System and method to determine the location and {HEAD ~ orientation} of {TAIL ~ an indwelling medical device} 
System and method to determine the location and { HEAD ~ orientation } of { TAIL ~ an indwelling medical device }
OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL