The method executes the application and if there are no errors from the execution of the application, the method ends. The imaging device can be used as part of a catheter, and can include a lens, an SSID including an imaging array optically coupled to the lens; an umbilical including a conductive line; and an adaptor configured to support the lens and provide electrical communication between the SSID and conductive line. Repositioning of the drivepositioning wheel assemblies is controlled by a computer numerical control controller, based on information describing one or more radiuses of curvature for sections of the mandrel and a current position of the mandrel relative to the drivepositioning wheel assemblies. The first end portion is transparent to light.