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.
After revision:  The catheter model is constructed based on the nonlinear beam element and flexural rigidity profile over the tool length . 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.