Patent US 9,101,374

An apparatus and method for controlling the orientation, geometry, shape or length of an inserted catheter is provided to optimize it's position during procedures for treating cardiac arrhythmia by ablation based on functions derived from one or more parameters including the temporal relationship between intracardiac signals, patient anatomy, cardiac tissue electrical properties, imaging data, and other criteria that may include previously stored data collected from one or more patients who have had successful therapy delivered.