or both a size and a shape of manipulable portion  502  (not shown in  FIGS. 7A and 7B ). In various embodiments, operation of various actuators and control elements associated with  FIGS. 7A and 7B  may be employed to cause, at least in part, a change in a size, a shape, or both a size and a shape of manipulable portion  502  (for example as depicted in the sequence shown in  FIGS. 5H, 5I and 5J ). In  FIGS. 7A and 7B , schematic representations are employed for ease of discussion. Additionally, for the ease of discussion, the movement proximally or distally of various elements in  FIG. 7A, 7B  as discussed herein is made in accordance with the “ DISTAL” and “PROXIMAL ” indicators provided at the bottom of each of the  FIGS. 7A and 7B . In this regard, in some embodiments, each of the control system  545  and at least one actuator or modulation actuator (e.g.,  540   a ,  540   b ,  546 ,  572 , some other actuator or actuator set, or a portion of at least one of these actuators) thereof are located, at least in part, at respective locations at least proximate the proximal end of the shaft  510 . 
     In some embodiments, the coiling/uncoiling motion during deployment/retraction of the manipulable portion  502  (e.g.,  FIGS. 5H, 5I, and 5J ) is caused and controlled, at least in part, by activation or movement of a second particular actuator  540   b  and an internal receiving mechanism  546  with respect to a first particular actuator  540   a , which may act as an anchor in some configurations. In some embodiments, the coiling/uncoiling motion during deployment/retraction involves a metering of a portion of the control element  513  (e.g., a cable  513   b ) with different rates under the control of a master slider  556   a , a sleeve slider  556   b , and the second particular actuator  540   b . In some embodiments, movement of the first particular actuator  540   a  causes or controls flattening of the manipulable portion  502  (e.g.,  FIGS. 5N and 5O ). In some embodiments, clam shelling of the manipulable portion (e.g.,  FIGS. 5P and 5Q ) may be caused and controlled by activation or action of the second particular actuator  540   b.    
     With this context in mind, a portion of control element  513  may be operatively coupled to second particular actuator  540   b  to at least in part control coiling/uncoiling of the manipulable portion  502  during deployment/retraction. In some embodiments, the second particular actuator  540   b  includes various portions including a first slider portion  548   a  (also referred to in some embodiments as sleeve slider  548   a ) configured to slide along guide  542   b , and a second slider portion  548   b  (also referred to in some embodiments as slave slider  548   b ) configured to slide within or with respect to, sleeve slider  548   a . In some of these various embodiments, a portion of sleeve  513   a  proximate a proximal end  513   a - 2  of sleeve  513   a  (i.e., an end of sleeve  513   a  located relatively closer to the proximal end  510   a  of shaft  510  than the distal end  510   b  of shaft  510 ) is physically coupled (or, in some embodiments, fixedly coupled) to sleeve slider  548   a . In this regard, axial or longitudinal movement of sleeve slider  548   a  along guide  542   b  can also cause longitudinal or axial movement of a portion of sleeve  513   a  in second lumen  511  within shaft  510 . A particular location of sleeve slider  548   a  along guide  542   b  can be maintained by operating handle  543   b  to operate an associated lock as described herein. 
     As shown in  FIGS. 7A and 7B , a first part  513   b - 1  of cable  513   b  extends outwardly from a first end  552   a - 1  of sleeve  552   a  at least across a region of space  550 , the region of space  550  extending between first end  552   a - 1  and end  513   a - 2  of sleeve  513   a . Cable  513   b  further extends through a lumen of a sleeve  552   a  and is physically or operatively coupled to first particular actuator  540   a . In particular, a second part  513   b - 2  of cable  513   b  extends outwardly from a second end  552   a - 2  of sleeve  552   a  along a path that extends to first particular actuator  540   a . In  FIGS. 7A and 7B , sleeve  552   a  is physically coupled (or, in some embodiments, fixedly coupled) to slave slider  548   b  to accompany or move in tandem with slave slider  548   b . In some embodiments, sleeve  552   a  and cable  513   b  form part of a Bowden cable (e.g., first Bowden cable  552 ). In various embodiments, the first part  513   b - 1  of cable  513   b  includes at least the portion  514  of cable  513   b  (not shown in  FIGS. 7A and 7B , but shown at least in  FIGS. 5H, 5I and 5J ). In some embodiments, the part  513   b - 1  of cable  513   b  is physically coupled to manipulable portion  502  to, at least in part change the size, shape, or both, of the manipulable portion  502 . A size of the region of space  550  varies when the slave slider  548   b  moves relative to the sleeve slider  548   a . When the slave slider  548   b  is distally positioned as shown in  FIG. 7A , the region of space  550  has a relatively smaller size than when the slave slider  548   b  is proximally positioned (e.g., as shown in  FIG. 7B ). The varying size of region of space  550  will result in different distances between the end  513   a - 2  of the sleeve  513   a  and first end  552   a - 1  of sleeve  552   a  in various embodiments. It is noted that various levels of tension on the cable  513   b  can lead to shortening of a distance between the end  513   a - 2  of the sleeve  513   a  and first end  552   a - 1  of sleeve  552   a . In some embodiments, tension on the cable  513   b  may urge the slave slider  548   b  to move distally. 
     In various embodiments, a first part  554   b - 1  of a second cable  554  extends outwardly from the first end  554   a - 1  of a second sleeve  554   a . In some embodiments, the second cable  554   b  is located at least in part of a lumen of second sleeve  554   a , and second cable  554   b  and second sleeve  554   a  form part of a Bowden cable (e.g., second Bowden cable  554 ). In various embodiments, the first part  554   b - 1  of second cable  554   b  is physically coupled (or, in some embodiments, fixedly coupled) to the slave slider  548   b . In some of these various embodiments, second cable  554   b  is operable to allow for a movement of the slave slider  548   b  in at least one of the proximal and distal directions. In some embodiments associated with  FIGS. 7A and 7B , second sleeve  554   a  is physically coupled (or, in some embodiments, fixedly coupled) to sleeve slider  548   a . It is noted in various embodiments that when the sleeve slider  548   a  is moved along guide  542   b , sleeve  513   a , slave slider  548   b , and at least the respective first ends  552   a - 1 ,  554   a - 1  of sleeve  552   a  and second sleeve  554   a  also move with sleeve slider  548   a . It is also noted in some embodiments that little or no relative movement between the sleeve  513   a  and the cable  513   b  occurs due to an adjustment in a positioning of the sleeve slider  548   a , for example, as described later in this disclosure. 
     In various embodiments, the first part  554   b - 1  of cable  554   b  of the second Bowden cable  554  is physically or operatively coupled to the first Bowden cable  552  to cause at least the first end  552   a - 1  of the respective sleeve  552   a  of the first Bowden cable  552  to translate in response to, or during, at least part of a varying, caused by at least one actuator (e.g.,  540   b ,  546 , some other actuator or actuator set, or a portion of at least one of these actuators), of the amount of length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the respective sleeve  554   a  of the second Bowden cable  554 . In some embodiments, the control (or actuator) system  545  or an actuator or other portion thereof is responsive to or controlled by variances in a relative positioning between the shaft  510  and the catheter sheath  512  (i.e., when part of the shaft  510  is received in the lumen  512   d  of the catheter sheath  512 ) to vary the length of at least part of cable  554   b  of the second Bowden cable  554  that extends from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable. In this regard, in some embodiments, a control system (e.g., one or more components of system  100  or control system  322 , such as controller  324 ) may be operatively coupled to an actuator system and operable to control activation of one or more actuators of the actuator system to vary the amount of length of a first part of the respective cable of each of the at least some of a plurality of Bowden cables that extends outwardly from the first end of the respective sleeve thereof during a change in a size, a shape, or both a size and a shape of the manipulable portion  502 . 
     In some embodiments, the lumen of the sleeve  552   a  of the first Bowden cable  552  extends longitudinally in a particular direction from the first end  552   a - 1  of the sleeve  552   a  of the first Bowden cable  552 , and the first part  554   b - 1  of cable  554   b  of the second Bowden cable  554  is physically or operatively coupled to the first Bowden cable  552  to cause at least the first end  552   a - 1  of the respective sleeve  552   a  of the first Bowden cable  552  to translate in a direction having a component parallel to this particular (longitudinal) direction (of the first Bowden cable  552 ) in response to, or at least during part of, the varying, caused by at least one actuator, of the amount of length of the first part  554   b - 1  of the cable  554   b  that extends outwardly from the first end  554   a - 1  of the respective sleeve  554   a  of the second Bowden cable  554 . In some embodiments, at least one actuator (e.g.,  556   a ,  556   b , some other actuator or actuator set, or a portion of at least one of these actuators) is physically or operatively coupled to the first Bowden cable  552  to cause the length of the first part  513   b - 1  of cable  513   b  that extends from the first end  552   a - 1  of the respective sleeve  552   a  of the first Bowden cable  552  to vary during at least part of the varying of the amount of length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the respective sleeve  554   a  of the second Bowden cable  554  caused by at least one actuator (e.g.,  540   b ,  546 , some other actuator or actuator set, or a portion of at least one of these actuators) in housing  520 . 
     In  FIGS. 7A and 7B , various portions of the receiver  529  (e.g., internal receiving mechanism  546 ) can be moved (e.g., pushed) proximally or moved (e.g., pulled) distally by the projection  528 . For example, in some embodiments, internal receiving mechanism  546  is moved proximally by projection  528  when a first relative movement between catheter sheath  512  and a part of the shaft  510  received in the first lumen  512   d  causes a distance between a location on the part of the shaft  510  and a location on the catheter sheath  512  to decrease (for example, as the shaft  510  and sheath  512  are drawn together as shown in a sequence depicted consecutively by  FIGS. 5D, 5E, and 5F ). In some embodiments, internal receiving mechanism  546  is moved distally by projection  528  when a second relative movement between catheter sheath  512  and a part of the shaft  510  received in the first lumen  512   d  causes a distance between a location on the part of the shaft  510  and a location on the catheter sheath  512  to increase (for example, as the shaft  510  and sheath  512  are drawn apart as shown in a sequence depicted consecutively by  FIGS. 5F, 5E, and 5D ). 
     As shown in  FIGS. 7A and 7B , internal receiving mechanism  546  may include a physically coupled slider mechanism  556  (which may be an example of an actuator or a particular actuator), portions of which are configured to move along guide  542   d  (also called out in  FIG. 5R-1 ). In  FIG. 5R-2 , an aperture  557  in guide system  542  allows for a physical coupling between internal receiving mechanism  546  and slider mechanism  556 . In some embodiments, internal receiving mechanism  546  is fixedly coupled to slider mechanism  556 . In some embodiments, internal receiving mechanism  546  is releasably coupled to slider mechanism  556 . In some embodiments, internal receiving mechanism  546  is configured to selectively couple to, or decouple from, slider mechanism  556  at one or more particular locations along a path of travel along guide  542   c . For example, various mechanisms activatable at different locations along guide  542   c  can be employed to selectively couple or decouple internal receiving mechanism  556  respectively to or from slider mechanism  556  at the different positions or at other positions having a defined relationship to the different positions. In some embodiments, slider mechanism  556  includes various moveable portions including a first portion  556   a  (also referred to as master slider  556   a  in some embodiments) and a second portion  556   b  (also referred to as second sleeve slider  556   b  in some embodiments). 
     As shown in  FIGS. 7A and 7B , the two sleeves  552   a  and  554   a  may be physically coupled (or, in some embodiments, fixedly coupled) to the second sleeve slider  556   b . In various embodiments, second sleeve slider  556   b  is physically coupled to master slider  556   a  with a mechanism, such as with a tether  558 , that delays a movement of master slider  556   a  until second sleeve slider  556   b  has been moved by a predetermined or defined amount or has moved to a predetermined or defined position. 
     In some embodiments associated with  FIGS. 7A and 7B , the second sleeve slider  556   b  (an example of a second moveable portion) is physically coupled to master slider  556   a  (an example of a first moveable portion) by the tether  558 . In various embodiments, second sleeve slider  556   b  can be moved proximally or distally by the projection  528  when the projection  528  repositions internal receiving mechanism  546  as described above in this disclosure. 
     In  FIGS. 7A and 7B , master slider  556   a  is located distally of second sleeve slider  556   b . In various embodiments, master slider  556   a  and second sleeve slider  556   b  are located on or guided by a same guide of guide system  542  (e.g., guide  542   d ). In various embodiments, master slider  556   a  is physically coupled to slave slider  548   b  by second cable  554   b . In particular, a second part  554   b - 2  of cable  554   b  of second Bowden cable  554  extending outwardly from a second end  554   a - 2  of second sleeve  554   a  is physically coupled to master slider  556   a  (which is an example of a first moveable portion of a particular actuator (e.g., slider mechanism  556 , internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators)). In some embodiments, a portion of the sleeve  554   a  of the second Bowden cable  554  located at least proximate to the second end  554   a - 2  of the sleeve  554   a  of the second Bowden cable  554  is physically coupled to the second sleeve slider  556   b  (an example of a second moveable portion of a particular actuator (e.g., slider mechanism  556 , internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators)). In various embodiments associated with  FIGS. 7A and 7B , each of the respective ends (represented by dots in  FIGS. 7A and 7B ) of second cable  554   b  and each of the respective ends  554   a - 1  and  554   a - 2  of second sleeve  554   a  are located at respective locations in housing  520 . In various embodiments associated with  FIGS. 7A and 7B , each of the respective ends of cable  554   b  and each of the respective ends  554   a - 1  and  554   a - 2  of second sleeve  554   a  are located at respective locations outside a body when the manipulable portion  502  is located at a desired location within a bodily cavity in the body. 
     In various embodiments, master slider  556   a  (which is an example of a first moveable portion of a particular actuator (e.g., slider mechanism  556 , internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators)) includes a locking device (not shown in  FIGS. 5 and 7 , but an example is illustrated in  FIGS. 8A and 8B , which is described in more detail in this disclosure below) configured to restrict movement of master slider  556   a  (e.g., along guide  542   d ) when various forces suitable for translating master slider  556   a  along guide  542   d  are not applied to master slider  556   a . In some embodiments, this restricting of movement occurs during a varying of the length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554 . In some embodiments, the locking device (e.g.,  FIGS. 8A and 8B ) is configured to allow movement of the master slider  556   a  (an example of a first moveable portion) of the internal receiving mechanism  546  (an example of a particular actuator) after completion of a varying of a length of a part of cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554 . 
     In various embodiments, the locking device remains normally locked or fixedly coupled to a structure (e.g., guide  542   d ) when various forces suitable for translating master slider  556   a  along guide  542   d  are not applied to master slider  556   a . In various embodiments, master slider  556   a  remains normally locked or secured to guide  542   d  but is configured to move more freely when moved in one, but not both of the proximal and distal directions. For example, in various embodiments associated with  FIGS. 7A and 7B , master slider  556   a  is configured to move more freely when master slider  556   a  is urged to move distally than when the master slider  556   a  is urged to move proximally In various embodiments, when master slider  556   a  is subjected to an applied force that is directed distally, master slider  556   a  will move relatively freely in the distal direction. When the applied force is removed, master slider  556   a  will once again secure itself to the guide  542   d . In various embodiments, associated with  FIGS. 7A and 7B , when a force (i.e., not applied by tether  558 ) is applied to master slider  556   a  in a proximal direction, master slider  556   a  remains relatively fixed or secured to guide  542   d . That is, in these embodiments, while there is slack (or a tension level magnitude lower than a defined threshold) on the tether  558 , the master slider  556   a  is restricted from being moved proximally (for example, under the influence of tension exerted by second cable  554   b ). However, when there is a suitable tension (i.e., a tension level or magnitude at least equal to the defined threshold) on the tether  558 , the master slider  556   a  unlocks from the guide  542   d  and can be moved proximally in these embodiments. In other words, the locking device (e.g.,  FIGS. 8A and 8B ) is configured to allow movement of the master slider  556   a  (an example of a first moveable portion) of the internal receiving mechanism  546  (an example of a particular actuator) after the sleeve slider  556   b  (an example of a second moveable portion) of the internal receiving mechanism  546  translates by a defined amount (e.g., a length of the tether  558 ). If a magnitude or level of tension on tether  558  subsequently falls below the defined threshold, the master slider  556   a  once again locks to guide  542   d . It is noted that although selective locking of master slider  556   a  to guide  542   d  has been described in these embodiments, master slider  556   a  may be selectively locked to other structures (e.g., other guides of guide system  542 ) in other embodiments. 
     Various mechanisms may be employed to provide the locking device(s) described above with respect to master slider  556   a . For example, a slider assembly  800  is schematically represented in  FIGS. 8A and 8B . The slider assembly  800  includes a slider body  802  that is selectively moveable in a guide channel  804  (which, in some embodiments, may correspond to guide  542   d ). In some embodiments, the slider body  802  may correspond to the master slider  556   a  or be coupled to the master slider  556   a . A set of locking cams  806  (i.e., two cams in this illustrated embodiment) is provided in slider body  802 . Each of locking cams  806  may be pivotable about a respective pin  805 . A biasing member  808  (e.g., shown as a tension spring in  FIGS. 8A .  8 B) may be coupled to the locking cams  806  to urge each of the locking cams  806  to pivot about its respective pin  805  and cause a respective engagement surface  806   a  of each locking cam  802  to engage with guide channel  804  as shown in  FIG. 8A . 
     In various embodiments, the engagement surfaces  806   a  are shaped to provide unidirectional self-locking characteristics. For example, in  FIG. 8A , the engagement surfaces  806   a  are shaped to cause the locking cams  806  to pivot inwardly and thereby reduce their locking or holding capability when a particular force is applied to move the slider body  802  distally (i.e., in the direction indicated as “ DISTAL” in  FIG. 8A ). Conversely, the shape of each of the engagement surfaces  806   a  is configured to urge the locking cams  806  to pivot outwardly and thereby increase locking or holding capability when a particular force is applied to move the slider body  802  proximally (i.e., in the direction indicated as “PROXIMAL ” in  FIG. 8A ). 
     A tether  810  (which, in some embodiments, may correspond to the tether  558 ) may be coupled to the set of locking cams  806  to selectively cause the locking cams  806  to pivot inwardly and unlock when a particular tension having a suitable magnitude to overcome the biasing action of biasing member  808  is applied to tether  810 . When the particular tension is applied to tether  810 , the slider body  802  can be moved proximally (i.e., in the direction indicated as “PROXIMAL ”), for example, under the influence of tension provided by a cable member  812  (which, in some embodiments, may correspond to the cable  554   b ) physically coupled to slider body  802  as shown in  FIG. 8B . 
     Returning to  FIGS. 7A and 7B , as projection  528  is inserted into the housing  520  and is received by receiver  529 , projection  528  may engage internal receiving mechanism  546  to cause internal receiving mechanism  546  to move (e.g., proximally in various embodiments) during the insertion. This movement in turn causes second sleeve slider  556   b  to move (i.e., proximally in various embodiments). During the movement of second sleeve slider  556   b , an increasing distance develops between the moving second sleeve slider  556   b  and the stationary master slider  556   a . It is noted that in various embodiments, master slider  556   a  remains stationary at this time because master slider  556   a  is locked in position, e.g., due to the locking mechanisms of  FIG. 8 . In various embodiments, an amount of length of the second part  554   b - 2  of second cable  554   b  that extends from second end  554   a - 2  of second sleeve  554   a  to master slider  556   a  increases with the increasing distance between second sleeve slider  556   b  and the stationary master slider  556   a . That is, increasing amounts of length of the second part  554   b - 2  of the second cable  554   b  coupled to master slider  556   a  are pulled out of sleeve  554   a  with the increasing distance between second sleeve slider  556   b  and the stationary master slider  556   a . This in turn, causes a varying of a length (e.g., a decrease in a length) of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554 . 
     It is noted that, in some embodiments such as those illustrated by  FIGS. 7A and 7B , the second sleeve slider  556   b  (an example of at least part of an actuator) is at least operatively coupled to the second Bowden cable  554  to translate the second end  554   a - 2  of sleeve  554   a  of the second Bowden cable  554 , the second end  552   a - 2  of the sleeve  552   a  of the first Bowden cable  552 , or each of the second end  554   a - 2  and the second end  552   a - 2  of the sleeve  552   a  during at least part of a varying of the length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554  (e.g., due to the increasing distance between second sleeve slider  556   b  and the stationary master slider  556   a ). 
     It is also noted in various embodiments associated with  FIGS. 7A and 7B , that an amount of translation undergone by an end or terminus of the second part  554   b - 2  of the cable  554   b  of the second Bowden cable  554  at a particular time during a varying of the length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554  (e.g., due to an increase in distance between second sleeve slider  556   b  and the stationary master slider  556   a ) has a magnitude less than an amount of translation undergone by the second end  554   a - 2  of sleeve  554   a  of the second Bowden cable  554  at the particular time during the varying of the length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554  (e.g., due to the increase in distance between second sleeve slider  556   b  and the stationary master slider  556   a ). 
     It is also noted in various embodiments associated with  FIGS. 7A and 7B , that an amount of translation undergone through the lumen of the sleeve  552   a  of the first Bowden cable  552  by a portion of the cable  513  of the first Bowden cable  552  at a particular time during a varying of the length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554  (e.g., due to an increase in distance between second sleeve slider  556   b  and the stationary master slider  556   a ) is at least substantially equal in magnitude to an amount of translation undergone through the lumen of the sleeve  554   a  of the second Bowden cable  554  by a portion of the cable  554   b  of the second Bowden cable  554  at the particular time during the varying of the length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554  (e.g., due to the increase in distance between second sleeve slider  556   b  and the stationary master slider  556   a ). 
     A third Bowden cable may be employed in some embodiments. For example, a third Bowden cable  555  other than at least the second Bowden cable  554  may be employed in various embodiments. For example, control element  513  may, in some embodiments, provide a third Bowden cable  555  made up of sleeve  513   a  and cable  513   b . It is also noted in various embodiments associated with  FIGS. 7A and 7B , (and described in greater detail later in this disclosure) that an amount of translation undergone through the lumen of the sleeve  513   a  of the third Bowden cable  555  by a portion of the cable  513   b  of the third Bowden cable  555  at a particular time during a varying of the length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554  (e.g., due to an increase in distance between second sleeve slider  556   b  and the stationary master slider  556   a ) is greater in magnitude than an amount of translation undergone through the lumen of the sleeve  554   a  of the second Bowden cable  554  by a portion of the cable  554   b  of the second Bowden cable  554  at the particular time during the varying of the length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the sleeve  554   a  of the second Bowden cable  554  (e.g., due to the increase in distance between second sleeve slider  556   b  and the stationary master slider  556   a ). In this illustrated embodiment, the first Bowden cable  552  and the third Bowden cable  555  provided by control element  513  have different respective sleeves but share a common or same cable (i.e., cable  513   b ). In other embodiments, a third Bowden cable may be distinct from control element  513 . 
     In some embodiments, such as those illustrated by  FIGS. 7A and 7B , the second sleeve slider  556   b  (an example of an actuator) is at least operatively coupled to the first Bowden cable  552  to cause a change (e.g., an increase or decrease) in an amount of the length (e.g., due to the relative movement between the second sleeve slider  556   b  and the stationary master slider  556   a ) of the first part  513   b - 1  of the cable  513  of the first Bowden cable  552  that extends outwardly from the first end  552   a - 1  of sleeve  552   a  during at least part of a varying (e.g., due to the relative movement between the second sleeve slider  556   b  and the stationary master slider  556   a ) of the length of the first part  554   b - 1  of the respective cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of sleeve  554 . 
     In some embodiments associated with  FIGS. 7A and 7B , each of the second end  554   a - 2  of the second sleeve  554  and the second end  552   a - 2  of the sleeve  552   a  translates during at least part of the varying of the length of the first part  554   b - 1  of the respective cable  554   b  that extends outwardly from the first end  554   a - 1  of second sleeve  554   a.    
     Since the second cable  554   b  is physically coupled to slave slider  548   b  (i.e., via the first part  554   b - 1  of cable  554   b ), the slave slider  548   b  is also moved (i.e., proximally in this illustrated embodiment) relative to sleeve slider  548   a  during the relative movement between second sleeve slider  556   b  and the stationary master slider  556   a.    
     While the second sleeve slider  556   b  moves proximally, away from the stationary master slider  556   a  with a particular rate (e.g., under the pushing influence from the projection  528 ), the control element  513  is metered with a relatively faster rate (e.g., the 2× rate in some embodiments) discussed herein with respect to  FIG. 6 , according to some embodiments. Typically, in various embodiments, this movement of the second sleeve slider  556   b  away from the stationary master slider  556   a , and its accompanying control element faster metering rate, occurs while the manipulable portion  502  is being advanced outwardly from the distal end  512   b  of the catheter sheath  512  due to a relative movement between the shaft  510  and the catheter sheath  512 . In some embodiments, this faster metering rate is due to the occurrence of two concurrent movements. The first of the two concurrent movements is a movement of a portion of the first Bowden cable  552  (e.g., at least the first end  552   a - 1  of its sleeve  552   a  together with its cable  513   b ) proximally due to the proximal movement of the slave slider  548   b . The second of the two concurrent movements is a relative movement between the cable  513   b  of the first Bowden cable  552  and the sleeve  552   a  of the first Bowden cable  552  due to a proximal movement of at least the second end  552   a - 2  of sleeve  552  (e.g., due to proximal movement of the second sleeve slider  556   b ). The combination of the first and second of the two concurrent movements causes the faster control cable metering rate (e.g., the 2× rate in some embodiments). 
     However, as the second sleeve slider  556   b  continues to translate proximally under the influence of the pushing from the projection  528 , in some embodiments, the distance between the master slider  556   a  and the second sleeve slider  556   b  reaches a defined amount sufficient to remove slack in tether  558  (or  810 ) and allow tether  558  (or  810 ) to be sufficiently tensioned to cause the master slider  556   a  to unlock (e.g., by way of a locking/unlocking device of  FIG. 8 ) and move along guide channel  542   d  (or  804 ). Upon unlocking, master slider  556   a  is moveable (i.e., proximally in this illustrated embodiment) by further movement of second sleeve slider  556   b  (i.e., proximally in this illustrated embodiment), and, since there is no more relative movement between the master slider  556   a  and the second sleeve slider  556   b  (i.e., the master slider  556   a  is in an unlocked state), the cable  554   b  of the second Bowden cable  554  no longer moves relative to its sleeve  554   a  (e.g.,  FIG. 7B ). Consequently, the first of the above-discussed two concurrent movements no longer exists, thereby leaving only the movement of the cable  513   b  through sleeve  552   a  as the second sleeve slider  556   b  continues to move proximally while pulling the master slider  556   a  with it. Without the movement of the first end  552   a - 1  of the sleeve  552   a  of the first Bowden cable  552  in this tensioned-tether state, the control element metering rate drops to a relatively slower rate (e.g., the 1× rate in some embodiments) discussed herein with respect to  FIG. 6 , according to some embodiments. In various embodiments of  FIGS. 7A and 7B , sleeve slider  548   a  remains stationary during the associated movements. 
     In some embodiments, the tensioned-tether state (e.g.,  FIG. 7B ) causes the slave slider  548   b  to cease moving relative to the sleeve slider  548   a . In some embodiments, tether  558  acts as a stop configured to restrict at least the slave slider  548   b  from being translated by more than a maximum amount. In some embodiments, tether  558  acts as a stop configured to restrict at least the first end  552   a - 1  of sleeve  552   a  from being translated by more than a predetermined or defined amount. In various embodiments, the control system (which also may be referred to as an actuator system in some embodiments)  545 , in a particular state in which the first end  552   a - 1  of sleeve  552   a  of the first Bowden cable  552  has been translated by a predetermined amount, causes the first Bowden cable  552  to vary the length of the first part  513   b - 1  of cable  513   b  of the first Bowden cable  552  that extends outwardly from the first end  552   a - 1  of sleeve  552   a  of the first Bowden cable  552 , and causes the second Bowden cable  554  to cease varying the length of the first part  554   b - 1  of the cable  554   b  of the second Bowden cable  554  during a varying of the length of the first part  513   b - 1  of cable  513   b  of the first Bowden cable  552  that extends outwardly from the first end  552   a - 1  of sleeve  552   a  of the first Bowden cable  552  after at least the first end  552   a - 1  of sleeve  552   a  of the first Bowden cable  552  has translated by the predetermined amount. The predetermined amount may be an amount of or related to a distance between the master slider  556   a  and second sleeve slider  556   b  in which tension in the tether  558  reaches a predetermined threshold. In addition, in some embodiments, in the particular state in which the first end  552   a - 1  of sleeve  552   a  of the first Bowden cable  552  has been translated by the predetermined amount, the control system (which also may be referred to as an actuator system in some embodiments)  545  causes at least the second end  554   a - 2  of the sleeve  554   a  of the second Bowden cable  554  to translate during the varying of the length of the first part  513   b - 1  of cable  513   b  of the first Bowden cable  552  that extends outwardly from the first end  552   a - 1  of sleeve  552   a  of the first Bowden cable  552  after at least the first end  552   a - 1  of sleeve  552   a  of the first Bowden cable  552  has translated by the predetermined amount. 
     In  FIGS. 7 and 8  tethers  558 ,  810  may be provided by a flexible element (e.g., a flexible cable or line) according to various embodiments. In other embodiments other forms of tethers may be employed including by way of non-limiting example, telescoping members that can telescope between predetermined minimum and maximum extents. In other embodiments, other tethers may be provided by a pin-in-channel type coupling in which a pin is physically coupled to a first member and the channel is coupled to a second member, and relative movement between the first and second members is controlled by various stop features that limit movement of the channel. 
     In some embodiments, the particular state is a state in which the second end  554   a - 2  of sleeve  554   a  of the second Bowden cable  554  has been translated by a predetermined amount (e.g., with respect to the master slider  556   a ). In some embodiments, the particular state is a state in which the length of the first part  554   b - 1  of the respective cable  554   b  of the second Bowden cable  554  that extends outwardly from the first end  554   a - 1  of the respective sleeve  554   a  of the second Bowden cable  554  has been varied by a predetermined amount. 
     It is noted in various embodiments, when the relative movement of the projection  528  relative to the housing  520  changes direction, the movement of the second sleeve slider  556   b  also changes direction. For example, when the movement of the projection  528  is changed from moving proximally to moving distally, the second sleeve slider  556   b  is also changed to move distally, thereby reducing tension on the tether  558  (or  810 ) and causing master slider  556   a  to lock (e.g., by the locking mechanism of  FIG. 8 ) and thereby restrict movement thereof along guide  542   d  (or  804 ) in the proximal direction. In this case, the relative movement between the second sleeve slider  556   b  and the now stationary master slider  556   a  can cause a reduction of an amount of length of the second part  554   b - 2  of the cable  554   b  as the distance between the second end  554   a - 2  of sleeve  554   a  and the master slider  556   a  reduces. The reduction in the amount of length of the second part  554   b - 2  of the cable  554   b  causes an increase in an amount of length of the first part  554   b - 1  of cable  554   b  (e.g., an increase in length thereof which reduces tension in the first part  554   b - 1  of cable  554   b ), which in turn allows the slave slider  548   b  to move distally under the influence of a reactive force provided by sleeve  552   a  due to tension in control cable  513   b . In various embodiments, distal movement of a portion of cable  513   b  outwardly from housing  520  accompanies distal movement of the slave slider  548   b . In various embodiments, play-out of a portion of cable  513   b  outwardly from housing  520  accompanies distal movement of the slave slider  548   b.    
     In various embodiments, the distal movement of slave slider  548   b  continues until the second sleeve slider  556   b  and the master slider  556   a  come into contact. At that point, further distal movement of the second sleeve slider  556   b  pushes the master slider  556   a  distally. A lack of relative movement between the master slider  556   a  and the second sleeve slider  556   b  results in no movement of the slave slider  548   b  relative to sleeve slider  548   a . In some embodiments, as the second sleeve slider  556   b  pushes the master slider  556   a  distally, a reduction in the amount of length of the second part  513   b - 2  of control cable  513   b  occurs, which in turn, allows for a distal movement of a portion of cable  513   b  outwardly from housing  520 . In some embodiments, as the second sleeve slider  556   b  pushes the master slider  556   a  distally, a reduction in the amount of length of the second part  513   b - 2  of control cable  513   b  occurs, which in turn, allows for a play-out of a portion of cable  513   b  outwardly from housing  520 . 
     Withdrawal of the projection  528  from the housing  520  accompanies a distal movement of the internal receiving mechanism  556 , according to some embodiments. In this state, in some embodiments, the second sleeve slider  556   b  moves toward the master slider  556   a , releasing tension in the tether  558  and causing both of the above-discussed two concurrent movements (albeit distally, not proximally), and a relatively faster control element metering rate (e.g., the 2× rate in some embodiments). When the distal movement of the second sleeve slider  556   b  causes second sleeve slider  556   b  to come into contact with the master slider  556   a , master slider  556   a  is pushed distally. In this state, both the second sleeve slider  556   b  and the master slider  556   a  move together distally, so that little or no relative movement occurs between the cable  554   b  and sleeve  554   a  of the second Bowden cable  554 , leaving only or primarily, the movement of cable  513   b  relative to sleeve  552   a . Without the relative movement occurring between the cable  554   b  and sleeve  554   a  of the second Bowden cable  554 , the control element metering rate drops to a relatively slower rate (e.g., the 1× rate in some embodiments) discussed herein with respect to  FIG. 6 , according to some embodiments. In various embodiments, sleeve slider  548   a  remains stationary during these movements. 
     It is noted in various embodiments that when the second sleeve slider  556   b  moves distally or proximally in a manner where a relative positioning between the second sleeve slider  556   b  and the master slider  556   a  is changing, the slave slider  548   b  is caused to move in the same direction of travel as the second sleeve slider  556   b . When the second sleeve slider  556   b  moves distally or proximally in a manner where a relative positioning between the second sleeve slider  556   b  and the master slider  556   a  is not changing (e.g., when the master slider  556   a  moves along with the second sleeve slider  556   b ), the slave slider  548   b  does not move relative to sleeve slider  548   a.    
     In various embodiments described above, the movement of the projection  528  relative to the housing  520  moves at least a portion of an actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) in a first direction (e.g., proximally along a linear path as defined in  FIGS. 7A and 7B ) and may be employed during manipulation or metering movement of at least a portion of cable  513   b  (an example of an elongated control element in some embodiments) in a manner that is the same or similar to that described with the take-up of the control line associated with line  602  in  FIG. 6 . When the relative movement of the projection  528  relative to the housing member  520  changes direction, the portion of the actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) moves in a second direction different than (e.g., opposite) the first direction (e.g., distally along a linear path as defined in  FIGS. 7A and 7B ) and may be employed during manipulation or metering movement of cable  513   b  in a manner that is the same or similar to that described with the play-out of the control line associated with line  604  in  FIG. 6 . In various embodiments, movement of the portion of the actuator in the first direction is associated with an amount of the length  528   a  of projection  528  within receiver  529  increasing in magnitude, while movement of the portion of the actuator in the second direction is associated with an amount of the length  528   a  of projection  528  within receiver  529  decreasing in magnitude. In some embodiments, movement of the portion of the actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) in the first direction is associated with a transition of the manipulable portion  502 , at least in part, toward or to an expanded configuration, while movement of the portion of the actuator in the second direction is associated with a transition of the manipulable portion  502 , at least in part, toward or to a delivery configuration. 
     In various embodiments, the actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) is operatively coupled to the cable  513   b  (an example of at least a portion of an elongated control element) to cause an increase and a subsequent decrease in an amount of the length of the cable  513   b  located outside of the distal end  512   b  of catheter sheath  512  when at least the portion of the actuator moves in the first direction (e.g., proximally as defined in  FIGS. 7A and 7B ), which may, in some embodiments, accompany or be required by an advancement of manipulable portion  502  outwardly from the distal end  512   b  of the catheter sheath  512 , as shown by the sequence represented consecutively in  FIGS. 5H, 5I and 5J . In this regard, in some embodiments, at least a portion of the actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) is moveable (and, in some embodiments, is selectively moveable, e.g., by way of the projection  528 , or by relative movement between shaft  510  and catheter sheath  512 ) in each of one particular direction (e.g., the first direction) and a second direction different than the one particular direction (e.g., the first direction) to manipulate at least the portion of the cable  513   b  (an example of at least part of a control element). This movement of at least the portion of the actuator in each of the first direction and the second direction may be with respect to the housing  520 . 
     In various embodiments, the actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) is operatively coupled (to the cable  513   b  (an example of at least part of an elongated control element) to cause an increase and a subsequent decrease in an amount of the length of the cable  513   b  located outside of the distal end  512   b  of catheter sheath  512  when at least the portion of the actuator moves in the second direction (e.g., distally as defined in  FIGS. 7A and 7B ), which may, in some embodiments, accompany or be required by a retraction of manipulable portion  502  into the distal end  512   b  of the catheter sheath  512 , as shown by the sequence represented consecutively in  FIGS. 5J, 5I and 5H . 
     In some embodiments, a modulation actuator (e.g., second particular actuator  540   b , some other actuator or actuator set, or a portion of at least one of these actuators) may be physically or operatively coupled to the manipulable portion  502  to modulate at least a size, a shape, or both a size and a shape of the manipulable portion  502 , e.g., at least in a state where at least a part of the manipulable portion  502  and a part of the cable  513   b  (an example of at least part of a control element) extends outside of the distal end  512   b  of the catheter sheath  512  (e.g.,  FIG. 5C ). In some embodiments, the modulation actuator is operable to selectively move at least in part (e.g., by way of the projection  528 , or relative movement between shaft  510  and catheter sheath  512 ) the manipulable portion  502  between a delivery configuration in which the manipulable portion  502  is sized, shaped, or both sized and shaped to be delivered through the first lumen  512   d  of the catheter sheath  512  and an expanded configuration in which the manipulable portion  502  is sized, shaped, or both sized and shaped too large for delivery through the first lumen  512   d  of the catheter sheath  512 . 
     In some embodiments, the control system (e.g., an actuator system in some embodiments)  545 , or one or more components of system  100  or control system  322 , such as controller  324 ) may be physically or operatively coupled to or include the actuator (e.g., the internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators), and may be configured to cause the actuator (e.g., the internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) to manipulate at least the portion of the cable  513   b  (e.g., at least part of a control element) to cause a length of the part of the cable  513   b  extending outside the distal end  512   b  of the catheter sheath  512  to increase and then subsequently decrease during or throughout a movement of at least the portion of the actuator in the one particular direction (e.g., in the first direction, proximal direction causing the advancement sequence of  FIGS. 5H, 5I, 5J  or in the second, distal direction causing the retraction sequence of  FIGS. 5J, 5I, 5H ). The movement of at least a portion of the actuator (e.g., the internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) in the one particular direction may be associated with a relative movement between the shaft  510  and the catheter sheath  512 , when part of the shaft  510  is located in the lumen  512   d  of the catheter sheath  512 . In some of these embodiments, a part of the manipulable portion  502  extends outside the distal end  512   b  of the catheter sheath  512  and has a size, a shape, or both a size and a shape too large to fit in the lumen of the catheter sheath (for example, as shown in  FIGS. 5I and 5J ) during or throughout the movement of at least the portion of the actuator in the one particular direction. In some of these embodiments, cable  513   b  is located, at least in part, in the lumen  512   d  of catheter sheath  512  during the movement of at least the portion of the actuator in the one particular direction. In some of these embodiments, shaft  510  is located at least in part, in the lumen  512   d  of catheter sheath  512  during the movement of at least the portion of the actuator in the one particular direction. In some embodiments, such control system  545  may be configured to cause the modulation actuator to modulate the manipulable portion  502 , such that a part of the manipulable portion  502  extending outside the distal end  512   b  of the catheter sheath  512  has a size, a shape, or both a size and a shape too large to fit in the lumen  512   d  of the catheter sheath  512  (for example, as shown in  FIGS. 5I and 5J ) during or throughout the movement of at least a portion of the actuator (e.g., the internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) in the one particular direction. 
     In some embodiments, the actuator and the modulation actuator are the same device, or the actuator includes the modulation actuator. For example, the actuator may be the internal receiving mechanism  546 , and the modulation actuator may be the master slider  556   a  or the sleeve slider  556   b  of the internal receiving mechanism  546 . In this regard, it should be noted that the present invention is not limited to any particular actuator configuration. For example, although the internal receiving mechanism  546  is identified in some examples above as an actuator, any other component of catheter system  500  that achieves a desired function or result may alternatively be considered an actuator. For instance, although the internal receiving mechanism  546  may be deemed an actuator configured to move along a linear path when moving in the first direction (e.g., proximal direction in  FIG. 7 ) or in the second direction (e.g., distal direction in  FIG. 7 ), a portion of cable  554   b , sleeve  554   a , or each of the cable  554   b  and sleeve  554   a  may be considered a portion of such actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) due to their operative coupling, such that the portion of cable  554   b , sleeve  554   a , or each of the cable  554   b  and sleeve  554   a  follows an arcuate or coiled path (e.g.,  FIGS. 7A and 7B ) when the internal receiving mechanism  546  is moving in the first direction (e.g., proximal direction in  FIG. 7 ) or in the second direction (e.g., distal direction in  FIG. 7 ). 
     In various embodiments, the amount of cable  513   b  within the housing  520  will vary in accordance with the movement of projection  528  when received by receiver  529 . It is further noted that the amount of the portion  514  of cable  513   b  extending outwardly from the distal end  512   b  of the catheter sheath  512  will vary inversely (e.g., linearly or non-linearly) with an increase or decrease in an amount of the cable  513  located within the housing  520 . In various embodiments, when movement of the projection  528  causes the second sleeve slider  556   b  to move distally or proximally in a manner where a relative positioning between the second sleeve slider  556   b  and the master slider  556   a  is changing, take-up of cable  513   b  (e.g., occurring during insertion of projection  528  inwardly into receiver  529 ) or play-out (e.g., occurring during retraction of projection  528  outwardly from receiver  529 ) occurs at a 2:1 ratio with the movement of the projection  528 . This occurs because the slave slider  548   b  moves concurrently with the movement of the second sleeve slider  556   b  relative to the stationary master slider  556   a . When movement of the projection  528  causes the second sleeve slider  556   b  to move distally or proximally in a manner where a relative positioning between the second sleeve slider  556   b  and the master slider  556   a  is not changing, take-up of cable  513   b  (e.g., occurring during insertion of projection  528  inwardly into receiver  529 ) or play-out of cable  513   b  (e.g., occurring during retraction of projection  528  outwardly from receiver  529 ) occurs at a 1:1 ratio with the movement of the projection  528 . This occurs because the slave slider  548   b  does not move relatively to sleeve slider  548   a  during this movement. 
     It is understood that in various embodiments, the actual rate that cable  513   b  is metered during take-up or play-out is dependent on the actual rate of relative movement between projection  528  and receiver  529 . That is, in various embodiments a defined speed ratio between the metering rate of cable  513   b  and the rate of relative movement between projection  528  and receiver  529  controls the actual metering rate of control cable  513   b . The speed ratio specifies an output speed associated with an output portion of a particular device as a function of an input speed associated with an input portion of the particular device. It is noted in  FIGS. 7A and 7B , that although a portion of a control element manipulation actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) moves along an essentially linear path during the take-up or play-out of cable  513   b , the invention is not so limited, and the portion of the actuator may move along an arcuate path during the take-up or play-out of cable  513   b  in other embodiments. 
     In some embodiments, control system  545  is physically or operatively coupled to at least one control element manipulation actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) to control at least the actuator to cause movement of at least a portion of an elongated control element (e.g., cable  513   b ), e.g., along a path extending toward the manipulable portion  502 , by metering the portion of the elongated control element with (a) a first rate of movement in response to at least a portion of the control element manipulation actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) moving (e.g., with respect to the housing  520 ) with a particular rate of movement in a first direction (e.g., proximally as defined in  FIGS. 7A and 7B ), and (b) a second rate of movement in response to the at least a portion of the control element manipulation actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) moving (e.g., with respect to the housing  520 ) with the same particular rate of movement in a second direction different than the first direction (e.g., distally as defined in  FIGS. 7A and 7B ), such that a first ratio of the first rate of movement to the particular rate of movement is different than a second ratio of the second rate of movement to the particular rate of movement, e.g., when a portion of cable  513   b  (an example of an elongated control element in some embodiments) is positioned at a particular location. 
     In various embodiments, a modulation actuator is operable to selectively move manipulable portion  502  or structure  502   a  thereof between a delivery configuration in which manipulable portion  502  or structure  502   a  thereof is sized or shaped to be delivered through a bodily opening leading to a bodily cavity and an expanded configuration in which the manipulable portion  502  or structure  502   a  thereof is sized or shaped too large for delivery through the bodily opening. In some of these various embodiments, such as those described above with respect to  FIG. 6 , control system  545  controls at least one control element manipulation actuator by switching a ratio of (a) a rate at which the portion of the elongated control element (e.g., cable  513   b ) is metered to (b) a rate of movement of at least the portion of the control element manipulation actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) between each ratio of a first set of two or more different predetermined ratios when the modulation actuator transitions the manipulable portion  502  from the delivery configuration to the expanded configuration. On the other hand, in some embodiments, the control system  545  controls the control element manipulation actuator to vary movement of the control element by switching the ratio of (a) to (b) between each ratio of a second set of two or more different predetermined ratios when the modulation actuator transitions the manipulable portion  502  from the expanded configuration to the delivery configuration. In some of these various embodiments, the first ratio is a member of the first set and the second ratio is member of the second set. In some embodiments, at least one of the predetermined ratios in the first set is the same as one of the predetermined ratios in the second set. In some embodiments, at least two of the predetermined ratios in the first set are the same as at least two of the predetermined ratios in the second set. 
     For example, in  FIG. 6 , the control line is metered with a first set of two different predetermined rates (i.e., line  602 ) during take-up of the control line and is metered with a second set of two different predetermined rates (i.e., line  604 ) during play-out of the control line. When a particular amount of the associated structure is located outside the distal end of the catheter sheath (e.g., a particular amount represented by 70 mm on the horizontal axis), the control line is metered with a first rate of the first set during control line take-up (i.e., portion  602   b  of line  602 ) that is different (e.g., twice the rate) than a second rate of the second set that the control line is metered with during control line play-out (i.e., portion  604   c  of line  604 ). When the metering rate of the control element is dependent on a given rate of movement of the portion of the control line manipulation actuator in each of the metering directions (for example, as described with respect to  FIGS. 7A and 7B ), each of the predetermined rates in each of the first and second sets can be expressed as a ratio of the predetermined rate to the rate of movement of the portion of the control line manipulation actuator when the portion of the control line manipulation actuator is moved in each of different directions with the same rate of movement. 
     Stated another way, in various embodiments, a modulation actuator is operable to selectively move manipulable portion  502  or structure  502   a  thereof between a delivery configuration in which manipulable portion  502  or structure  502   a  thereof is sized or shaped to be delivered through a bodily opening leading to a bodily cavity and an expanded configuration in which the manipulable portion  502  or structure  502   a  thereof is sized or shaped too large for delivery through the bodily opening. In some of these various embodiments, such as those described above with respect to  FIG. 6 , control system  545  controls at least one control element manipulation actuator by switching a ratio of (a) a rate at which the portion of the elongated control element (e.g., cable  513   b ) is metered to (b) a rate of movement of at least the portion of the control element manipulation actuator (e.g., internal receiving mechanism  546 , some other actuator or actuator set, or a portion of at least one of these actuators) between each ratio of a first set of two or more different ratios when the modulation actuator transitions the manipulable portion  502  from the delivery configuration to the expanded configuration. In some embodiments, each ratio in the first set of two or more different ratios has a value corresponding to a respective one of a first set of two or more different predetermined values. On the other hand, in some embodiments, the control system  545  controls the control element manipulation actuator to vary movement of the control element by switching the ratio of (a) to (b) between each ratio of a second set of two or more different ratios when the modulation actuator transitions the manipulable portion  502  from the expanded configuration to the delivery configuration. In some embodiments, each ratio in the second set of two or more different ratios has a value corresponding to a respective one of a second set of two or more different predetermined values. In some embodiments, the first ratio is a member of the first set of two or more different ratios and the second ratio is member of the second set of two or more different ratios. In some embodiments, at least one of the predetermined ratios in the first set is the same as one of the predetermined ratios in the second set. In some embodiments, at least two of the predetermined ratios in the first set are the same as at least two of the predetermined ratios in the second set. 
     In some embodiments, the particular amount of the associated structure (e.g., the structure  502   a  of the manipulable portion  502 ) located outside the distal end  512   b  of the catheter sheath  512  is a particular size of the manipulable portion  502  or structure  502   a  thereof between the distal end  512   b  and the distal end of the manipulable portion  502 . In some embodiments, the particular amount of the manipulable portion  502  or structure  502   a  thereof located outside the distal end  512   b  of the catheter sheath  512  is a particular length of the manipulable portion  502  or structure  502   a  thereof extending from the distal end  512   b  to the distal end of the manipulable portion  502  or structure  502   a  thereof. In some embodiments, the particular amount of the manipulable portion  502  or structure  502   a  thereof located outside the distal end  512   b  of the catheter sheath  512  is a particular length of the manipulable portion  502  or structure  502   a  thereof extending along a surface of the manipulable portion  502  or structure  502   a  thereof from the distal end  512   b  to the distal end of the manipulable portion  502  or structure  502   a  thereof. In some embodiments, the particular amount of the manipulable portion  502  or structure  502   a  thereof located outside the distal end  512   b  of the catheter sheath  512  is a surface area or volume of a part of the manipulable portion  502  or structure  502   a  thereof located outside the distal end  512   b  of the catheter sheath  512 . In some embodiments, a particular amount of the manipulable portion  502  or structure  502   a  thereof extending outwardly from the distal end  512   b  of catheter sheath  512  corresponds to a particular amount of the length  528   b  of projection  528  being received in receiver  529  (for example as shown in  FIGS. 7A and 7B ). In some embodiments where the control line metering scheme depicted in  FIG. 6  is employed, a control system (e.g., control system  545 , or one or more components of system  100  or control system  322 , such as controller  324 ) may be configured to control at least a control line manipulation actuator that is the same or similar to that represented in  FIGS. 7A and 7B , when a particular amount of length  528   b  of projection  528  is received within receiver  529  during a transition of the manipulable portion  502  toward or to an expanded configuration, to cause cable  513   b  (an example of at least part of a control element or cable) to be metered with a first rate. On the other hand, in some embodiments, the control system may be configured to control at least the control line manipulation actuator, when the same particular amount of length  528   b  of projection  528  is received within receiver  529  during a transition of the manipulable portion  520  toward or to a delivery configuration, to cause control cable  513   b  to be metered with a second rate different than the first rate. 
     When the control line metering scheme depicted in  FIG. 6  is employed by a control line manipulation actuator that is the same or similar to that represented in  FIGS. 7A and 7B , each of portion  602   b  of line  602  and portion  604   b  of line  604  may be associated with a condition in which a relative positioning between the second sleeve slider  556   b  and the master slider  556   a  is changing, while each of portion of  602   c  of line  602  and portion  604   c  of line  604  may be associated with a condition in which a relative positioning between the second sleeve slider  556   b  and the master slider  556   a  is not changing. Accordingly a control loop that is the same or similar to that created by portions  602   b ,  602   c ,  604   b  and  604   c  may be established by the control system  545  for the metering of cable  513   b  as the manipulable portion  502  is advanced outwardly from the distal end  512   b  of catheter sheath  512  into an expanded configuration that is the same or similar to that shown in  FIG. 5J  and then subsequently retracted back into the confines of first lumen  512   d  (e.g., into a delivery configuration). It is noted in some embodiments, that metering action of the control line manipulation actuator represented in  FIGS. 7A and 7B  may in some cases be interrupted at various points along the control loop prior to a completion of an advancement of the manipulable portion  502  into the expanded configuration or prior to a completion of a retraction of the manipulable portion  502  back into the confines of first lumen  512   d . The interruption may be motivated, for example, by a user decision to reverse a movement of manipulable portion  502  to (a) retract the manipulable portion  502  rather than proceeding with the advancement of the manipulable portion  502  toward or to the expanded configuration, or (b) advance the manipulable portion rather than proceeding with the retraction of the manipulable portion  502  into the confines of the first lumen  512   d . In either case, a change in a metering direction of cable  513   b  is typically required during the reversal of movement of manipulable portion  502  caused by the interruption. 
     A required change in the metering direction of cable  513   b  may be motivated for various reasons including occurrences of slack or undesired level of tension in the cable  513   b  as described above in this disclosure. In various embodiments, an employed control element metering system (e.g., such as that represented in  FIGS. 7A and 7B ) is configured to, when interrupted from metering a portion of a control element (e.g., cable  513   b ) in a first particular metering direction to metering the portion of the control element in a second particular metering direction different than the first particular metering direction, cause a defined or predetermined change in metering rate to accompany the change in metering direction. That is, when the portion of the control element is interrupted from being metered with a first rate in a first metering direction to being metered in a second metering direction different than the first metering direction, the control element metering system can cause the portion of the control element to be metered with a second rate in the second metering direction, the second rate being different than the first rate. This mode of operation can occur at various points along the control loop. For example in  FIG. 6 , the control line is being metered with a first rate in a first metering direction (e.g., a take-up direction) associated with a portion  602   c  of line  602 . If the metering of the control line along portion  602   c  in the first metering direction is interrupted and metered in a second different metering direction (e.g., a play-out direction) before less than an intended amount of the device has been advanced outwardly from the distal end of the catheter sheath (for example, when only approximately 150 mm of the device has been advanced outwardly from the catheter sheath), the control line is not metered in the second metering direction with the first rate, but rather a second rate represented by line  606 . In various embodiments, the second rate is the same as the metering rate associated with portion  604   b  of line  604 . Advantageously, these various embodiments allow for the device to be manipulated in a particular desired manner that may be required by the change in the metering direction during the interrupted cycle. 
     In various embodiments associated with  FIGS. 5 and 7 , control system  545  is configured to cause movement of a portion of control element  513  (e.g., cable  513   b ) along a path extending toward manipulable portion  502 . Control system  545  may be further configured to, when a portion of the control element  513  is located at a particular position along the path, (a) meter movement of the portion of the control element  513  at a first rate in a first direction along the path away from the particular position at least in response to occurrence of a first state that triggers a transition of the manipulable portion  502  toward or to the expanded configuration, and (b) meter movement of the portion of the control element  513  at a second rate in a second direction along the path away from the particular position at least in response to occurrence of a second state that triggers a transition of the manipulable portion  502  toward or to the delivery configuration. In some embodiments, the second direction along the path is different than the first direction along the path and the second rate is different than the first rate. 
     In some embodiments, control system  545  is configured, when a particular amount of the manipulable portion  502  is located outside the distal end  512   b  of the catheter sheath  512  during a transition of the manipulable portion  502  toward or to the expanded configuration, to control an actuator to cause (a) control element  513  to have a first amount of length located outside the distal end  512   b  of the catheter sheath  512 , at least in response to occurrence of a first state that triggers a transition of the manipulable portion  502  toward or to the expanded configuration, and when the same particular amount of the manipulable portion  502  is located outside the distal end  512   b  of the catheter sheath  512  during a transition of the manipulable portion  502  toward or to the delivery configuration, to control the actuator to cause (b) control element  513  to have a second amount of length located outside the distal end  512   b  of the catheter sheath  512 , at least in response to occurrence of a second state that triggers a transition of the manipulable portion  502  toward or to the delivery configuration. In various ones of these embodiments, the first amount of length is different than the second amount of length. 
     In some embodiments, control system  545  is configured, when a particular relative positioning exists between the catheter sheath  512  and the shaft  510  received in the first lumen  512   d  of the catheter sheath  512  during a transition of the manipulable portion  502  toward or to the expanded configuration, to control an actuator to cause (a) control element  513  to have a first amount of length located outside the distal end  512   b  of the catheter sheath  512 , at least in response to occurrence of a first state that triggers a transition of the manipulable portion  502  toward or to the expanded configuration, and when the same particular relative positioning exists between the catheter sheath  512  and the shaft  510  received in the first lumen  512   d  of the catheter sheath  512  during a transition of the manipulable portion  502  toward or to the delivery configuration, to control the actuator to cause (b) control element  513  to have a second amount of length located outside the distal end  512   b  of the catheter sheath  512 , at least in response to occurrence of a second state that triggers a transition of the manipulable portion  502  toward or to the delivery configuration. In various ones of these embodiments, the first amount of length is different than the second amount of length. The particular relative positioning may be a relative longitudinal positioning in some embodiments. 
     The first and the second states described above can take different forms in various embodiments. For example, the first state may be associated with a direction of relative moment between catheter shaft  512  and a portion of shaft  510  in first lumen  512   d  that decreases a distance between a location on catheter sheath  512  and a location on shaft  510  and the second state may be associated with a direction of relative moment between catheter shaft  512  and a portion of shaft  510  in first lumen  512   d  that increases a distance between a location on catheter sheath  512  and a location on shaft  510 . 
     In some embodiments associated with  FIGS. 7A and 7B , after leaving the confines of the sleeve  552   a , the second part  513   b - 2  of cable  513   b  is subjected to a bend (e.g., a 180 degree bend) in a guide  560  before coupling to the forming slider  561  associated with first particular actuator  540   a . In various embodiments, guide  560  is relatively rigid in form and does not flex like sleeves  552  and  554 . The use of guide  560  may be motivated by various reasons including imparting a serpentine path to the cable  513   b  to reduce an overall size of housing  520  or additionally or alternatively, guiding cable  513   b  to another guide in guide system  542  or additionally or alternatively, changing an activation direction of forming slider  561 . Forming slider  561  may be configured to move along guide  542   a . The operation of forming slider  561  is described later in this disclosure. 
       FIGS. 5S-1, 5S-2, 5S-3, 5S-4, 5S-5, and 5S-6  (collectively  FIG. 5S ) are top plan views of various actuator sets associated with catheter system  500 , various ones of the actuators in the sets positioned in particular activation positions associated with different particular states of the expanded configuration of manipulable portion  502  according to various embodiments. In some embodiments, various ones of the actuator sets may include one or more actuators selectively moveable between at least two different activation positions. For example, an actuator may be selectively moveable from a respective first activation position into a second activation position to change a size, a shape, or both a size and a shape of an expanded configuration of manipulable portion  502  from one particular state to another particular state. In various embodiments, an actuator set (e.g., first actuator set  540 ) may include two or more actuators, each of the actuators in the actuator set independently or separately moveable from the other actuators in the actuator set from a respective first activation position into a respective second activation position to independently change a size, a shape, or both a size and a shape of an expanded configuration of manipulable portion  502  from one particular state into another particular state. It is noted in at least some of the embodiments of  FIG. 5S  that shaft  510  (not called out) is inserted into the first lumen  512   d  of catheter sheath  512  and that projection  528  (not called out) is received in receiver  529  (not called out in these figures). 
     In various embodiments, various components or devices associated with housing  520  have respective positionings depicted in  FIG. 5S-1  that correspond to an expanded configuration of manipulable portion  502  having a state that is the same or similar to the first fanned configuration  536  exemplified in  FIG. 5L-1 . It is understood that other configurations or configuration states of manipulable portion  502  may correspond to the configuration of housing  520  in  FIG. 5S-1  in other embodiments. Cover  520   a  is shown in a first position  570   a  in  FIG. 5S-1 . In various embodiments, first position  570   a  is also referred to as a closed position that may restrict user access to some other portion of housing  520  or some particular device or devices accommodated by housing  520 . In various embodiments, user access to various actuators in an actuator set is restricted when cover  520   a  is in the first position  570   a . For example, user access to a first actuator set (e.g., first actuator set  540 ) that includes first particular actuator  540   a  and second particular actuator  540   b  (or at least part of each of first particular actuator  540   a  and second particular actuator  540   b ) is restricted when cover  520   a  is in the first position  570   a  in some embodiments. In various embodiments, cover  520   a  is selectively moveable between first position  570   a  and a second position  570   b  (shown in  FIG. 5S-2 ) located to allow or permit user access to first particular actuator  540   a  and second particular actuator  540   b . In some embodiments, second position  570   b  is also referred to as an open position. In some embodiments, cover  520   a  forms part of an interlock whose operation prevents an operation of another device. For example, when the cover  520   a  is moved into the first position  570   a  from another position, access to, or operation of, first particular actuator  540   a  and second particular actuator  540   b  is prevented. 
     In various embodiments cover  520   a  forms part of, or is physically or operatively coupled to, an actuator that is selectively moveable between at least two different activation positions. In some embodiments, cover  520   a  forms part of, or is physically coupled to, an actuator that is selectively moveable between at least two activation positions to vary a size, a shape, or both a size and a shape of manipulable portion  502  or an expanded configuration of the manipulable portion  502 . For example, in some embodiments, cover  520   a  forms a part of an actuator set comprising an actuator  572  configured to vary a size, shape, or both size and shape of an expanded configuration of manipulable portion  502  from the first fanned configuration  536  exemplified in  FIGS. 5L-1, 5L-2  to a second fanned configuration  537  (also referred to as a bifurcated doming configuration) exemplified in  FIGS. 5M-1, 5M-2  when a movement of cover  520   a  causes actuator  572  (e.g., at least first fanning slider  572   a  shown in  FIG. 5R-1 ) to move from a first activation position (e.g., position  571   a  shown in  FIG. 5S-1 ) into a second activation position (e.g., position  571   b  shown in  FIG. 5S-2 ). In this regard, the actuator  572  (also referred to herein as a third particular actuator in some embodiments) is selectively moveable into a respective activation position (e.g.,  571   b ) to fan at least some of the plurality of elongate members  504  with respect to one another to create a fanned arrangement radiating from a location between the proximal portion  508   a  and the distal portion  508   b  of the manipulable portion  502  when the manipulable portion  502  is in the expanded configuration. It is understood that although first position  570   a  and position  571   a  are shown as being the same position in  FIG. 5S-1  and second position  570   b  and position  571   b  are shown as being the same position in  FIG. 5S-2 , (a) first position  570   a  and the first activation position may be different, (b) second position  570   b  and the second activation position may be different, or both (a) and (b) in other embodiments. In  FIG. 5M-1 , at least some of the elongate members  504  are additionally fanned by actuator  572  to reconfigure an expanded configuration of manipulable portion  502  from the first fanned configuration or state  536  to the second fanned configuration or state  537 . In various embodiments, at least some of the elongate members  504  are additionally fanned (e.g., fanned in addition to the autonomous fanning described above in this disclosure) to more fully or more evenly increase a circumferential distribution of the elongate members  504 . For example,  FIGS. 5L-2 and 5M-2  respectively show top plan views of the expanded manipulable portion  502  in the first fanned configuration  536  and the second fanned configuration  537 . As compared with  FIG. 5L-2 , various portions of the elongate members  504  are more fully or more completely circumferentially distributed in  FIG. 5M-2 . 
     A fuller or more complete circumferential distribution of the elongate members  504  may be motivated by various reasons. For example, such a distribution may be better suited for distributing an array of transducers (e.g., transducers  506 ) over a greater interior surface region of bodily cavity into which manipulable portion  502  is introduced. In various embodiments associated with  FIG. 5M-1 , the proximal portion  508   a  of manipulable portion  502  forms a first domed shape  508   a - 1 , and the distal portion  508   b  of manipulable portion  502  forms a second domed shape  508   b - 1 , when the manipulable portion is in a deployed configuration. 
     Different actuators may be implemented as actuator  572  in various embodiments. In some embodiments associated with  FIG. 5M-1 , actuator  572  may work in a same or similar fashion to the separator  2852  described in co-assigned International Application No.: PCT/US2012/022061, which is incorporated herein by reference. For example, actuator  572  may include a mechanism that converts an input movement (e.g., an input movement of cover  520   a ) into an output movement of various control elements  573  (shown in  FIG. 5M-1 ) in a manner suitable for additionally fanning of the elongate members  504 . In  FIG. 5M-1 , each control element  573  includes a control cable  573   b  received in a lumen of sleeve  573   a  (e.g., the same or similar to flexible lines  2853  and tubular members  2854  in co-assigned International Application No.: PCT/US2012/022061, which is incorporated herein by reference). In  FIG. 5M-1  sleeves  573   a  are physically coupled (or, in some embodiments, fixedly coupled) to surface  518   b  of an elongate member  504  (e.g., an elongate member  504  positioned at the bottom of the stacked arrangement), each of the sleeves  573   a  sized to terminate at a respective location along a length of the elongate member  504 . In various embodiments, each of at least some of the sleeves  573   a  is sized to terminate at different longitudinal locations along the length of elongate member  504 . Each of the termination locations is a selected position where exiting portions of the respective cables  573   b  may be positioned at a desired location along the length of the elongate member  504 . Each termination location may be chosen to advantageously allow the respective exiting cable  573   b  to apply force with sufficient mechanical advantage to move the expanded configuration of the manipulable portion  502  between the two fanned states. From each termination location, the respective exiting cable  573   b  is physically coupled to an adjacent elongate member  504 . In  FIG. 5M-1  two sets of exiting cables  573   b  couple the two portions  508   a  and  508   b  to additionally fan the elongate members (i.e., one set of the exiting cables  573   b  being on a far side of manipulable portion  502  depicted in  FIG. 5M-1  and thereby not visible). In various embodiments, movement of the actuator  572  from the first activation position (e.g., position  571   a ) into the second activation position (e.g., position  571   b ) (for example, as a consequence of movement of cover  520   a ) increases tension levels in various cables  573   b  sufficiently to draw the associated coupled adjacent elongate members  504  toward each other to move the manipulable portion  502  from the first fanned configuration or state  536  into the second fanned configuration or state  537 . For example, with reference to  FIGS. 5R-1 and 5R-2 , actuator  572  includes a first fanning slider  572   a  moveable along guide  542   e  and a pair of second fanning sliders  572   b ,  572   c , each moveable along guide  542   f . In various embodiments, various ones of the cables  573   b  (not shown in  FIGS. 5R-1, 5R-2  for clarity) are physically coupled to respective ones of the second fanning sliders  572   b ,  572   c . First fanning slider  572   a  is physically coupled (for example via passageway or channel between guides  542   e  and  542   f ) to at least one of the second fanning sliders  572   b ,  572   c  to move the connected at least one of the second fanning sliders  572   b ,  572   c  to increase tension levels in the various ones of the cables  573   b  when first fanning slider  572   a  is moved, for example, between the first activation position (e.g., position  571   a ) and the second activation position (e.g., position  571   b ) (e.g., as a consequence of movement of cover  520   a ). In some embodiments, various devices may be employed to delay a movement of one of the second fanning sliders  572   b ,  572   c  until another of the second fanning sliders  572   b ,  572   c  has moved by a desired amount or has moved to a desired location under the influence of a movement of first sleeve slider  572   a . Such delays may be used to move the expanded configuration of the manipulable portion  502  between the two fanned states in a series of staged movements. In some embodiments, a movement of one of the second fanning sliders  572   b ,  572   c  may stop before another of the second fanning sliders  572   b ,  572   c  does. In various embodiments, the respective sleeve  573   a  associated with each respective cable  573   b  maintains the respective cable  513   b  in a position suitable for applying the fanning force in a suitable direction during the tensioning of the cable  573   b  (e.g., which may be or may not be similar to a Bowden cable). Various ones of the elongate members  504  may be additionally physically coupled together by coupling members (similar to or the same as coupling members  2858  in co-assigned International Application No.: PCT/US2012/022061, which is incorporated herein by reference). In various example embodiments, each coupling member may allow movement of one of the elongate members  504  coupled by the coupling member to also cause movement of another of the elongate members  504  coupled by the coupling member. In some example embodiments, the coupling members are arranged to restrict or limit an amount of movement that an elongate member  504  undergoes as the portion of the device is moved into the second fanned configuration  537 . For clarity, control element  513  is not shown in  FIGS. 5M-1 and 5M-2 . For clarity, the various control elements  573  are only shown in  FIG. 5M-1 . In some embodiments, actuator  572  forms part of the first actuator set  540 . 
     In some embodiments, a locking device is selectively operable in a locked configuration which restricts cover  520   a  from moving at least in a direction away from the second position  570   b  (or, in some embodiments in which cover  520   a  forms part of actuator  572 , from the second activation position  571   b ) and an unlocked configuration which permits cover  520   a  to move at least in the direction away from the second position  570   b  (or from the second activation position  571   b ). For example, in some embodiments, biasing member  520   c  (i.e.,  FIG. 5R-1 ) is arranged to provide a force on cover  520   a  that biases cover  520   a  downward or toward an upper surface of housing  520 . When the cover  520   a  is moved from the first position  570   a  (i.e.,  FIG. 5S-1 ) to the second position  570   b  (i.e.,  FIG. 5S-2 ) (or from first activation position  571   a  to second activation position  571   b ), biasing member  520   c  forces the cover  520   a  downward to entrap a portion of the cover  520   a  against stop elements  520   d  (i.e., shown in  FIG. 5S-1 ) and thereby locking cover  520   a  at second position  570   b . In some embodiments, cover  520   a  is released from its locked state when a pulling force (for example as applied by a user) is applied upwardly to the cover  520   a  against the biasing action of biasing member  520   c  and out of unlocked engagement with stop elements  520   d . When the cover  520   a  is released from it locked state, movement away from second position  570   b  or second activation position  571   b  is permitted. In some embodiments, the ability to lock actuator  572  (for example via cover  520   a ) advantageously enables the second fanned configuration  537  to be maintained. 
     The expanded configuration may be moved into other, different states in some embodiments. It is noted in various embodiments that, in any of the various states of the expanded configuration, the manipulable portion  502  may be sized too large for delivery through the lumen  512   d  of catheter sheath  512  (e.g., during percutaneous delivery of manipulable portion  502 ) or at least a part of the manipulable portion  502  may be too large to fit in the lumen  512   d  of catheter sheath  512 . As compared between  FIGS. 5S-2 and 5S-3 , first particular actuator  540   a  is moved from a first activation position (e.g., position  574   a  shown in  FIG. 5S-2 ) into a second activation position  574   b  shown in  FIG. 5S-3 ) to vary a size, shape, or both size and shape of the expanded configuration of manipulable portion  502  from the second fanned configuration  537  exemplified in  FIGS. 5M-1, 5M-2  into an enlarged expanded configuration  538  exemplified in  FIG. 5N . In various embodiments, movement into the enlarged expanded configuration  538  may be caused by an increase in a radial spacing between various elongate members  504  in the circumferential distribution of the elongate members  504  associated with the second fanned configuration  537  (e.g., an increase in a radial distance of various ones of the elongate members  504  from a central axis of the circumferential distribution). In various embodiments, movement into the enlarged expanded configuration  538  may be caused by an increase in an overall size or dimension of the manipulable portion  502 . In various embodiments, movement into the enlarged expanded configuration  538  may be caused by an increase in a distance between respective apexes of the two domed shaped portions  508   a - 1  and  508   b - 1 . Changing the expanded configuration of the manipulable portion  502  into the enlarged expanded configuration  538  may be motivated for various reasons. For example, manipulable portion  502  may be manipulated into the enlarged expanded configuration  538  to create a conformance, or increase a level of conformance with a tissue surface within a bodily cavity into which the manipulable portion  502  is deployed. In some example embodiments, manipulable portion  502  may be further manipulated into the enlarged expanded configuration  538  to position various transducer elements  506  in closer proximity to an interior tissue surface within a bodily cavity. 
     In various example embodiments, first particular actuator  540   a  is moved from its respective first activation position  574   a  into its second activation position  574   b  to manipulate cable  513   b  to reduce a length of the portion  514  (not called out in  FIG. 5N ) of cable  513   b  that extends outwardly from sleeve  513   a  to manipulate the distal end of manipulable portion  502  into closer proximity to the sleeve  513   a . This movement of cable  513   b  draws the domed distal portion  508   b  in closer proximity to sleeve  513   a  and increases or enlarges an overall size of the manipulable portion  502 . With reference to  FIG. 7 , movement of the expanded configuration of manipulable portion  502  into the enlarged expanded configuration  538  accompanies a movement of forming slider  561  proximally along guide  542   a  to take up cable  513   b . In  FIG. 5S-3 , handle  543   a  of first particular actuator  540   a  has been rotated (e.g., by a user manipulation) in rotational direction  576  to cause a locking device (e.g., locking device of  FIG. 10 ) of first particular actuator  540   a  to move from an unlocked configuration to a locked configuration suitable for maintaining the first particular actuator  540   a  in the second activation position  574   b . In this regard, first Bowden cable  552  (i.e., which includes sleeve  552   a  and cable  513   b ) is operable in various different configurations. For example, in various embodiments, at least one actuator is physically or operatively coupled to the first Bowden cable  552  to (a) move the sleeve  552   a  independently or separately from the cable  513   b  to cause the sleeve  552   a  to slide over the cable  513   b  during a first manipulation of the manipulable portion  502  to change, a size, a shape, or both thereof (e.g., as described above with respect to the manipulation of manipulable portion  502  in  FIGS. 5H, 5I and 5J ), and (b) move the cable  513   b  independently or separately from the sleeve  552   a  to cause the cable  513   b  to slide through the lumen of the sleeve  552   a  during a second manipulation of the manipulable portion  502  to change a size, a shape, or both thereof (e.g., as described above with respect to the manipulable portion  502  in  FIG. 5N ). 
     In some embodiments, the expanded configuration of manipulable portion  502  is manipulated into other states. For example, as compared between  FIGS. 5S-3 and 5S-4 , first particular actuator  540   a  is unlocked and moved from a first activation position (e.g., position  574   b  shown in  FIG. 5S-3  and previously referred above in this disclosure as a second activation position associated with a transition into the enlarged expanded configuration  538 ) into a second activation position (e.g., position  574   c  shown in  FIG. 5S-4 ) to vary a size, shape, or both size and shape of the expanded configuration of manipulable portion  502  from the enlarged expanded configuration  538  exemplified in  FIG. 5N  into a flattened expanded configuration  539  exemplified in  FIG. 5O . As shown in  FIG. 5O , at least some of the elongate members  504  are further manipulated (e.g., at least by the first particular actuator  540   a  in  FIG. 7 , among others) to distort at least one of the domed shapes  508   a - 1 ,  508   b - 1  of a respective one of the proximal and the distal portion  508   a ,  508   b  of manipulable portion  502 . In this regard, in some embodiments, the first particular actuator  540   a  is selectively moveable into a respective activation position (e.g.,  574   b  or  574   c ) to (a) act on the proximal portion  508   a  of the manipulable portion  502  when the manipulable portion  502  is in the expanded configuration to distort the first domed shape  508   a - 1 , (b) act on the distal portion  508   b  of the manipulable portion  502  when the manipulable portion  502  is in the expanded configuration to distort the second domed shape  508   b - 1 , or both (a) and (b). In some embodiments, manipulable portion  502  is manipulated to have a more oblate shape. Changing the expanded configuration of the manipulable portion  502  into the flattened expanded configuration  539  may be motivated for various reasons. For example, manipulable portion  502  may be manipulated into the flattened expanded configuration  539  to better fit within a particular shape of a bodily cavity into which the manipulable portion  502  is deployed. 
     In  FIG. 5O , a control element  578  is provided to convert an input movement (e.g., an input movement of first particular actuator  540   a ) into an output movement suitable for manipulating the expanded configuration of manipulable portion  502  into the flattened expanded configuration  539 . In  FIG. 5O , the control element  578  includes a control cable  578   b  received in a lumen of sleeve  578   a  that is physically coupled to surface  518   b  of an elongate member  504 . In various embodiments, sleeve  578   a  is sized to extend generally circumferentially along the manipulable portion  502  and terminate at a location proximate the distal ends  505  of the elongate members  504 . From this termination location, the exiting cable  578   b  extends outwardly from the sleeve  578   a  and is physically coupled to the manipulable portion  502  at a location proximate a crossing location of various ones of the elongate members  504 . In various embodiments, a first particular actuator  540   a  causes an amount of length of the cable  578   b  exiting sleeve  578   a  to decrease as the first particular actuator  540   a  is moved between the activation positions  574   b  and  574   c . A reduction in the amount of length of the exiting portion of the cable  578   b  in turn flexes the expanded configuration of the manipulable portion  502  into the flattened expanded configuration  539 . As noted above in this disclosure, first particular actuator  540   a  may be physically or operatively coupled to cable  513   b  in various embodiments. In some of these various embodiments, first particular actuator  540   a  includes a mechanism configured to decouple from or cease manipulating control element  513   b  as the first particular actuator  540   a  is moved between activation positions  574   b  and  574   c . For clarity, control element  513  is not shown in  FIG. 5O . For clarity, control element  578  is only shown in  FIG. 5O . 
     In  FIG. 5S-4 , handle  543   a  of first particular actuator  540   a  has been rotated (e.g., by a user manipulation) in rotational direction  576  to cause a locking device (e.g., locking device of  FIG. 10 ) of first particular actuator  540   a  to move from an unlocked configuration to a locked configuration suitable for maintaining the first particular actuator  540   a  in the second activation position  574   c . It is noted that, in some embodiments, the first particular actuator  540   a  may be moved from some other first activation position (for example position  574   a  in  FIG. 5S-2 ) as it is moved directly or continuously toward or to the second activation position (e.g., position  574   c ) to move into the flattened expanded configuration  539  without pausing or stopping at position  574   b . That is, pausing or stopping at the enlarged expanded configuration  538  need not be required in some embodiments during a transition toward or to the flattened expanded configuration  539 . 
     In some embodiments, the expanded configuration of manipulable portion  502  may be manipulated into yet other states. For example, as compared between  FIGS. 5S-3 and 5S-5 , second particular actuator  540   b  may be moved from a first activation position (e.g., position  575   a  shown in  FIG. 5S-3 ) into a second activation position (e.g., position  575   b  shown in  FIG. 5S-5 ) to vary a size, shape, or both size and shape of the expanded configuration of manipulable portion  502  from the enlarged expanded configuration  538  exemplified in  FIG. 5N  into an open clam shell configuration  544   a  exemplified in  FIG. 5P . To arrive at the open clam shell configuration  544   a , in some embodiments, the distal portion  508   b  of the manipulable portion  502  is pivoted, by selective movement of the second particular actuator  540   b  into a respective activation position (e.g.,  575   b ), away from the proximal portion  508   a  of manipulable portion  502  to orient the respective domed shapes  508   b - 1 ,  508   a - 1  apart from one another. 
     For another example, as compared between  FIGS. 5S-3 and 5S-6 , second particular actuator  540   b  may additionally or alternatively be moved from a first activation position (e.g., position  575   a  shown in  FIG. 5S-3 ) into a second activation position (e.g., position  575   c  shown in  FIG. 5S-6 ) to vary a size, shape, or both size and shape of the expanded configuration of manipulable portion  502  from the enlarged expanded configuration  538  exemplified in  FIG. 5N  into a closed clam shell configuration  544   b  exemplified in  FIG. 5Q  as by way of another example. To arrive at the closed clam shell configuration  544   b , the distal portion  508   b  of the manipulable portion  502  is pivoted by selective movement of the second particular actuator  540   b  into a respective activation position (e.g.,  575   c ) toward or into the proximal portion  508   a  of manipulable portion  502 , which may, in some embodiments, enclose the respective domed shapes  508   b - 1 ,  508   a - 1  at least partially within one another. In this regard, in some embodiments, the second particular actuator  540   b  is selectively moveable into a respective activation position (e.g.,  575   b  or  575   c ) to pivot the proximal portion  508   a  and the distal portion  508   b  of the manipulable portion  502  with respect to one another when the manipulable portion  502  is in the expanded or deployed configuration. 
     Each of the open and closed clam shell configurations may be motivated for different reasons. For example, the open clam shell configuration  544   a  may be desired to increase an overall size of the manipulable portion  502 , while the closed clam shell configuration  544   b  may be desired to decrease an overall size of the manipulable portion  502 , thereby allowing the manipulable portion  502  to be accommodated in a various bodily cavities having a range of different sizes. 
     In various embodiments, a portion of control element  513  is manipulated by second particular actuator  540   b  to selectively transition the expanded configuration of the manipulable portion  502  into at least one of the open or closed clam shell configurations  544   a ,  544   b . For example, with reference to  FIG. 7 , movement of the expanded configuration of manipulable portion  502  into the closed clam shell configuration  544   b  of  FIG. 5Q  accompanies a movement of the second particular actuator  540   b &#39;s sleeve slider  548   a  distally along guide  542   b  to manipulate control element  513  to cause an amount of length of at least the sleeve  513   a  extending outwardly from the distal end  510   b  of shaft  510  to increase and apply a “push” force on the distal portion  508   b  to move at least toward the proximal portion  508   a  in various embodiments. In some embodiments, an amount of length of the cable  513   b  extending outwardly from the distal end  510   b  of shaft  510  also increases as sleeve slider  548   a  is moved distally. In some embodiments, both sleeve  513   a  and cable  513   b  are moved concurrently. In some embodiments, both sleeve  513   a  and a portion of cable  513   b  within the lumen of sleeve  513   a  are moved with little or no relative movement therebetween. 
     In some embodiments, movement of the expanded configuration of manipulable portion  502  into the open clam shell configuration  544   a  of  FIG. 5P  accompanies a movement of sleeve slider  548   a  proximally along guide  542   b  to manipulate control element  513  to cause an amount of length of at least the cable  513   b  extending outwardly from the distal end  510   b  of shaft  510  to decrease and apply a “pull” force on the distal portion  508   b  to move away from the proximal portion  508   a . In various embodiments, the extending portion of cable  513   b  is retracted into a notch or channel  547  positioned to allow for greater separation between the distal and proximal portions  508   a  and  508   b  in the open clam shell configuration. In some embodiments, sleeve  513   a  is additionally retracted proximally as sleeve slider  548   a  is moved proximally. In some embodiments, both sleeve  513   a  and cable  513   b  are moved concurrently. In some embodiments, both sleeve  513   a  and a portion of cable  513   b  within the lumen of sleeve  513   a  are moved with little or no relative movement therebetween. Channel  547  is shown only in  FIGS. 5P and 5Q  for clarity. 
     In each of  FIGS. 5S-5 and 5S-6 , handle  543   b  of second particular actuator  540   b  has been rotated (e.g., by a user manipulation) in rotational direction  577  to cause a locking device (e.g., locking device of  FIG. 10 ) of second particular actuator  540   b  to move from an unlocked configuration to a locked configuration suitable for maintaining the second particular actuator  540   b  in respective ones of the second activation positions  575   b  and  575   c.    
     As can be seen from  FIG. 5S , in some embodiments, each of the respective actuators (e.g.,  540   a ,  540   b ) in the first actuator set  540  comprises a handle (e.g.,  543   a ,  543   b ) operatively coupled to a respective locking device (e.g., locking device of  FIG. 10 ) to selectively move the respective locking device between an unlocked configuration and a locked configuration. 
     It is understood that in various embodiments, at least two of the actuators in the actuator set may be moved from their respective first activation positions into their second respective second activation positions to collectively change the size, the shape, or both a size and a shape of an expanded configuration of the manipulable portion  502  into a particular state. For example, both the first and second particular actuators  540   a  and  540   b  may be moved into various associated second activation positions to collectively change a size, a shape, or both a size and a shape of an expanded configuration of the manipulable portion  502  into combinations of the various states described above in this disclosure. In some embodiments, a user may chose the locations of the second activation positions and they need not occur at the end-of-travel. In some embodiments, the particular state includes, at least in part, a combination of the various states described above in this disclosure. The manipulable portion  502  has a size too large to be delivered percutaneously to the bodily cavity when the manipulable portion  502  is in the particular state, in some embodiments. 
     Multiple actuator sets may be associated with catheter system  500 . In some embodiments, a first actuator set includes one or more actuators at least operatively coupled to manipulable portion  502  to change or vary a size, a shape, or both a size and a shape of an expanded configuration of the manipulable portion  502 . In some embodiments, a first actuator set includes two or more actuators at least operatively coupled to the manipulable portion  502 , each of the actuators in the first actuator set independently or separately moveable from the other actuators in the first actuator set from a respective first activation position into a respective second activation position to independently change a size, a shape, or both a size and a shape of an expanded configuration of the manipulable portion  502 . As described above in this disclosure, at least two actuators in the first actuator set  540  may be moveable from their respective first activation positions into their respective second activation positions to collectively change the size, the shape, or both a size and a shape of the expanded configuration of the manipulable portion  502  into a particular state. In this regard, in some embodiments, the manipulable portion  502  is in the expanded configuration when the at least two actuators in the first actuator set  540  are in their respective first activation positions and when the at least two actuators in the first actuator set  540  are in their respective second activation positions. In some embodiments, the manipulable portion  502  has a size too large to be delivered percutaneously to the bodily cavity when the manipulable portion  502  is in the particular state. 
     For example,  FIGS. 5W-1, 5W-2, 5W-3, and 5W-4  (collectively,  FIG. 5W ) each respectively show plan and elevation views of a portion of catheter system  500  according to some embodiments. In particular,  FIG. 5W-1  shows a positioning of each of various actuators in first actuator set  540  including a positioning of first particular actuator  540   a  in respective second activation position  574   c  and a positioning of second particular actuator  540   b  in respective second activation position  575   b . Cover  520   a  has been moved from its first position  570   a  (e.g., called out in  FIGS. 5S-1 and 5W-4  but not shown in  FIG. 5W-1 ) to its second position  570   b  to permit user access to actuators  540   a  and  540   b  so as to allow movement of actuators  540   a  and  540   b  into their respective second activation positions  574   c ,  575   b  from their respective first activation positions  574   a ,  575   a  (e.g., called out in  FIG. 5S-2  but not called out in  FIG. 5W-1 ). Additionally, third particular actuator  572  has been moved (e.g., via manipulation of cover  520   a ) into its respective second activation position  571   b  from its first activation position  571   a  (e.g., called out in  FIGS. 5S-1 and 5W-4 , but not called out in  FIG. 5W-1 ). (Cover  520   a  has been sectioned in the respective plan view of each of  FIGS. 5W-1, 5W-1, 5W-3 and 5W-4  for clarity of view of various features associated with cover  520   a .) Accordingly, the positioning of these actuators into their respective second activation positions collectively changes the size, the shape, or both a size and a shape of the expanded configuration of the manipulable portion  502  into a particular state. 
     In some embodiments, the particular state of the expanded configuration corresponding to the various actuator positions shown in  FIG. 5W-1  is collectively a combination of the flattened expanded configuration exemplified in  FIG. 5O  and the open clam shell configuration  544   a  exemplified in  FIG. 5P . It is understood that other combinations of expanded configurations are provided in other embodiments. In various embodiments, manipulable portion  502  has a size too large for percutaneous delivery or a size too large to fit in the lumen  512   d  of catheter sheath  512  when the expanded configuration of the manipulable portion is moved into a particular state in response to the positioning of the various actuators into their respective second activation positions. 
     In  FIG. 5W-1 , handle  543   a  of first particular actuator  540   a  has been rotated (e.g., by a user manipulation) in rotational direction (e.g., rotational direction  576 , not called out in  FIG. 5W-1 ) to cause a locking device (e.g., locking device of  FIG. 10 ) of first particular actuator  540   a  to move from an unlocked configuration to a locked configuration suitable for maintaining the first particular actuator  540   a  in its second activation position  574   c . In  FIG. 5W-1 , handle  543   b  of second particular actuator  540   b  has been rotated (e.g., by a user manipulation) in a rotational direction (e.g., rotational direction  577 , not called out in  FIG. 5W-1 ) to cause a locking device (e.g., locking device of  FIG. 10 ) of second particular actuator  540   b  to move from an unlocked configuration to a locked configuration suitable for maintaining the second particular actuator  540   b  in its second activation position  575   b . In various embodiments, third particular actuator  572  is also locked in its respective second activation position  572  (for example as described above in this disclosure). 
     In some embodiments, a second actuator set is employed. The second actuator set may include a particular actuator moveable between two activation positions to cause at least two actuators in the first actuator set that are positioned in their respective second activation positions to move away from their respective second activation positions to cause the collectively changed size, the collectively changed shape, or both the collectively changed size and shape of the expanded configuration of the manipulable portion  502  to move away from a particular state corresponding to the positioning of the at least two actuators in the first actuator set in their respective second activation positions. For example, in various embodiments, actuator  572  is a particular actuator in a second actuator set  541  that is moveable between two activation positions to cause the at least two actuators (e.g., actuators  540   a ,  540   b ) in the first actuator set  540  that are positioned in their respective second activation positions (e.g., second activation positions  574   c ,  575   b ) to move away from their respective second activation positions to cause the collectively changed size, the collectively changed shape, or both the collectively changed size and shape of the expanded configuration of the manipulable portion  502  to move away from the particular state corresponding to the positioning of the at least two actuators in their respective second activation positions. 
     In some embodiments, first actuator set  540  does not include any actuator in the second actuator set  541 . In some embodiments, the at least two actuators (e.g., actuators  540   a ,  540   b ) in the first actuator set  540  do not include any actuator (e.g., actuator  572 ) in the second actuator set  541 . However, a particular actuator (e.g., actuator  572 ) in the second actuator set  541 , in some embodiments, may also form part of the first actuator set  540 . For example, recall that the first actuator set  540  may be defined to include one or more actuators (e.g., actuators  540   a ,  540   b ) at least operatively coupled to manipulable portion  502  to change or vary a size, a shape, or both a size and a shape of an expanded configuration of the manipulable portion  502 . Also recall that the second actuator set  541  may be defined to include a particular actuator (e.g., actuator  572 ) moveable between two activation positions to cause at least two actuators (e.g., actuators  540   a ,  540   b ) in the first actuator set that are positioned in their respective second activation positions to move away from their respective second activation positions to cause the collectively changed size, the collectively changed shape, or both the collectively changed size and shape of the expanded configuration of the manipulable portion  502  to move away from a particular state corresponding to the positioning of the at least two actuators in the first actuator set in their respective second activation positions. In this case, in some embodiments, the particular actuator (e.g., actuator  572 ) may meet the definition or perform the functionalities of both the first actuator set  540  and the second actuator set  541 . In such a case, the particular actuator (e.g., actuator  572 ) may be considered part of both the first actuator set  540  and the second actuator set  541 . 
     For instance, if actuator  540   a  is a first particular actuator, actuator  540   b  is a second particular actuator, and actuator  572  is a third particular actuator  572 , the third particular actuator  572 : (a) may cause, according to a definition or functionality of the second actuator set  541 , according to some embodiments, the first and second particular actuators  540   a ,  540   b  to move away from their respective second activation positions (e.g., respective ones of second activation positions  574   c ,  575   b ) when actuator  572  moves between its respective activation positions  571   a ,  571   b , and (b) may, according to a definition or functionality of the first actuator set  540 , according to some embodiments, be further independently or separately moveable from the other actuators in the first actuator set  540  from a respective first activation position  571   a  into a respective second activation position  571   b  to independently change a size, a shape, or both a size and a shape of the expanded configuration of the manipulable portion  502 . Regarding (b), for example, the third particular actuator  572  may cause the expanded configuration of the manipulable portion  502  to change between a first fanned configuration  536  exemplified in  FIGS. 5L-1 and 5L-2  and a second fanned configuration  537  exemplified in  FIGS. 5M-1 and 5M-2 . Accordingly, the third particular actuator  572 , in some embodiments, may be considered part of both the first actuator set  540  and the second actuator set  541 . However, whether or not the first actuator set  540  includes an actuator in the second actuator set  541  depends on the particular embodiment employed. 
       FIG. 5W  show a movement of third particular actuator  572  at four successive points in time during a movement of third particular actuator  572  between two activation positions. In these illustrated embodiments, third particular actuator  572  is moved (e.g., via manipulation of cover  520   a ) from second activation position  571   b  (i.e., called out in  FIG. 5W-1 ) toward or to first activation position  571   a  (i.e., called out in  FIG. 5W-4 ). In some embodiments, a locking device associated with third particular actuator  572  (e.g., the locking device associated with cover  520   a  described above in this disclosure) is unlocked before the commencement of this movement. In various embodiments, the movement of third particular actuator  572  between the two activation positions  571   a  and  571   b , and, in particular, from the second activation position  571   b  toward or to first activation position  571   a , causes each of the first particular actuator  540   a  and the second particular actuator  540   b  to move away from their respective activation positions  574   c ,  575   b  as shown in  FIGS. 5W-2, 5W-3 and 5W-4 . For example, in some embodiments, third particular actuator  572  includes at least a first actuator override  520   e  and a second actuator override  520   f . In various embodiments, first actuator override  520   e  is configured to override an operative state associated with first particular actuator  540   a . In various embodiments, second actuator override  520   e  is configured to override an operative state associated with second particular actuator  540   b . In some embodiments, first actuator override  520   e  is configured to override an operative positioning of first particular actuator  540   a  at its respective second activation position (e.g., second activation position  574   c ) and cause it to move away from its respective second activation position. In some embodiments, second actuator override  520   f  is configured to override an operative positioning of second particular actuator  540   b  its respective second activation position (e.g., second activation position  575   b ) and cause it to move away from its respective second activation position. In some embodiments, the first actuator override  520   e , the second actuator override  520   f , or each of the first and the second actuator overrides  520   e ,  520   f  is operatively coupled (for example via a linkage or other force transmission member or mechanism) to a respective one of first particular actuator  540   a  and second particular actuator  540   b  to cause movement thereof. In some embodiments, the first actuator override  520   e , the second actuator override  520   f , or each of the first and the second actuator overrides  520   e ,  520   f  is configured to be selectively brought into engagement or disengagement with a respective one of first particular actuator  540   a  and second particular actuator  540   b . For example, in some embodiments, each of the first and the second actuator overrides  520   e ,  520   f  may include a slot, cavity, tunnel, or other receiver or engagement mechanism that includes one or more engagement surfaces that may be selectively brought into contact or engagement with a respective one of the first particular actuator  540   a  and second particular actuator  540   b.    
     In some embodiments associated with  FIG. 5W , each of the first and second overrides  520   e ,  520   f  is provided by, or forms part of third particular actuator  572 . In some embodiments associated with  FIG. 5W , each of the first and second overrides  520   e ,  520   f  of third particular actuator  572  is provided by, or forms part of the cover  520   a , which may in turn, form part of third particular actuator  572  in some embodiments. In some embodiments, first actuator override  520   e  includes various engagement surfaces (e.g., engagement surfaces  520   e - 1  and  520   e - 2 ) configured to engage and subsequently manipulate a portion of first particular actuator  540   a . In some embodiments, second actuator override  520   f  includes various engagement surfaces (e.g., engagement surfaces  520   f - 1  and  520   f - 2 ) configured to engage and subsequently manipulate a portion of second particular actuator  540   b . It is noted that although surfaces  520   e -land  520   e - 2  are called out separately, they may form part of a single or uniform surface in some embodiments. It is noted that although surfaces  520   f -land  520   f - 2  are called out separately, they may form part of a single or uniform surface in some embodiments. 
     As third particular actuator  572  is moved from its second activation position  571   b  (e.g.,  FIG. 5W-1 ) toward or to its first activation position  571   a  (e.g.,  FIG. 5W-4 ), the engagement surface  520   e - 1  of first actuator override  520   e  is brought into contact, or otherwise engages with a portion of first particular actuator  540   a  (e.g.,  FIG. 5W-2 ). In some embodiments, the first engagement surface  520   e - 1  (or other engagement surface of first actuator override  520   e ) is brought into contact, or otherwise engages, with handle  543   a  of first particular actuator  540   a . In some embodiments, engagement surface  520   e  forms part of a cam (e.g., a linear cam) that is arranged to act on a cam follower (e.g., handle  543   a ) to move the cam follower in a desired manner In some embodiments, engagement surface  520   e - 1  forms part of a cam that is arranged to act on a cam follower (e.g., handle  543   a ) to move the cam follower to move a locking device (e.g., locking device of  FIG. 10 ) of first particular actuator  540   a  between a locked and unlocked configuration. For example, in  FIG. 5W-2 , handle  543   a  is oriented in a manner similar to, or the same as in  FIGS. 5S-3, 5S-4, 5S-5 and 5S-6  corresponding to a locked configuration or state of a locking device (e.g., locking device of  FIG. 10 ) that restricts movement (e.g., movement away from second activation position  574   c ) of first particular actuator  540   a  when handle  543   a  is positioned in the locked configuration or state. In some embodiments associated with  FIG. 5W-2 , engagement surface  520   e - 1  contacts handle  543   a  to rotate handle  543   a  in a direction (e.g., rotational direction  579 ) suitable for moving the locking device associated with first particular actuator  540   a  from the locked configuration to an unlocked configuration which allows for movement (e.g., movement away from second activation position  574   c ) of the first particular actuator  540   a.    
     In various embodiments, once the first actuator  540   a  is free to move from its second activation position  574   c , further or subsequent movement of third particular actuator  572  (e.g., by way of manipulation of cover  520   a ) causes movement of first particular actuator  540   a  away from its second activation position  574   c . In some embodiments, this movement away from the second activation position  574   c  occurs when engagement surface  520   e - 2  of first actuator override  520   e  comes into contact, or otherwise engages, a portion of first actuator  540   a  (e.g., handle  543   a ) to cause movement of first actuator  540   a  away from its second activation position  574   c , for example, as shown in  FIG. 5W-3 . 
     In some embodiments, the movement of third particular actuator  572  between the two activation positions  571   a  and  571   b , (for example, from the second activation position  571   b  toward or to first activation position  571   a ) causes a first actuator (e.g., first particular actuator  540   a ) in the first actuator set  540  to move away from its respective second activation position (e.g., second activation position  574   c ) before a second actuator (e.g., second particular actuator  540   b ) in the first actuator set  540  is caused to move away from its respective second activation position (e.g., second activation position  575   b ) by the third particular actuator  572 . In various embodiments, after the commencement of a movement of the first particular actuator  540   a  away from its respective second activation position  574   c , engagement surface  520   f - 2  contacts, or otherwise engages a portion of second particular actuator  540   b  (e.g., handle  543   b ) to move second particular actuator  540   b  (e.g., in a direction away from second activation position  575   b ). For example, in  FIG. 5W-3 , after the commencement of a movement of the first particular actuator  540   a  away from its respective second activation position  574   c , third particular actuator  572  has moved to a position where an engagement surface  520   f - 1  of second actuator override  520   f  contacts, or otherwise engages, a portion of second actuator  540   b  (e.g., handle  543   b ) to move (for example, by rotating handle  543   b  in rotational direction  580 ) a locking device (e.g., locking device of  FIG. 10 ) from a locked configuration, which restricts movement of the second particular actuator  540   b , to an unlocked configuration, which permits movement of second particular actuator  540   b.    
     It is noted, that in some embodiments, the movement of third particular actuator  572  between the two activation positions  571   a  and  571   b  (e.g., from the second activation position  571   b  toward or to first activation position  571   a ) may cause a first actuator (e.g., first particular actuator  540   a ) in the first actuator set  540  to move away from its respective second activation position at the same time, or at approximately the same time as a second actuator (e.g., second particular actuator  540   b ) in the first actuator set  540  is caused to move away from its respective second activation position by the third particular actuator  572 . For example, if first particular actuator  540   a  is positioned at second activation position  574   b  (i.e., instead of second activation position  574   c ) while second particular actuator  540   b  is positioned at second activation position  575   b  (e.g., in a manner similar to, or the same as that shown in  FIG. 5S-5 ), initial engagement with each of the first and second particular actuators  540   a ,  540   b  by the third particular actuator  572  may occur at the same time, or at substantially the same time. 
     In various embodiments, third particular actuator  572  moves from its second activation position  571   b  (e.g.,  FIG. 5W-1 ) to a location at least proximate its respective first activation position  571   a  (e.g.,  FIG. 5W-4 ). In various embodiments, movement of the third particular actuator  572  between it respective activations positions  571   b ,  571   a  causes (a) the first particular actuator  540   a  to move from its second activation position (e.g., second activation position  574   c ) to a location at least proximate to its first activation position  574   a , (b) the second particular actuator  540   b  to move from its second activation position (e.g., second activation position  574   b ) to a location at least proximate to its first activation position  575   a , or both (a) and (b) as shown in  FIG. 5W-4 . In  FIG. 5W-4 , cover  520   a  has been moved from it second position  570   b  to its first position  570   a . As described previously in this disclosure, cover  520   a  restricts access to the first and second actuators  540   a ,  540   b  when the cover  520   a  is in the first position  570   a.    
     In various embodiments, when the third particular actuator  572  moves between its two activation positions (for example, from the second activation position  571   b  toward or to the first activation position  571   a ), each of the first and second particular actuators  540   a  and  540   b  move away from respective ones of their second activation positions (e.g., second activation positions  574   c ,  575   b ) to cause a size, a shape, or both a size and a shape of the expanded configuration of manipulable portion  502  to move away from the particular state that the expanded configuration of the manipulable portion  502  assumed when each of the first and second particular actuators  540   a  and  540   b  were in their respective second activation positions. In some of these embodiments, each of the first and second particular actuators  540   a  and  540   b  move away from respective ones of their second activation positions (e.g., second activation positions  574   c ,  575   b ) to cause the particular state of the expanded configuration of the manipulable portion  502  (i.e., when the first and second particular actuators  540   a  and  540   b  were positioned at respective ones of their second activation positions) to move toward or to the delivery configuration. 
     In various embodiments, associated with  FIG. 5W , movement of the third particular actuator  572  from its second activation position  571   b  toward or to its first activation position  571   a  causes changes in various states or sub-states of the expanded configuration that were combined to impart the particular collective state or super-state onto the expanded configuration of the manipulable portion  502 . For example, the positioning of each particular actuator (e.g., each actuator  540   a ,  540   b ,  572 ) imparts its own sub-state onto the configuration of the manipulable portion  502 . For example, positioning of the actuator  540   b  into its second activation position  575   b  causes an open-clam shell sub-state effect on the expanded configuration of the manipulable portion  502  as shown, for example, in  FIG. 5P , according to some embodiments. Positioning of the actuator  540   a  into its second activation position  574   c  causes a flattening sub-state effect on the expanded configuration of the manipulable portion  502  as shown, for example, in  FIG. 5O , according to some embodiments. Positioning of the actuator  572  into its second activation position  571   b  causes a fanning sub-state effect on the expanded configuration of the manipulable portion  502 , according to some embodiments. Accordingly, the combination of at least some of these individual sub-states is a collective state or super-state of the configuration of the manipulable portion  502 . For instance, positioning of the actuator  540   b  into its second activation position  575   b , positioning of the actuator  540   a  into its second activation position  574   c , and positioning of the actuator  572  into its second activation position  571   b  cause a collective of super-state of the expanded configuration of the manipulable portion  502  that would appear like a combination of  FIGS. 5O and 5P . 
     Accordingly, in various embodiments associated with  FIG. 5W , changes in these collective or super-states may include a departure from the combined  FIG. 5O-5P  state when third particular actuator  572  moves the first and second particular actuators  540   a  and  540   b  away from their respective second activation positions  574   c ,  575   b . For another example, in various embodiments associated with  FIG. 5W , changes in these collective or super-states may include a departure from the second fanned configuration  537  (e.g., exemplified in  FIGS. 5M-1, 5M-2 ) as the third particular actuator  572  moves from the second activation position  571   b  toward or to the first activation position  571   a . In some of these embodiments, departure from these various states may cause the expanded configuration of the manipulable portion  502  to move, at least in part, toward or to the delivery configuration. 
     In this regard, changes in these collective or super-states may cause the collective or super-state of the configuration of the manipulable portion  502  to be changed from one state to another state. For instance, movement of the third particular actuator  572  from the second activation position  571   b  toward or to the first activation position  571   a  may cause the manipulable portion  502  to move from an expanded configuration state toward or to a delivery configuration state. 
     Accordingly, the expanded configuration of the manipulable portion  502  may undergo various changes as it transitions to a targeted or desired particular state (for example, a state suitable for a particular medical procedure having diagnostic aspects, treatment aspects, or combined diagnostic and treatment aspects) or transitions away from a previously targeted or desired particular state (e.g., during a transition toward or to a delivery configuration which may be motivated for various reasons including a desire to remove the manipulable portion  502  from the body upon which the medical procedure is performed). For example, as described above with respect to  FIG. 5S , in some embodiments, each of at least two of the particular actuators (e.g., first particular actuator  540   a , second particular actuator  540   b ) is moveable between its respective first activation position (e.g., a respective one of first activation positions  574   a ,  575   a ) and its respective second activation position (e.g., a respective one of second activation positions  574   c ,  575   b ) to collectively change a size, a shape or both a size and a shape of the expanded configuration of the manipulable portion  502  from a first particular (e.g., collective or super-) state to a second particular (e.g., collective or super-) state. In some embodiments, each actuator of the at least two actuators (e.g., the first actuator  540   a  or second actuator  540   b ) may include a user-accessible portion (e.g., a respective one of handles  543   a ,  543   b ) that is slideable relative to a surface of housing  520  by a user to move the actuator between its respective first and second activation positions and cause a size, a shape, or both a size and a shape of the expanded configuration of the manipulable portion  502  to be varied. The second particular state may be any of various configurations in various embodiments including the particular state described above in this disclosure in which the expanded configuration includes a combination of the forms shown in  FIGS. 5O and 5P . In some embodiments, the first particular state is a preliminary or initial state of the expanded configuration. In other embodiments, the first state results from a transitioning of the expanded configuration from another state (e.g., a third state other than the second state). 
     In some embodiments, a particular actuator (e.g., actuator  572 ) in the second actuator set  541  is selectively moveable from one activation position (e.g., first activation position  571   a ) to another activation position (e.g., second activation position  571   b ) to independently change a size, a shape, or both a size and a shape of the expanded configuration of the manipulable portion  502  from a third state to the first state. For example, in some embodiments, manipulation of the third particular actuator  572  from first activation position  571   a  to second activation position  571   b  changes an expanded configuration of the manipulable portion  502  from a third state (e.g., first fanned configuration  536 ) to the first state (e.g., second fanned configuration  537 ) without engagement or coordinated movement of the actuators  540   a ,  540   b  in the first actuator set  540 . Subsequent manipulation of various actuators in the first actuator set  540  may further transition the expanded configuration from the first state (e.g., second fanned configuration  537 ) to the second state (e.g., a combination of  FIGS. 5O and 5P ) as described above in this disclosure. When the collective or super-state of the configuration of the manipulable portion  502  is changed to the second state or some other state (e.g., the first or third states), it may be said that the collective or super-state to which the manipulable portion  502  is changed is a collectively changed size, a collectively changed shape, or both a collectively changed size and shape of the configuration of the manipulable portion  502 . 
     In various embodiments, when the third particular actuator  572  is moved from its second activation position  571   b  toward or to its first activation position  571   a , various actuators (e.g., first and second particular actuators  540   a ,  540   b ) in the first actuator set  540  may move from their respective second activation positions (e.g., second activation position  574   c ,  575   b ) to cause a size, a shape, or both a size and a shape of the expanded configuration of the manipulable portion  502  to move away from the second state to transition the manipulable portion at least in part toward or to the delivery configuration. In various embodiments, when the third particular actuator  572  is moved from its second activation position  571   b  toward or to its first activation position  571   a , various actuators (e.g., first and second particular actuators  540   a ,  540   b ) in the first actuator set  540  may move from their respective second activation positions (e.g., second activation position  574   c ,  575   b ) to cause a size, a shape, or both a size and shape of the expanded configuration of the manipulable portion  502  to move away from the second state toward or to the third state (e.g., the first fanned configuration  536 ). 
     It is noted, in some embodiments, when the first and second actuators  540   a ,  540   b  are moved away from respective ones of their second activation positions (e.g., second activation positions  574   c ,  575   b ) to the respective ones of the first activation positions (e.g., first activation positions  574   a ,  575   a ), the expanded configuration of the manipulable portion  502  may have a different shape, size, or both size and shape than that possessed by the expanded configuration when the first and second actuators  540   a ,  540   b  were positioned at their respective first activation positions during a movement of the first and second actuators  540   a ,  540   b  from their respective first activation positions toward or to their respective second activation positions. In other words, the manipulable portion  502  may have a different shape, size, or both size and shape when in the same state (e.g., first activation positions  574   a ,  575   a  of first and second actuators  540   a ,  540   b , even when the positioning of the actuator  572  is held constant) at two different times. This situation may happen for various reasons including friction and hysteresis in various portions of the catheter system  500 . In some embodiments, the word “state” at least when used in the context of the configuration of the manipulable portion  502  may be understood to be a mode, condition, or characteristic of the configuration of the manipulable portion  502  and is not necessarily limited to an exact positioning, size, or shape of the manipulable portion  502 . For example, in some embodiments, a particular collective state of the expanded configuration of the manipulable portion  502  may be a flattened state (e.g.,  FIG. 5O ), as opposed to a precise position, size, and shape of the manipulable portion  502  in the flattened state. In some embodiments, a particular collective state of the expanded configuration of the manipulable portion  502  may be defined to include an absence of a particular sub-state, such as an absence of the flattening effects of  FIG. 5O  (e.g., due to the actuator  540   a  not being in its second activation position  574   c ) or an absence of the open clam shell effects of  FIG. 5P  (e.g., due to the actuator  540   b  not being in its second activation position  575   b ). 
     In various embodiments, a particular actuator (e.g., third particular actuator  572 ) in the second actuator set  541  is selectively moveable toward or to one particular activation position (e.g., first activation position  571   a ) while engaging at least two actuators (e.g., first and second particular actuators  540   a ,  540   b ) in first actuator set  540 , and, consequently, causing the at least two actuators in the first actuator set  540  to move between their respective second and first activation positions (for example as described above with respect to  FIG. 5W ). In some of these various embodiments, the particular actuator (e.g., third particular actuator  572 ) in the second actuator set  541  is selectively moveable toward or to another particular activation position (e.g., second activation position  571   b ) while not engaging various actuators (e.g., first and second particular actuators  540   a ,  540   b  or any respective locking device (e.g.,  FIG. 10 ) thereof) in first actuator set  540 , and while not causing each of the at least two actuators in the first actuator set  540  to move between their respective second and first activation positions (for example as described above with respect to  FIGS. 5S-1 and 5S-2 ). In various embodiments, movement of the particular actuator (e.g., actuator  572 ) in the second actuator set  541  toward or to the one particular activation position (e.g., first activation position  571   a ) is in a different direction than movement of the particular actuator in the second actuator set  541  toward or to the another particular activation position (e.g., second activation position  571   b ). 
     In various embodiments, catheter system  500  includes an interlock device configured to restrict at least one actuator (e.g., at least first particular actuator  540   a , second particular actuator  540   b , or both) in the first actuator set  540  from being moved away from a respective first activation position (e.g., a respective one of first activation positions  574   a ,  575   a ) until at least a first actuator (e.g., third particular actuator  572 ) in the second actuator set  541  is moved in response to a user action. For example, the interlock device may be provided at least by a portion (e.g., the cover  520   a ) of the third particular actuator  572 , such that the first particular actuator  540   a  and the second particular actuator  540   b  are restricted from moving away from their respective first activation positions  574   a ,  575   a  until the cover  520   a  is moved (e.g.,  FIGS. 5S-1 to 5S-2 ). In some embodiments, catheter system  500  includes an interlock device configured to restrict at least one actuator (e.g., at least one of first particular actuator  540   a , second particular actuator  540   b ) in the first actuator set  540  from being moved between the respective first and second activation positions of the at least one actuator in the first actuator set  540  until at least one other actuator in the first actuator set  540  is moved into the respective second activation position of the at least one other actuator in the first actuator set  540 . For example, when third particular actuator  572  forms part of the first actuator set  540 , either of first and second particular actuators  540   a ,  540   b  is restricted from being moved between its respective first and second activation positions until the third particular actuator  572  is moved away from its first activation position  571   a  toward or to its second activation position  571   b.    
     The use of an interlock device in various embodiments may be motivated for various reasons. For example, in some embodiments, a particular sequence in the activation of various ones of the actuators is desired. In some embodiments, an interlock device is employed to ensure that one particular actuator is activated to facilitate a subsequent activation of another actuator. For example, in some embodiments, an interlock device (e.g., cover  520   a ) is used to guide a user to activate actuator  572  to manipulate the expanded configuration of the manipulable portion  502  into the second fanned configuration  537  prior to an activation of any of actuators  540   a ,  540   b . This sequence may be motivated for various reasons including circumventing a condition in which actuator  572 , if activated after the activation of one or both of actuators  540   a  and  540   b , could possibly need to apply potentially higher forces (e.g., forces that could damage or render a device of system  500  inoperable) to fan the elongate members  504  of the manipulable portion  502  into the second fanned configuration  537 . 
     In some particular embodiments, cover  520   a  is configured (e.g., includes one or more suitably positioned engagement surfaces) to engage various ones of the actuators in the first actuation set  540  when the cover  520   a  is moved in a first direction (e.g., in a direction toward first position  570   a ) along a path between first and second positions  570   a ,  570   b , but not engage various ones of the actuators in the first actuator set  540  when the cover  520   a  is moved in a second direction (e.g., in a direction toward second position  570   b ) along the path between first and second positions  570   a ,  570   b , the second direction being different than the first direction. In some particular embodiments, cover  520   a  is configured (e.g., includes suitably positioned engagement surfaces) to engage various ones of the actuators in the first actuator set  540  to cause movement thereof when the cover  520   a  is moved in a first direction (e.g., in a direction toward first position  570   a ) along a path between first and second positions  570   a ,  570   b , but not engage various ones (or, in some embodiments, any) of the actuators in the first actuation set  540  to cause movement thereof when the cover  520   a  is moved in a second direction (e.g., in a direction toward second position  570   b ) along the path between first and second positions  570   a ,  570   b , the second direction being different than the first direction. For example in some embodiments, cover  520   a  does not engage actuators  540   a ,  540   b  and does not move them when the cover  520   a  moves from first position  570   a  toward or to second position  570   b  as described above in this disclosure with respect to various ones of  FIG. 5S , but does engage actuators  540   a ,  540   b  to cause them to move when the cover  520   a  moves from second position  570   b  toward or to first position  570   a  as described above in this disclosure with respect to various ones of  FIG. 5W . Movement of various ones of the actuators in the first actuation set  540  induced by an engagement by the cover  520   a  may cause, or lead to a change in a size, shape, or both, of an expanded configuration of the manipulable portion  502  away from a particular state. In various embodiments, cover  520   a  is operatively coupled to manipulable portion  502  to cause the manipulable portion  502  to move, at least partially, from the expanded configuration toward or to the delivery configuration when cover  520   a  moves from second position  570   b  toward or to first position  570   a.    
     In various embodiments, catheter system  500  includes an actuator set that includes one or more actuators (e.g., first particular actuator  540   a , second particular actuator  540   b  or both of the first and the second particular actuators  540   a ,  540   b ), each actuator in the actuator set selectively moveable into a respective activation position to cause a size, a shape, or both a size and a shape of the expanded configuration of the manipulable portion  502  to be varied. Cover  520   a  is selectively moveable between a first position (e.g., first position  570   a ) where user access to at least a respective part (e.g., handle  543   a ,  543   b ) of each of at least one actuator in the actuator set is restricted and a second position (e.g., second position  570   b ) where user access to at least the respective part of each of the at least one actuator in the actuator set is permitted. In some of these various embodiments, when cover  520   a  is moved from the second position toward or to the first position, the cover  520   a  engages each particular actuator in the actuator set that is positioned in the respective activation position of the particular actuator to move the particular actuator away from the respective activation position of the particular actuator. 
     In some embodiments, each actuator in the actuator set is selectively moveable into its respective activation position to cause a size, a shape or both a size and a shape of the expanded configuration of the manipulable portion  502  to be varied from an associated respective first (e.g., sub-) state to an associated respective second (e.g., sub-) state. For example, the actuator  540   a  is selectively moveable into its respective second activation position  574   c  to cause the expanded configuration of the manipulable portion  502  to include the flattened sub-state (e.g., characteristics of  FIG. 5O ), according to some embodiments. When the cover  520   a  is moved from the second position  570   b  toward or to the first position  570   a , cover  520   a  engages each particular actuator in the actuator set that is positioned in the respective activation position of the particular actuator to move the particular actuator away from its respective activation position to cause, the size, the shape, or both of the expanded configuration of the manipulable portion to move from the respective second state associated with the particular actuator toward or to the respective first state associated with the particular actuator. For example, if movement of the actuator  540   a  into its respective second activation position  574   c  caused the expanded configuration of the manipulable portion  502  to change from a first state associated with the actuator  540   a  (e.g., a state not including the flattened sub-state effects such as shown in  FIG. 5O ) to a second state associated with the actuator  540   a  (e.g., a state including the flattened sub-state effects such as shown in  FIG. 5O ), the cover  520   a  may cause movement of the actuator  540   b  away from its respective second activation position  574   c  and, consequently, cause the expanded configuration to move from the second state (e.g., a state including the flattened sub-state effects such as shown in  FIG. 5O ) toward or to the first state (e.g., a state not including the flattened sub-state effects such as shown in  FIG. 5O ). 
     In some embodiments, the manipulable portion  502  has a size too large to fit in the lumen  512   d  of the catheter sheath  512  or a size too large to be percutaneously delivered to a bodily cavity when the expanded configuration of the manipulable portion  502  is in either of the respective first or second respective states associated with each actuator in the actuator set. In some embodiments, the catheter system  500  includes at least a first actuator (e.g., third particular actuator  572 ) that is selectively moveable into a respective activation position to cause a size, a shape, or both of the expanded configuration of the manipulable portion  502  to be varied, and cover  520   a  is operable to cause the first actuator to move (e.g., toward or to its respective activation position) when the cover  520   a  is moved between the first position  570   a  and the second position  570   b  (e.g., from the first position  570   a  toward or to the second position  570   b ). In some embodiments, the cover  520   a  is operable to cause the first actuator (e.g., third particular actuator  572 ) to move away from the respective activation position of the first actuator when the cover  520   a  is moved from the second position  570   b  toward or to the first position  570   a.    
     In some embodiments, catheter system  500  includes at least a first actuator and a second actuator, each of the first and the second actuators independently or separately moveable with respect to one another into a respective activation position to cause a size, a shape, or both of the expanded configuration of the manipulable portion  502  to be varied from an associated respective first state to an associated respective second state. For example, in some embodiments, a first actuator  540   a  is moveable independently or separately with respect to a second actuator  540   b  into a respective second activation position  574   c  to cause the manipulable portion to be varied from a first state associated with the first actuator  540   a  (e.g., a state not including the flattened sub-state effects like  FIG. 5O ) to a second state associated with the first actuator  540   a  (e.g., a state including the flattened sub-state effects like  FIG. 5O ). Similarly, in some embodiments, the second actuator  540   b  is moveable independently or separately with respect to the first actuator  540   a  into a respective second activation position  575   b  to cause the manipulable portion to be varied from a first state associated with the second actuator  540   b  (e.g., a state not including the open-clam-shell sub-state effects like  FIG. 5P ) to a second state associated with the second actuator  540   b  (e.g., a state including the open-clam-shell sub-state effects like  FIG. 5P ). 
     In at least embodiments like these, cover  520   a  is moveable between a first position  570   a  where user access to at least a part of the second actuator is restricted and a second position  570   b  where user access to at least the part of the second actuator is permitted. In this regard, in some embodiments, cover  520   a  is operable to cause the first actuator to move away from the respective activation position of the first actuator when the cover  520   a  is moved from the second position  570   b  toward or to the first position  570   a  to cause the size, the shape, or both of the expanded configuration of the manipulable portion  502  to move from the respective second state associated with the first actuator toward or to the respective first state associated with the first actuator. 
     For example, in some embodiments, the second actuator is provided by one of the first and second particular actuators  540   a  and  540   b  (i.e., access to the one of the first and second particular actuators  540   a  and  540   b  being restricted when cover  520   a  is in first position  570   a ) and the first actuator is provided by another one of the first and the second particular actuators  540   a  and  540   b , the another one of the first and the second particular actuators  540   a  and  540   b  being caused to move away from the respective activation state of the another one of the first and the second particular actuators  540   a  and  540   b  when the cover  520   a  is moved from the second position  570   b  toward or to the first position  570   a  to cause the size, the shape, or both of the expanded configuration of the manipulable portion  502  to move from the respective second state associated with the another one of the first and the second particular actuators  540   a  and  540   b  toward or to the respective first state associated with the another one of the first and the second particular actuators  540   a  and  540   b.    
     In some embodiments, the second actuator is provided by one of the first and the second particular actuators  540   a  and  540   b , and the first actuator is provided by the third particular actuator  572 , the third particular actuator  572  being caused (e.g., by engagement) to move away from the respective activation state of the third particular actuator  572  when the cover  520   a  is moved from the second position  570   b  toward or to the first position  570   a  to cause the size, the shape, or both of the expanded configuration of the manipulable portion  502  to move from the respective second state associated with the third particular actuator  572  toward or to the respective first state associated with the third particular actuator  572 . In some embodiments, cover  520   a  is physically coupled to and is a user-accessible portion of the first actuator (e.g., actuator  572 ) slideable along a surface of the housing  520  to cause the first actuator to move toward or to the respective activation position of the first actuator when the cover  520   a  is moved from the first position  570   a  to the second position  570   b  as described above in this disclosure. In various embodiments, the second actuator (e.g., one of the first and the second particular actuators  540   a  and  540   b ) includes a user-accessible portion (e.g., handle  543   a  or  543   b ) slideable relative to a surface of housing  520  by a user to cause the size, the shape or both of the expanded configuration of the manipulable portion  502  to be varied from the respective first state associated with the second actuator to the respective second state associated with the second actuator. The user-accessible portion (e.g., handle  543   a  or  543   b ) may include a locking device (e.g., locking device of  FIG. 10 ) as described above, at least a portion of which is rotatable by a user to prevent sliding of at least the user-accessible portion of the second actuator relative to the surface of the housing  520 . 
     In various embodiments, the manipulable portion  502  has a size too large to fit in the lumen  512   d  of catheter sheath  512  or a size too large to be percutaneously delivered to a bodily cavity when the expanded configuration of the manipulable portion  502  is in (a) either of the respective first and second states associated with the first actuator, (b) either of the respective first and second states associated with the second actuator, or both (a) and (b). In various embodiments, the manipulable portion  502  is in the expanded configuration when the second actuator (e.g., one of the first and the second particular actuators  540   a  and  540   b ) is in its respective activation position. In various embodiments, the manipulable portion  502  is in the expanded configuration when the second actuator (e.g., one of the first and the second particular actuators  540   a  and  540   b ) is in its respective activation position and when the first actuator (e.g., third particular actuator  572  or another one of the first and the second particular actuators  540   a  and  540   b ) is in its respective activation position. 
     It should be noted that many of the various descriptions, above, refer to particular actuators in examples, such as actuators  540   a ,  540   b ,  572 , etcetera, merely for illustration purposes. In this regard, it should be noted that the present invention is not limited to such particular actuators or their configurations, and different actuator sets or different actuator configurations may be implemented. 
     A discussion is now made regarding methods of controlling various catheter systems according to various embodiments. Although reference is made to catheter system  500  for ease of discussion, it is understood that the methods may be associated with other catheter devices or systems in other embodiments. In some of these embodiments, a catheter system controlled by various ones of the described methods includes a catheter sheath (e.g., catheter sheath  512 ) a proximal end (e.g., proximal end  512   a ), a distal end (e.g., distal end  512   b ), and a lumen (e.g., first lumen  512   d ) extending between the proximal end of the catheter sheath and the distal end of the catheter sheath. The catheter system may further include a shaft (e.g., shaft  510 ) comprising a proximal end (e.g., proximal end  510   a ), a distal end (e.g., distal end  510   b ), and an elongated portion (e.g., elongated portion  510   c ) extending between the proximal end of the shaft and the distal end of the shaft, at least part of the shaft sized for delivery through the lumen of the catheter sheath, and the distal end of the shaft arranged to be delivered through the lumen of the catheter sheath prior to at least the elongated portion of the shaft. The catheter system may further include a manipulable portion (e.g., manipulable portion  502 ) coupled to the shaft and located at least proximate the distal end of the shaft, the manipulable portion shaped for delivery through the lumen of the catheter sheath. The catheter system may further include a control element (e.g., control element  513 ) physically coupled to the manipulable portion, the control element receivable in the lumen of the catheter sheath. In some embodiments, the manipulable portion is selectively moveable between a delivery configuration in which the manipulable portion is shaped to be delivered though the lumen of the catheter sheath and an expanded configuration in which the manipulable portion is shaped too large for delivery through the lumen of the catheter sheath, for example as described above with respect to manipulable portion  502 . 
     In some embodiments, each of various ones of the methods described in this disclosure is implemented under the guidance of a control system (e.g., control system  545  described later in this disclosure, or one or more components of system  100  or control system  322 , such as controller  324 ). The control system may be a controller-based control system, a mechanical-based control system or a combination of the two. In some embodiments, each of various ones of the methods described in this disclosure may be implemented at least in part by manual input from an operator or user. It is understood that the methods described in this disclosure are not exhaustive and various aspects from different ones of the described methods may be combined to form at least one other method. Additionally, different sequences of steps or additional or alternate steps may be employed by at least some of the described methods. In some embodiments, each of various ones of the methods is employed to achieve a particular desired outcome of a portion of the catheter system (for example, a required control line tension adjustment that is the same or similar to that described above in this disclosure). In some embodiments, each of various ones of the methods is employed to achieve a particular deployment state of the catheter system operated in a medical treatment or diagnostic procedure. 
     A flow chart representing a method  900 A for controlling the catheter system according to various embodiments is provided in  FIG. 9A . In block  902  of method  900 A, at least a shape of the manipulable portion is modulated at least in a state where at least a part of the manipulable portion and a part of the control element extend outside the distal end of the catheter sheath. In some embodiments, a portion of shaft is located in a lumen of the sheath. The modulation of the manipulable portion may occur in a manner that is the same or similar to the modulation of the manipulable portion  502  in the sequence depicted in  FIGS. 5I and 5J  by way of non-limiting example. In various embodiments, the part of the manipulable portion extending outside the distal end of the catheter sheath has a shape during or throughout the modulation that is too large to fit in the lumen of the catheter sheath. In block  904  of method  900 A, the control element is manipulated to cause a length of the part of the control element extending outside the distal end of the catheter sheath to increase and subsequently decrease during or throughout the modulation of the manipulable portion. The manipulation of the control element may occur in a manner that is the same or similar to the manipulation of cable  513   b  in the sequence depicted in  FIGS. 5H, 5I and 5J  by way of non-limiting example. 
     A flow chart representing a method  900 B for controlling the catheter system according to various embodiments is provided in  FIG. 9B . In Block  912  of method  900 B, the manipulable portion is transitioned at least partially between the expanded configuration and the delivery configuration. In block  914 , a manipulation of the control element causes the control element to have a first amount of length located outside the distal end of the catheter sheath when a particular amount of the manipulable portion is located outside the distal end of the catheter sheath during a transition toward or to the expanded configuration. In block  916 , a manipulation of the control element causes the control element to have a second amount of length located outside of the distal end of the catheter sheath, when the same particular amount of the manipulable portion is located outside the distal end of the catheter sheath during a transition toward or to the delivery configuration. In various embodiments, the second amount of length is different than the first amount of length. The transitioning of the manipulable portion at least partially between the expanded configuration and the delivery configuration may occur in a different manner in other embodiments. For example, an exploded view of block  912  is provided in  FIG. 9C  according to some embodiments. In block  912   a  the manipulable portion is transitioned toward or to the expanded configuration as the manipulable portion is advanced out of the distal end of the catheter sheath. In block  912   b , the manipulable portion is transitioned toward or to the delivery configuration as the manipulable portion is retracted into the distal end of the catheter sheath. 
     A flow chart representing a method  900 C for controlling the catheter system according to various embodiments is provided in  FIG. 9D . In block  922  of method  900 C, the manipulable portion is transitioned at least partially between the expanded configuration and the delivery configuration. In block  924 , a manipulation of the control element causes the control element to have a first amount of length located outside of the distal end of the catheter sheath when a particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward or to the expanded configuration. In block  926 , a manipulation of the control element causes the control element to have a second amount of length located outside of the distal end of the catheter sheath when the same particular relative positioning exists between the catheter sheath and the shaft received in the lumen of the catheter sheath during the transition toward or to the delivery configuration. In various embodiments, the second amount of length is different than the first amount of length. In various embodiments, the particular relative positioning between the catheter sheath and the shaft received in the lumen of the catheter sheath is a relative longitudinal positioning. 
     A flow chart representing a method  900 D for controlling the catheter system according to various embodiments is provided in  FIG. 9E . In block  928  of method  900 D, a first relative movement is provided to cause a distance between a location on the part of the shaft received in the lumen of the catheter sheath and a location on the catheter sheath to decrease. In block  930  of method  900 D, a second relative movement is provided to cause a distance between a location on the part of the shaft received in the lumen of the catheter sheath and a location on the catheter sheath to increase. Each of the first or second relative movements may be provided by a manipulation of the shaft, the catheter sheath or both the shaft and the catheter sheath. In block  932 , in response to the first relative movement, a shape of at least a part of the manipulable portion extending outside the distal end of the catheter sheath is varied to, at least in part, cause the distal end of the manipulable portion to move along a first trajectory during the first relative movement. In block  934 , in response to the second relative movement, a shape of at least a part of the manipulable portion extending outside the distal end of the catheter sheath is varied to, at least in part, cause the distal end of the manipulable portion to move along a second trajectory during the second relative movement. In various embodiments, the second trajectory is different than the first trajectory. 
     While some of the embodiments disclosed above are suitable for cardiac mapping, the same or similar embodiments may be used for mapping other bodily organs, for example gastric mapping, bladder mapping, arterial mapping and mapping of any bodily lumen, bodily chamber or bodily cavity into which the devices of the present invention may be introduced. 
     While some of the embodiments disclosed above are suitable for cardiac ablation, the same or similar embodiments may be used for ablating other bodily organs or any bodily lumen, bodily chamber or bodily cavity into which the devices of the present invention may be introduced. 
     Subsets or combinations of various embodiments described above can provide further embodiments. 
     These and other changes can be made to the invention in light of the above-detailed description. In general, in the following claims, the terms used should not be construed to limit the invention to the specific embodiments disclosed in the specification and the claims, but should be construed to include other catheter systems including all medical treatment catheter systems and medical diagnostic catheter systems in accordance with the claims. Accordingly, the invention is not limited by the disclosure, but instead its scope is to be determined entirely by the following claims.