Abstract: A medical system includes utility and ultrasound probes, and a processor. The probes are configured for operation inside an organ. The utility probe includes a distal end effector and a first sensor configured to output first signals indicative of first positions of the distal end effector. The ultrasound probe includes ultrasound transducer array configured to image volume comprising portion of the distal end effector inside the organ, and a second sensor configured to output second signals indicative of second positions of the ultrasound transducer array. The processor is configured to, using the imaged volume, and the first and second positions, select slices of the imaged volume that comprise at least part of distal end effector in spatial relation with the organ, generate from selected slices a biplane view and/or a triplane view of the part of the distal end effector, and present the biplane view and/or triplane view to user.

Abstract: A system includes a display and a processor. The display is configured to present a rendering of at least part of a septum and a left atrium of a heart of a patient. The processor is configured to (a) identify in the rendering (i) the septum and (ii) a target anatomical location to be reached by a probe via the septum, (b) calculate a trajectory for the probe between the septum and the target anatomical location, including identifying over the septum an entrance location for the probe to cross the septum and reach the target anatomical location, and (c) present the entrance location to a user for penetrating the septum therein.