Abstract: An invasive probe for mapping the walls of a lumen employs a real-time tracking means and a wall distance measurement means. As the probe is advanced within the lumen, the real-time tracking means provides three-dimensional coordinates of the probe's position and orientation. Concurrent with probe localization, the distance between the probe and the lumen walls is measured. Both the probe position and the wall distance measurement are sent to a data acquisition system which in turn provides a graphic or numeric display to the operator. Probe tracking can be performed with radio-frequency, magnetic resonance, ultrasonic techniques or the like. If desired, lumen wall distance measurements can be performed with magnetic resonance or ultrasound methods. Lumen wall distance measurements can also be performed with mechanical devices such as balloons and/or expanding structures.