Minimally invasive interventions are becoming an increasingly common alternative to open-heart surgery. The minimally invasive approach has many benefits, including reduced mortality rates, reduced risk of infection, and faster recovery for the patient. These complex procedures require the surgeon to remotely guide a catheter or surgical device to specific locations inside the heart. This has largely been made possible by the use of imaging modalities, particularly x-ray fluoroscopy, to provide visual feedback on the catheter location.