Medical navigation and mapping system and methods are disclosed for modeling both unobstructed and obstructed portions of a catheter. The circuit includes a first direct connection of the generator to the network and a second connection of the generator to the network, through a four-quadrant converter which includes a first power converter, whose alternating voltage terminals are connected to the generator, and a second power converter, whose alternating voltage terminals are connected to the network. The solidified wax and resin formulation layers can be machined as may be desired to form mold of a given shape comprising wax layers when the layer of formulation is separated from the wax layers. The camera is pointed at a face of a driver in the driver seat.