Abstract: An apparatus, consisting of a rolling element, which is resting on a surface, and a force-sensing device, which is coupled to the surface. The force-sensing device is configured to make a first measurement indicative of a force exerted in a direction perpendicular to the surface. The force is exerted by a force-sensing probe pressing against the rolling element so as to hold the rolling element stationary. The apparatus further includes a calibration processor, which is configured to collect the first measurement from the sensing device, to collect a second measurement indicative of the force from the force-sensing probe, and to calibrate the force-sensing probe based on the first and second measurements.

Abstract: A method for calibrating a force measuring probe comprises providing a probe having an insertion tube with a distal tip, a joint comprising a resilient member, a joint sensor in conjunction with a processor coupled to the probe wherein the processor has a memory of an axial displacement threshold for the joint stored therein; applying force to the distal tip; measuring the displacement and deflection of the distal tip; correlating the measured displacement and deflection of the distal tip to the applied force and storing the correlation in the memory until reaching the axial displacement threshold; applying force greater than the axial displacement threshold to the distal tip to define a new force value; measuring the position of the distal tip in a plane transverse to the direction of force exerted on the distal tip; correlating the measured position of the distal tip in the plane transverse to the direction of force to the new force value and storing the correlation in the memory until reaching a pre-establ

Abstract: A method for calibrating a force measuring probe comprises providing a probe having an insertion tube with a distal tip, a joint comprising a resilient member, a joint sensor in conjunction with a processor coupled to the probe wherein the processor has a memory of an axial displacement threshold for the joint stored therein; applying force to the distal tip; measuring the displacement and deflection of the distal tip; correlating the measured displacement and deflection of the distal tip to the applied force and storing the correlation in the memory until reaching the axial displacement threshold; applying force greater than the axial displacement threshold to the distal tip to define a new force value; measuring the position of the distal tip in a plane transverse to the direction of force exerted on the distal tip; correlating the measured position of the distal tip in the plane transverse to the direction of force to the new force value and storing the correlation in the memory until reaching a pre-establ

Abstract: A method for position tracking includes using first and second field generators located at respective different first and second locations to generate respective first and second magnetic fields in a vicinity of first and second objects. The first and second fields are measured using first and second position sensors respectively associated with the first and second objects. First and second potential relative coordinates of the first object relative to the second object are calculated responsively to the first and second magnetic field. The potential relative coordinates are processed in order to determine a correct relative coordinate of the first object relative to the second object.

Abstract: An apparatus, consisting of a rolling element, which is resting on a surface, and a force-sensing device, which is coupled to the surface. The force-sensing device is configured to make a first measurement indicative of a force exerted in a direction perpendicular to the surface. The force is exerted by a force-sensing probe pressing against the rolling element so as to hold the rolling element stationary. The apparatus further includes a calibration processor, which is configured to collect the first measurement from the sensing device, to collect a second measurement indicative of the force from the force-sensing probe, and to calibrate the force-sensing probe based on the first and second measurements.

Abstract: A method for position tracking includes using first and second field generators located at respective different first and second locations to generate respective first and second magnetic fields in a vicinity of first and second objects. The first and second fields are measured using first and second position sensors respectively associated with the first and second objects. First and second potential relative coordinates of the first object relative to the second object are calculated responsively to the first and second magnetic field. The potential relative coordinates are processed in order to determine a correct relative coordinate of the first object relative to the second object.