Methods, devices, and systems for a) revascularization andor b) performing other medical procedures at vascular or non-vascular intracorporeal locations within a mammalian body. The algorithm involves supplying power to a controller after ignition-off to save the steering wheel angle value that is stored in the controller’s non-volatile memory. In one embodiment, the actuator assembly can include a piezoelectric actuator. A master copy of the document tree is accessible to a server which transmits all or part of the document tree to two or more clients, each of which is operated by a user.