Ablation position correction. (a) Contrast enhanced IR-SSFP image showing the created lesion. Red arrow points to the location of an erroneous realtime tracked catheter tip position during RF ablation. Yellow arrow points to the actual anatomical location of the created lesion. A green arrow points to the corrected catheter position after motion model was applied to the erroneously tracked position. (b) The same lesion is shown in gross pathology at the approximate short axis slice location, after the animal was sacrificed.