Abstract: Embodiments described herein include apparatus that includes an electrical interface and a processor. The processor is configured to receive, via the electrical interface, a first signal that indicates a time-varying force that was applied to a portion of tissue, and one or more second signals that are derived from ultrasound reflections received from the portion of tissue. The processor is further configured to learn, from the first signal and the second signals, a dependency of a thickness of the portion of tissue on the force applied to the portion of tissue. Other embodiments are also described.

Abstract: Catheterization is carried out by inserting a probe into a cavity in a body of a subject. The probe has a contact force, a transmitter, a receiver, and an ultrasound transducer in its distal segment, After navigating the probe into contact with a target in a wall of the cavity, using the contact force sensor a desired contact force is established and maintained between the probe and the target. Responsively to readings by the receiver of signals from the transmitter, the distal end of the probe is oriented orthogonally to the target.

Abstract: Embodiments described herein include apparatus that includes an electrical interface and a processor. The processor is configured to receive, via the electrical interface, a first signal that indicates a time-varying force that was applied to a portion of tissue, and one or more second signals that are derived from ultrasound reflections received from the portion of tissue. The processor is further configured to learn, from the first signal and the second signals, a dependency of a thickness of the portion of tissue on the force applied to the portion of tissue. Other embodiments are also described.

Abstract: Catheterization is carried out by inserting a probe into a cavity in a body of a subject. The probe has a contact force, a transmitter, a receiver, and an ultrasound transducer in its distal segment, After navigating the probe into contact with a target in a wall of the cavity, using the contact force sensor a desired contact force is established and maintained between the probe and the target. Responsively to readings by the receiver of signals from the transmitter, the distal end of the probe is oriented orthogonally to the target.