An instrument for internal mapping includes a flexible elongated portion (702) and an expandable portion (710) coupled distally to the elongated portion, the expandable portion having one or more expandable loops. An array of sensors (706) and electrodes (708) is distributed on the expandable portion and is configured to concurrently register the instrument to real-time images of an anatomy using the sensors and measure electrical characteristics of the anatomy with the electrodes to generate an electro-physiology (EP) map having the anatomy and intensities of the electrical characteristics mapped together in the real-time images.
