Patent ID: 8206383

Claim:
A catheter system comprising: a. a catheter having a catheter body and having a distal end and a proximal end; b. an ablation electrode at said distal end and a location electrode proximate said distal end; c. said catheter having a plurality of pull wires within said catheter body; d. each pull wire having a distal end and a proximal end; e. two or more pull rings located within said body near said distal tip; f. each pull wire distal end coupled to a pull ring; g. a servo translation mechanism coupled to each of said pull wire proximal ends; whereby manipulation of said pull wires by said servos alters the shape and location of said catheter; h. an interactive catheter location system to determine the location of the catheter in space and to define a target site for the catheter; and i. control software to automatically move the catheter from said location to said target site.