An additional eleven patents are filed over the course of the year relating to the apparatus and method for the Lorentz-Active sheath display and control of surgical tools, creating a high-resolution map of electrical and mechanical properties of the heart, magnetic waveguide formation for shaped field employing magnetic aperture, and acquiring high-density mapping data, simulation training, targeting catheter electrodes, using the tissue contact information in the automated mapping of coronary chambers employing magnetically shaped fields as well as diagnostic, therapeutic, and method of magnetic propulsion capsule. Each of the patents demonstrates another technological and engineering advancement that continues to push the boundaries for existing robotic-controlled catheter systems. CGCI continues to demonstrate its clear advantages in the field.