Abstract: A catheter includes a shaft; a tip disposed at a distal end of the shaft; at least one acoustic sensor disposed on or in the shaft, each acoustic sensor disposed at a respective distance from the distal end of the shaft; and at least one electrical conductor disposed on or in the shaft, each electrical conductor electrically connecting a respective acoustic sensor to one or more electrical connection points in a housing attached to a proximal end of the shaft. The catheter and an acoustic source are localized with respect to each other using acoustic signals transmitted between the acoustic source and the catheter.