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Systems and methods for imaging a body cavity and for guiding a treatment element within a body cavity are provided. A system may include an imaging subsystem having an imaging device and an image processor that gather image data for the body cavity. A mapping subsystem may be provided, including a

Systems and methods for imaging a body cavity and for guiding a treatment element within a body cavity are provided. A system may include an imaging subsystem having an imaging device and an image processor that gather image data for the body cavity. A mapping subsystem may be provided, including a mapping device and a map processor, to identify target sites within the body cavity, and provide location data for the sites. The system may also include a location processor coupled to a location element on a treatment device to track the location of the location element. The location of a treatment element is determined by reference to the location element. A treatment subsystem including a treatment device having a treatment element and a treatment delivery source may also be provided. A registration subsystem receives and registers data from the other subsystems, and displays the data.

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1. A method of performing a procedure within a body cavity of a patient, comprising: introducing an imaging probe into the body cavity, wherein the imaging probe comprises an imaging element and a first location element;generating image data of the body cavity with the imaging element;introducing a

1. A method of performing a procedure within a body cavity of a patient, comprising: introducing an imaging probe into the body cavity, wherein the imaging probe comprises an imaging element and a first location element;generating image data of the body cavity with the imaging element;introducing a mapping probe into the body cavity, wherein the mapping probe comprises one or more mapping elements and a second location element;generating mapping data of the body cavity with the one or more mapping elements;determining locations of the first location element and the second location element in a three-dimensional coordinate system;registering the image data and the mapping data in the coordinate system respectively based on the determined locations of the first location element and the second location element; anddisplaying the registered image data and mapping data. 2. The method of claim 1, wherein each of the first location element and the second location element comprises an orthogonal sensor array. 3. The method of claim 1, wherein each of the first location element and the second location element is wireless. 4. The method of claim 1, wherein each of the first location element and the second location element comprises an ultrasound transducer. 5. The method of claim 1, wherein the imaging element comprises an ultrasound transducer. 6. The method of claim 1, wherein the imaging element comprises an optical element. 7. The method of claim 1, wherein the one or more mapping elements comprises a plurality of mapping elements. 8. The method of claim 1, wherein the first location element is located adjacent the imaging element. 9. The method of claim 1, further comprising: introducing a roving probe within the body cavity, wherein the roving probe comprises a functional element and a third location element;determining a location of the third location element within the coordinate system;registering a location of the functional element in the coordinate system based on the determined location of the third location element;displaying the location of the functional element;navigating the functional element within the body cavity by reference to the display. 10. The method of claim 9, wherein the roving probe comprises a treatment probe, and the functional element comprises a treatment element, the method further comprising: guiding the treatment element to a target site by reference to the display; andtreating the target site with the treatment element. 11. The method of claim 10, wherein the treatment element comprises one of the following: an ablation electrode, drug delivery needle, genetic material delivery needle, biopsy means. 12. The method of claim 1, wherein the body cavity comprises a heart chamber. 13. A method of performing a procedure within a body cavity of a patient, comprising: introducing an imaging probe into the body cavity, wherein the imaging probe comprises an imaging element and a first location element;generating image data of the body cavity with the imaging element;introducing a roving probe into the body cavity, wherein the roving probe comprises a functional element and a second location element;determining locations of the first and second elements in a three-dimensional coordinate system;registering the image data and the location of the functional element in the coordinate system based on the determined locations of the first and second location elements;displaying the registered image data and registered functional element location; andnavigating the functional element within the body cavity by reference to the display. 14. The method of claim 13, comprising: introducing a mapping probe into the body cavity, wherein the mapping probe comprises one or more mapping elements and a third location element;generating mapping data of the body cavity with the one or more mapping elements;determining a location of the third location element in the coordinate system;registering the mapping data in the coordinate system based on the determined location of the third location element; anddisplaying registered mapping data. 15. The method of claim 14, wherein the one or more mapping elements comprises a plurality of mapping elements. 16. The method of claim 14, wherein the mapping probe is introduced into the body cavity while the imaging probe is removed from the body cavity. 17. The method of claim 14, further comprising removing the mapping probe from the body cavity, wherein the functional element is navigated within the body cavity while the mapping probe is removed from the body cavity. 18. The method of claim 13, wherein each of the first and second location elements comprises an orthogonal sensor array. 19. The method of claim 13, wherein each of the first and second location elements is wireless. 20. The method of claim 13, wherein each of the first and second location elements comprises an ultrasound transducer. 21. The method of claim 13, wherein the imaging element comprises an ultrasound transducer. 22. The method of claim 13, wherein the imaging element comprises an optical element. 23. The method of claim 13, wherein the first location element is located adjacent the imaging element, and the second location element is located adjacent the functional element. 24. The method of claim 13, wherein the roving probe is a treatment probe, the functional element is a treatment element, and the method further comprises: guiding the treatment element to a target site by reference to the display; andtreating the target site with the treatment element. 25. The method of claim 24, wherein the treatment element comprises one of the following: an ablation electrode, drug delivery needle, genetic material delivery needle, biopsy means. 26. The method of claim 13, wherein the body cavity comprises a heart chamber. 27. The method of claim 13, further comprising removing the imaging probe from the body cavity, wherein the functional element is navigated within the body cavity by reference to the display while the imaging probe is removed from the body cavity. 28. The method of claim 27, wherein the roving probe is introduced into the body cavity while the imaging probe is removed from the body cavity. 29. A system for navigating within a body cavity of a patient, comprising: an imaging subsystem comprising an imaging device having an imaging element, and image processing circuitry coupled to the imaging element;a mapping subsystem comprising a mapping device having one or more mapping, and map processing circuitry coupled to the one or more mapping elements; anda three-dimensional coordinate registration subsystem comprising location and registration processing circuitry and first and second location elements respectively located on the imaging device and the mapping device, the location and registration processing circuitry being coupled to the image processing circuitry, the map processing circuitry, and the first and second location elements. 30. The system of claim 29, wherein the location and registration processing circuitry comprises registration processing circuitry coupled to the image processing circuitry, and location processing circuitry coupled between the first and second location elements and the registration processing circuitry. 31. The system of claim 30, wherein the registration processing circuitry and the location processing circuitry are embodied in a single processor. 32. The system of claim 29, further comprising a treatment delivery subsystem comprising treatment device having a treatment element, and a treatment delivery source coupled to the treatment element, wherein the three-dimensional coordinate registration subsystem further comprises a third location element located on the treatment device, and the location and registration processing circuitry is further coupled to the third location element. 33. The system of claim 32, wherein the first and second location elements are respectively located adjacent the imaging element and treatment element. 34. The system of claim 32, wherein the treatment element comprises an ablation electrode, and the treatment delivery source comprises an ablation energy source. 35. The system of claim 29, wherein the location and registration processing circuitry comprises registration processing circuitry coupled to the image processing circuitry and mapping processing circuitry, and location processing circuitry coupled between the first and second location elements and the registration processing circuitry. 36. The system of claim 35, wherein the registration processing circuitry, the location processing circuitry, the image processing circuitry, and the mapping processing circuitry are embodied in a single processor. 37. The system of claim 35, wherein each of the first and second location elements comprises an orthogonal magnetic sensor array. 38. The system of claim 37, wherein the registration subsystem further comprises an antenna, a magnetic field generator coupled between the antenna and the location processing circuitry, and a magnetic field detector coupled between the orthogonal arrays of magnetic sensors and the location processing circuitry. 39. The system of claim 35, wherein each of the first and second location elements comprises an ultrasound transducer. 40. The system of claim 39, wherein the location processing circuitry comprises one or more ultrasound transducers, a first ultrasound transceiver coupled between the one or more ultrasound transducers and the location processing circuitry, and a second ultrasound transceiver coupled between the three ultrasound transducers and the location processing circuitry. 41. The system of claim 29, wherein the one or more mapping elements comprises a plurality of mapping elements. 42. The system of claim 29, further comprising a display coupled to the registration subsystem. 43. The system of claim 29, wherein the imaging element comprises an ultrasound transducer. 44. The system of claim 29, wherein the imaging device comprises an imaging catheter. 45. The system of claim 29, wherein the imaging device comprises a pullback imaging catheter. 46. The system of claim 29, wherein the imaging device comprises a real-time 3-D ultrasound catheter. 47. The system of claim 29, wherein the body cavity comprises a heart chamber. 48. A system for navigating within a body cavity of a patient, comprising: an imaging subsystem comprising an imaging catheter having an imaging element, and image processing circuitry coupled to the imaging element;a mapping subsystem comprising a mapping device having one or more mapping elements, and map processing circuitry coupled to the one or more mapping elements; anda three-dimensional coordinate registration subsystem comprising location and registration processing circuitry, a first location element located on the imaging device, and a second location element located on the mapping device, the location and registration processing circuitry being coupled to the image processing circuitry, the mapping processing circuitry, the first location element, and the second location element. 49. The system of claim 48, wherein the location and registration processing circuitry comprises registration processing circuitry coupled to the image processing circuitry, and location processing circuitry coupled between the first location element and the registration processing circuitry. 50. The system of claim 49, wherein the registration processing circuitry and the location processing circuitry are embodied in a single processor. 51. The system of claim 49, wherein the registration subsystem further comprises an antenna, a magnetic field generator coupled between the antenna and the location processing circuitry, and a magnetic field detector coupled between the first and second orthogonal arrays of magnetic sensors and the location processing circuitry. 52. The system of claim 48, wherein the location and registration processing circuitry comprises registration processing circuitry coupled to the image processing circuitry and mapping processing circuitry, and location processing circuitry coupled between the first and second location elements and the registration processing circuitry. 53. The system of claim 48, wherein the first location element is located adjacent the imaging element. 54. The system of claim 48, further comprising a display coupled to the registration subsystem. 55. The system of claim 48, wherein the imaging element comprises an ultrasound transducer. 56. The system of claim 48, wherein the imaging catheter comprises a pullback ultrasound catheter. 57. The system of claim 48, wherein the imaging catheter comprises a real-time 3-D imaging catheter. 58. The system of claim 48, wherein each of the first and second location elements comprises an orthogonal magnetic sensor array. 59. The system of claim 48, wherein each of the first and second location elements comprises an ultrasound transducer. 60. The system of claim 59, wherein the registration subsystem comprises one or more ultrasound transducers, a first ultrasound transceiver coupled between the one or more ultrasound transducers and the location processing circuitry, and a second ultrasound transceiver coupled between the first and second ultrasound transducers and the location processing circuitry. 61. The system of claim 48, wherein the body cavity comprises a heart chamber.