A method and system for mapping a volume of an anatomical structure includes a processor for computing a contour of a medical device as a function of positional and/or a shape constraints, and to translate the contour into known and virtual 3D positions. The processor is configured to determine a spatial volume based on a virtual position, and to render a 3D representation of the spatial volume. A method and system of mapping a surface of an anatomical structure includes a processor configured to obtain an image of the structure. The processor is further configured to receive a signal indicative of a medical device contacting the surface of the anatomical structure, and to determine a position of the device upon when contact has been made. The processor is configured to superimpose marks on the image indicative of a contact points between the device and the structure.
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