摘要：

A medical probe such as a catheter ( 20 ) is guided within the body of a patient by determining the relative positions of the probe relative to another probe, as by transmitting non-ionizing radiation to or from field transducers ( 30, 230 ) mounted on both probes. In one embodiment, a site probe ( 28 ) is secured to a lesion within the body, and an instrument probe ( 200 ) for treating the lesion may be guided to the lesion by monitoring relative positions of the probes. Two or more probes may be coordinated with one another to perform a medical procedure.

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