A stent delivery system comprising a catheter including a stent mounting region. The rotor comprises a squirrel cage winding in which a current is induced by corresponding windings of the stator, and a set of permanent magnets. The lens holder holds the focusing lens at a first distance from the pivot axis, and is coupled to the actuator at a second distance from the pivot axis, wherein the second distance is larger than the first distance. A first bracket is configured to mount to the first end of the main tube. The initial communication path may be used to pass authentication and encryption information that may be used to establish the alternative path between the devices.