Systems and methods for orientation independent sensing

A system for obtaining an OIS coordinate frame within a heart, comprising:

• a catheter comprising a plurality of closely spaced electrodes;
• and
• an electronic control unit configured to:
• receive a plurality of signals from the plurality of closely spaced electrodes;
• compute an initial estimate of ŵ for a plurality of time intervals;
• average the initial estimate of ŵ from each of the plurality of time intervals for an estimate of ŵ;
• determine a plurality of â(θ) values and choosing a corresponding {circumflex over (n)}(θ) value for each of the plurality of â(θ) values;
• choose at least one value for â and a value for {circumflex over (n)}
• outputting at least one of the estimate of ŵ and at least one value for â and a value for {circumflex over (n)}.

A method for obtaining an OIS coordinate frame within a heart, comprising:

• receiving a plurality of signals from a plurality of closely spaced electrodes;
• computing an initial estimate of ŵ for each of a plurality of time intervals;
• averaging the initial estimate of ŵ from each of the plurality of time for an estimate of ŵ;
• determining a plurality of â(θ) values and choosing a corresponding {circumflex over (n)}(θ) value for each of the plurality of â(θ) values;
• and
• choosing at least one value for â and a value for {circumflex over (n)}.

A system for obtaining an OIS coordinate frame within a heart, comprising:

• a catheter comprising a plurality of closely spaced electrodes;
• and
• an electronic control unit configured to:
• receive a plurality of signals from a target tissue from the plurality of closely spaced electrodes;
• determine a plurality of â(θ) values and choosing a corresponding {circumflex over (n)}(θ) value for each of the plurality of â(θ) values;
• choose a value for â and a value for {circumflex over (n)};
• and
• assess a lesion in the target tissue using the value for {circumflex over (n)}.