A system includes a catheter and a processor. The catheter includes a distal-end assembly coupled to a distal end of a shaft for insertion into a cavity of an organ of a patient, the distal-end assembly including (i) one or more functional electrodes configured to be placed in contact with wall tissue of the cavity and (ii) a reference electrode configured to be placed in the cavity but not in contact with the wall tissue. The processor is configured to (i) estimate one or more impedances between one or more of the functional electrodes and the reference electrode, and (ii) based on the impedances, determine, for at least a functional electrode from among the one or more functional electrodes, whether the functional electrode is in physical contact with the wall tissue.

Embodiments of the present disclosure include a method for performing patient respiration compensation. The method can include receiving a position sensor signal from a position sensor disposed on a catheter. The method can include determining a position sensor location of the position sensor from the position sensor signal. The method can include receiving a patient reference sensor signal from a patient reference sensor. The method can include determining a patient reference sensor location of the patient reference sensor from the patient reference sensor signal. The method can include determining a weight for the patient reference sensor location. The method can include determining an average of the patient reference sensor location. The method can include determining a compensation for the patient respiration, based on the weighted patient reference sensor location and the average of the patient reference sensor location.

A method includes, in a processor, receiving signals from (i) a first position sensor disposed on a shaft of a catheter, and (ii) a second position sensor disposed on a distal end of a sheath of the catheter. Based on the signals received from the first position sensor and the second position sensor, an event is detected in which an expandable distal-end assembly of the catheter is being withdrawn into the sheath while still at least partially expanded. A responsive action is initiated in response to detecting the event.

In one embodiment, a medical system includes a catheter configured to be inserted into a chamber of a heart of a living subject, and including a distal end including catheter electrodes configured to contact tissue at respective locations within the chamber of the heart, at least one position sensor configured to provide at least one position signal indicative of a position of the distal end, a display, and processing circuitry configured to compute the position of the distal end of the catheter responsively to the at least one position signal, render to the display a 3D anatomical map of the chamber of the heart and a 3D representation of the distal end of the catheter, and render to the display over at least part of the map, at least one intracardiac electrogram trace representing electrical activity in the tissue that is sensed by at least one of the catheter electrodes.

A catheter has a balloon electrode assembly with at least one compliant balloon member and at least one electrode carried on an outer surface of the balloon member for accomplishing circumferential sensing or ablation in a tubular region of the heart, including a pulmonary vein or ostium. The catheter may also include an electrode assembly with a tip and/or ring electrode distal of the balloon electrode assembly adapted for focal contact.

A partially-masked electrode includes a conductive material and an insulated coating having an outer surface. The insulated coating defines a contoured opening that exposes or reveals an area of the conductive material, wherein the contoured opening has an upper perimeter at the outer surface of the insulated coating. When the upper perimeter of the insulated surface coating is placed in contact with a tissue of interest, wherein the tissue of interest is proximate a blood pool, the insulated coating creates a seal between the blood pool and the contoured opening so that no blood in the blood pool can contact the conductive material. This seal reduces or eliminates the reception of far field effects in the blood pool by the electrode, making it easier to locate and diagnose unhealthy tissue.

Methods for fabricating flexible/stretchable circuits can include identifying one or more regions of a printed circuit board (PCB) for selectively removing insulation material. The PCB can include one or more electrically conductive structures arranged on an insulation layer. The method can include applying, within each region of the one or more regions, thermal energy via a heat source to a surface of the PCB within the region such that insulation material of the insulation layer is removed from the region while a portion of the insulation layer beneath the one or more electrically conductive structures is maintained. The flexible/stretchable circuit can be laminated on a soft actuator to form a soft robotic device.

A system for application of neurostimulation includes an outer sheath, an elongate inner member in the outer sheath and movable relative to the outer sheath. The inner lumen has a distal end. An expandable member is coupled to the distal end of the inner member and is in the outer sheath. The expandable member is self-expanding upon from a compressed state in the outer sheath to an expanded state out of the outer sheath. The expandable member includes a distal portion including a plurality of wires woven together and a proximal portion including the plurality of wires extending parallel to a longitudinal axis. The system includes a plurality of electrode assemblies outward of the expandable member and circumferentially spaced around the expandable member. Each electrode assembly is coupled to two of the wires extending parallel to the longitudinal axis. Each electrode assembly includes a plurality of longitudinally-spaced electrodes.

An integrated electrode structure can comprise a catheter shaft comprising a proximal end and a distal end, the catheter shaft defining a catheter shaft longitudinal axis. A flexible tip portion can be located adjacent to the distal end of the catheter shaft, the flexible tip portion comprising a flexible framework. A plurality of microelectrodes can be disposed on the flexible framework and can form a flexible array of microelectrodes adapted to conform to tissue. A plurality of conductive traces can be disposed on the flexible framework, each of the plurality of conductive traces can be electrically coupled with a respective one of the plurality of microelectrodes.

Embodiments of the present disclosure include a medical device. The medical device can include a catheter shaft that includes a proximal end and a distal end, the catheter shaft defining a catheter shaft longitudinal axis. A flexible tip portion can be located adjacent to the distal end of the catheter shaft, the flexible tip portion comprising a flexible framework, wherein the flexible framework is curved about a transverse framework axis that is disposed transverse to the catheter shaft longitudinal axis without application of a force external to the medical device. A plurality of microelectrodes can be disposed on the flexible framework and can form a flexible array of microelectrodes adapted to conform to tissue.