Atrial fibrillation is a cardiac arrhythmia that is characterized by loss of the normal sinoatrial electrical signal and rapid, uncoordinated atrial contractions. The disease is generally classified into three subtypes: paroxysmal, persistent, and permanent. Atrial fibrillation affects more than 2.2 million individuals in the United States, and about 4% of the population > 60 years of age. Atrial fibrillation is expected to more than double its current prevalence by the year 2050. Patients with the disease are at increased risk of stroke, hypotension, myocardial infarction, or sudden death. Hence, the goals of optimal treatment of atrial fibrillation involve anticoagulation and the restoration and maintenance of the sinus rhythm. Medical therapies include the use of antiarrhythmics, implantable cardioverter defibrillators and pacemakers, and catheter ablation. Manual (hand-held) catheter radiofrequency ablation of the atrioventricular node is an established treatment modality for drug-refractory symptomatic patients with atrial fibrillation. This procedure involves a specialized catheter designed to deliver energy (e.g., electrical, thermal), which is threaded into the atrium under fluoroscopic guidance to create a lesion in specific sites in the atrial tissue. The lesions modify the electrical properties of the atrium and eliminate fibrillation. Although effective, manual catheter ablation has several limitations, including imprecise catheter manipulation and poor stability, heavy reliance on physician skill, long surgical time, physician fatigue, and radiation exposure. Robotic catheter navigation and ablation with electromechanical guidance has been recently developed to address these various limitations associated with manual catheter ablation.