MAGiC - Congenital Heart DIsease

Inclusion Criteria: * Adult (aged 18 or older at time of consent). * Clinically indicated for catheter ablation of a supraventricular tachycardia (macroreentrant atrial tachycardia, focal atrial tachycardia, atrioventricular nodal reentrant tachycardia, and atrioventricular reentrant tachycardia) * History of congenital heart disease with anatomic abnormalities and/or previous surgical interventions and/or previous surgical interventions that limit vascular or target chamber access by conventional manual catheter navigation. * Willing and capable of attending scheduled follow up visits for the study duration = Willing and able to provide informed consent. Exclusion Criteria: * Atrial fibrillation is the target arrhythmia for the catheter ablation. * Unable to be safely exposed to the level of magnetic fields used for Robotic Magnetic Navigation * A history of sensitivity to foreign objects (gold, platinum/iridium, Pebax materials) or extreme allergies. * Acute illness or active systemic infection. * Histological or anatomical abnormalities that may lead to post-operative complications including diminished resistance to infection. * Hemodynamic instability (to an extent that would make an interventional procedure high risk). * Presence of intracardiac thrombus. * Where MAGiC would need to cross a prosthetic valve. * Where MAGiC would need to be used in the coronary arteries. * Unable to receive heparin or an acceptable alternative to achieve adequate anticoagulation. * Acute myocardial infarct (within the previous 30 days). * Unstable angina at the time of enrollment. * History of embolism (cerebrovascular accident, transient ischemic attack, systemic embolism) in the previous 30 days. * Previous cardiac ablation within the last 30 days. * Inaccessible for follow-up visits for 6 months post ablation. * Significant uncontrolled or unstable medical problems which, in the opinion of the Investigator, would preclude enrollment in and completion of the study. * Any reason or condition that, in the judgement of the investigator, makes the subject ineligible for the investigation.