UNITED STATES

SECURITIES AND EXCHANGE
COMMISSION

Washington, D.C. 20549

SCHEDULE 13D

Item 1.

Security and Issuer

The class of equity security to which this statement relates is the Common Stock, $0.01 par value per share of Endocardial Solutions, Inc. (“ESI”).  The name and address of the principal executive offices of the issuer of such securities are Endocardial Solutions, Inc., 1350 Energy Lane, Suite 110, St. Paul, Minnesota  55108.

Item 2.

Identity and Background

(a), (b) and (c):

Medtronic, Inc. (“Medtronic”), 710 Medtronic Parkway N.E., Minneapolis, Minnesota 55432, is a Minnesota corporation, principally engaged in the business of therapeutic medical technology, specializing in implantable and interventional therapies.  Medtronic International, Ltd., 710 Medtronic Parkway N.E., Minneapolis, Minnesota  55432, a Delaware corporation (“MIL”), is a wholly-owned subsidiary of Medtronic through which Medtronic holds certain investments.  Information is provided below with respect to persons who are directors and executive officers of the Reporting Persons.

William W. George, Chairman and Director, Medtronic, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Arthur D. Collins, Jr., President, Chief Executive Officer and Director, Medtronic and President, MIL, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Michael R. Bonsignore, Director, Medtronic, Retired Chairman, Honeywell International, Inc., 101 Columbia Road, P. O. Box 4000, Morristown, New Jersey  07962-2497;

William R. Brody, M.D., Ph.D., Director, Medtronic, President, The Johns Hopkins University, 3400 North St. Charles St., 242 Garland Hall, Baltimore, MD 21218;

Paul W. Chellgren, Director, Medtronic, Chairman and Chief Executive Officer, Ashland Inc., 50 E. RiverCenter Boulevard, P.O. Box 391, Covington, KY 41012-0391;

Antonio M. Gotto, Jr., M.D., Director, Medtronic, Dean, Cornell University Medical College, Medical Affairs Provost, Cornell University, Office of the Dean, 1300 York Avenue, New York, NY 10021;

Bernadine P. Healy, M.D., Director, Medtronic, Retired President and CEO, American Red Cross, 710 County Line Road, Gates Mills, OH 44040;

Shirley A. Jackson, Ph.D., Director, Medtronic, President, Rensselaer Polytechnic Institute, 110 8th Street, Troy Building, Troy, NY 12180.

Denise M. O’Leary, Director, Medtronic, private venture capital investor, 124 Warren Road, San Mateo, CA  94401.

Jean-Pierre Rosso, Director, Medtronic, Chairman, CNH Global N.V., 700 State Street, Racine, WI 53404;

Jack W. Schuler, Director, Medtronic, Chairman, Stericycle, Inc. and Ventana Medical Systems, Inc., 28161 North Keith Drive, Lake Forest, IL 60045;

Gordon M. Sprenger, Director, Medtronic, Retired from Allina Health System, 800 E. 28th Street, Minneapolis, MN 55407;

Jeffrey Balagna, Senior Vice President and Chief Information Officer, Medtronic, 710 Medtronic Parkway N.E., Minneapolis, Minnesota 55432;

Chuck Brynelsen, Vice President, MIL, 710 Medtronic Parkway N.E., Minneapolis, Minnesota 55432;

Gary L Ellis, Vice President, Controller, Treasurer and Director, MIL, 710 Medtronic Parkway N.E., Minneapolis, MN 55432.

Michael D. Ellwein, Vice President, MIL, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Janet S. Fiola, Senior Vice President, Human Resources, Medtronic, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Robert Guezuraga, Senior Vice President and President, Cardiac Surgery, Medtronic, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Steven B. Kelmar, Senior Vice President, External Affairs, Medtronic, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Stephen H. Mahle, Senior Vice President and President, Cardiac Rhythm Management, Medtronic, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Margaret A. Osborne, Vice President, MIL, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Robert L. Ryan, Senior Vice President and Chief Financial Officer, Medtronic, and Vice President, Chief Financial Officer and Director, MIL, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

David J. Scott, Senior Vice President and General Counsel and Secretary, Medtronic, and Vice President, Secretary and Director, MIL, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Keith E. Williams, Senior Vice President and President, Neurological, Spinal, and ENT, Medtronic, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

Barry W. Wilson, Senior Vice President and President, International, Medtronic, 710 Medtronic Parkway N.E., Minneapolis, MN 55432;

(d), (e) and (f):       No change.

Item 3.

Source and Amount of Funds or Other Consideration

Not applicable.

Item 4.

Purpose of Transaction

On January 30, 2002, a Warrant to purchase 447,554 shares of ESI Common Stock held by MIL expired unexercised.

MIL has acquired shares of ESI Common Stock solely for investment purposes.  Based upon their evaluation of ESI’s financial condition, market conditions and other factors they may deem material, the Reporting Persons may seek to acquire additional shares of ESI Common Stock in the open market or in private transactions, or may dispose of all or any portion of the shares currently owned.  Except as set forth in the preceding sentence, the Reporting Persons presently do not have any definitive plans or proposals that relate to or would result in transactions of the kind described in paragraphs (a) through (j) of Item 4 of Schedule 13D, but may, at any time and from time to time, review, reconsider and discuss with ESI or others the Reporting Persons’ positions with respect to ESI which could thereafter result in the adoption of such plans or proposals.

Item 5.

Interest in Securities of the Issuer

(a)

Medtronic, through MIL, is the beneficial owner of 1,436,510 shares of Common Stock of ESI, which represents approximately 8.7% of the outstanding Common Stock of ESI.  To the knowledge of the Reporting Persons, no other person named in Item 2 beneficially owns any ESI shares.

(b)

Medtronic, through MIL, has the sole power to vote and the sole power to dispose of all shares of ESI Common Stock beneficially owned by it.

(c)

The following transactions in the Common Stock of ESI were effected by persons named in paragraph (a) above during the past 60 days:

(i)

A warrant to purchase 447,554 shares of ESI Common Stock held by MIL expired unexercised on January 30, 2002.

(ii)

The following open market sales of ESI Common Stock were made by MIL:

Date of Sale

Number of
Shares Sold

Per Share
Sale Price

March 22, 2002

200,000

$7.50

April 8, 2002

75,000

$8.75

April 9, 2002

25,000

$8.855

(d)

No other person is known to have the right to receive or the power to direct the receipt of dividends from, or the proceeds of the sale of, the subject securities.

(e)

Not applicable.

Item 6.

Contracts, Arrangements, Understandings or Relationships with Respect to Securities of the Issuer

No change

Item 7.

Material to Be Filed as Exhibits

Exhibit A –

Agreement by the persons filing this Schedule 13D Amendment to make a joint filing—incorporated by reference to Exhibit A to Amendment No. 1 to Schedule 13D filed January 8, 2002.

Exhibit B –

Warrant to purchase 447,554 shares of ESI Common Stock—incorporated by reference to Exhibit B to initial Schedule 13D filed February 9, 1998.

MEDTRONIC, INC.

By:

/s/ Carol E. Malkinson

Carol E. Malkinson

Senior Legal Counsel and Assistant

Secretary

MEDTRONIC INTERNATIONAL, LTD.

By:

/s/ Carol E. Malkinson

Carol E. Malkinson

Assistant Secretary

Exhibit

Description

A

Agreement by the persons filing this Schedule 13D Amendment to make a joint filing—incorporated by reference to Exhibit A to Amendment No. 1 to Schedule 13D filed January 8, 2002.

B

Warrant to purchase 447,554 shares of ESI Common Stock—incorporated by reference to Exhibit B to initial Schedule 13D filed February 9, 1998.