Irrigated High Density Electrode Catheter

A catheter comprising:

• an elongate catheter shaft comprising a proximal end, a distal end, and defining a longitudinal axis therebetween;
• an electrode assembly comprising:
• a proximal end portion;
• a distal end portion;
• and
• a plurality of electrodes;
• and
• an irrigated coupler disposed at the proximal end portion of the electrode assembly and configured to discharge fluid through at least one irrigation port;
• a connective stem comprising a first connective stem member and a second connective stem member, wherein the first connective stem member and the second connective stem member are separate components that are configured to be assembled together and coupled to the irrigated coupler, wherein the first connective stem member comprises a first groove and the second connective stem member comprises a second groove;
• a first five degree of freedom magnetic position sensor disposed in the first groove of the first connective stem member and elongated along a first sensor longitudinal axis;
• and
• a second five degree of freedom magnetic position sensor disposed in the second groove of the second connective stem member and elongated along a second sensor longitudinal axis that is not parallel to the first sensor longitudinal axis, wherein a first signal generated by the first five degree of freedom magnetic position sensor and a second signal generated by the second five degree of freedom magnetic position sensor can be analyzed to determine a position and orientation of the connective stem with six degrees of freedom.