**Exhibit 10.2**

**FOURTH AMENDMENT TODISTRIBUTION/SUPPLY AGREEMENT**

This FOURTH AMENDMENT is effective the 1stday of January, 2001 to the Distribution/Supply Agreement dated September 4,1997 (the “Distribution Agreement”) by and between Endocardial Solutions, Inc.(“ESI”) and Medtronic, Inc. (“Medtronic”).

Section 1.1 (Specific Definitions), “MedtronicTerritories” shall be amended to read as follows:

“MedtronicTerritories” means only those countries included within Medtronic’scurrently designated “Europe,” sales region as more fully described inSchedule 1.2.

Schedule 1.2 is amended to delete theterm “Japan” and “Canada.”

The caption of Article 2 is amended todelete the words “and Japan.”

Articles 3 (ESI Sales and Distribution)shall be amended to read as follows:

ESIretains all rights to the Systems not expressly granted to Medtronic.  ESI shall establish a direct sales force forSystems in North America and Japan through a combination of ESI employeesand/or independent third-party sales representatives.  ESI shall use its commercially reasonable best efforts to ensurethat any such independent third-party sales representatives of Systems in NorthAmerica and Japan are not Medtronic Competitors.

Section 4.1(a) shall be amended to readas follows:

4.1        Right of First Offer OutsideMedtronic Territories.

| (a) | In  the event that ESI proposed to enter into any distribution, sales  representative or similar license agreement with any third party regarding  the sales, distribution or licensing of the Systems in the Field of Use  outside the Medtronic Territories, North America or Japan (such regions to be  described as (i) Asia Pacific (excluding Japan), (ii) Australia/New  Zealand, (iii) Central/South America and (iv) the Middle East and  Africa, ESI agrees it shall offer Medtronic a first right to become ESI’s  exclusive distributor of the ESI System is each of such regions. |
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Except to the extent provided above, theremaining terms and conditions of the Distribution Agreement, as amended, shallremain in full force and effect.
| MEDTRONIC,  INC.                                  | ENDOCARDIAL  SOLUTIONS, INC. |
|---------------------------------------------------|------------------------------|
|                                              |                         |
|                                              |                         |
| /s/  Warren Watson                                | /s/  James W. Bullock        |
| Warren  Watson   Vice President   EP Systems, CRM | Title:  President/CEO        |
|                                              |                         |
| Dated:  2 March 01                                | Date:  4/25/01               |