In one aspect, the present invention includes an apparatus having a digital signal processor, a controller coupled to the DSP to provide control signals to the DSP, and a one-time programmable memory coupled to the DSP and the controller. The input modulator is configured to output an alternating current signal. Such systems include robotic medical systems for controlling a shapeable instrument within an anatomical region having a controller, one or more actuators, and a localization system for guiding one or more shapeable instruments. The item objects on the menu plane are rotated about a rotation axis according to a position of the item object pointed by the operation so as to protrude the pointed item object from the other item objects, in which a direction of the rotation axis is not parallel to a normal direction of a display plane of the screen. Authentication can confirm that the electronic signature is unaltered. The at least one housing has at least one vent port formed on one or more of its walls.