System and method for guiding direction to and treating targets for abnormal biological rhythms

A system for treating a heart rhythm disorder, the device comprising:

• a catheter configured to be placed in contact with a tissue surface, the catheter comprising:
• a flexible body having a contact surface;
• an array of sensor electrodes arranged within the flexible body, each sensor electrode having a conductive surface substantially flush with the contact surface, each sensor electrode configured to detect electrical signals from the tissue surface;
• and
• one or more treatment elements configured to deliver energy to the tissue surface;
• a plurality of conductors, each conductor having a distal end connected to one of a sensor electrode and the one or more treatment element;
• a controller in communication with proximal ends of the plurality of conductors, the controller comprising a processor configured to:
• receive the detected electrical signals;
• determine a location of a target region of a heart rhythm disorder;
• determine whether the catheter is optimally positioned at the target region, and, if not optimally positioned, to compute directionality to the target region and generate movement instructions to move the catheter toward the target region;
• and
• after determining that the catheter is optimally positioned, generate treatment signals to activate the one or more treatment elements to modify tissue in the target region.