Before revision:  The catheter model is constructed based on the nonlinear beam element and flexural rigidity distribution . During remote cannulation of aortic arteries, intraluminal monitoring achieved tracking local contact forces, building  contour map of force on the arterial wall , and estimating structural stress of catheter. Shape estimation error was within 2\% range.
After revision:  The catheter model is constructed based on the nonlinear beam element and flexural rigidity distribution . During remote cannulation of aortic arteries, intraluminal monitoring achieved tracking local contact forces, building contour map of force on the arterial wall and estimating tool structural stress.