A system comprises a catheter and an electromagnetic sensor assembly supported at a distal end of the catheter. The electromagnetic sensor assembly includes a magnetic strut spirally extended away from the distal end of the catheter around an open area distal of the catheter. The system also comprises an imaging element supported at a distal end of the catheter inside the open area. The imaging element acquires an image of the tissue surface region. The system also comprises a processor that receives a position of the electromagnetic sensor assembly and the tissue surface image. The processor maps the position of the electromagnetic sensor assembly and tissue surface image together. The system also comprises a barrier reconfigurable from a low-profile shape to an expanded deployment shape projecting from a distal end of the catheter. The electromagnetic sensor assembly is spirally configured over the barrier.