Adjustable balloon fixation for a sheath

A medical tool for use in a medical procedure, comprising:

• a sheath having a tube defined by a sheath wall, the sheath extending a length in a proximal-distal direction;
• an inflatable balloon coupled to the sheath;
• a balloon-moving mechanism, coupled to the inflatable balloon, and configured to move the inflatable balloon to different balloon locations along the length of the sheath;
• and
• a balloon-fixing mechanism configured to fix the inflatable balloon, when inflated, to a target balloon location along the length of the sheath to prevent the medical tool from moving from a target tool location within a portion of an organ of a patient.

A tool positioning system for use in a medical procedure, comprising:

• a medical tool configured to be navigated to a target tool location within a portion of an organ of a patient, the medical tool comprising:
• a sheath having a tube defined by a sheath wall, the sheath extending a length in a proximal-distal direction;
• and
• an inflatable balloon coupled to the sheath and configured to move along the length of the sheath in the proximal-distal direction, wherein when the inflatable balloon is inflated at a target balloon location along the length of the sheath, the inflated balloon is fixed at the target balloon location;
• memory configured to store location data, corresponding to acquired location signals, indicating locations of the tool in a three dimensional (3D) space including the organ of the patient;
• and
• at least one processor configured to generate, from the location data, mapping information for displaying locations of the tool in the 3D space.