#$%^&*AU2019201730A120191024.pdf#####ABSTRACT An apparatus includes a shaft, a flexible distal-end assembly, two or more sensing-electrodes, and a fiber-optic 5 shape sensor. The shaft is configured for insertion into a body of a patient. The flexible distal-end assembly is fitted at a distal end of the shaft. The two or more sensing-electrodes are disposed over the distal-end assembly and are configured to generate signals indicative 10 of positions of the sensing-electrodes in the body. The fiber-optic shape sensor is coupled to a portion of the distal-end assembly, wherein the two or more sensingelectrodes have a-priori known distances from a known location over the fiber-optic shape sensor, and wherein the 15 fiber-optic shape sensor is configured to provide an indication of a spatial deformation of the flexible distalend assembly.3/3 60,, Apply 62 PureACL 58 66 62 61 63 Ap 65 66 58 65 68 64 70 67 7 Reposition 71 Catheter 69 FIG. 4
