A system for determining contact status of a medical device with tissue, the system comprising: the medical device comprising a plurality of electrodes (20A-20I, 22) forming bi-pole pairs of electrodes, wherein one side of each bi-pole is a common electrode; a reference electrode; and an electronic control unit, ECU, for measuring impedance between electrodes, the ECU comprising: a frequency source configured to generate a plurality of digital drive signals each having a unique modulation frequency that is a harmonic of a common base frequency; at least a first digital to analog converter (106, 106A-106H) configured to receive the plurality of digital drive signals and output a plurality of analog drive signals, wherein the plurality of analog drive signals are simultaneously applied to the plurality of electrodes located on the medical device; at least a first analog to digital converter (122, 122A-122H) configured to receive a plurality of measured analog voltage signals from each of the plurality of electrodes generated in response to the analog drive signals and referenced to the reference electrode and to generate a composite digital response signal from the plurality of measured analog voltage signals, a demodulator circuit configured to: synchronously demodulate the composite digital response signal for each of the plurality of unique modulation frequencies; and output an impedance value for each of the plurality of electrodes, wherein the system is further configured to determine contact status with the tissue of each electrode based on the output impedance value of each of the electrodes and to provide feedback on the contact status of each electrode to a user. electrodes, wherein one side of each bi-pole is a common electrode; a reference electrode; and an electronic control unit, ECU, for measuring impedance between electrodes, the ECU comprising: a frequency source configured to generate a plurality of digital drive signals each having a unique modulation frequency that is a harmonic of a common base frequency; at least a first digital to analog converter (106, 106A-106H) configured to receive the plurality of digital drive signals and output a plurality of analog drive signals, wherein the plurality of analog drive signals are simultaneously applied to the plurality of electrodes located on the medical device; at least a first analog to digital converter (122, 122A-122H) configured to receive a plurality of measured analog voltage signals from each of the plurality of electrodes generated in response to the analog drive signals and referenced to the reference electrode and to generate a composite digital response signal from the plurality of measured analog voltage signals, a demodulator circuit configured to: synchronously demodulate the composite digital response signal for each of the plurality of unique modulation frequencies; and output an impedance value for each of the plurality of electrodes, wherein the system is further configured to determine contact status with the tissue of each electrode based on the output impedance value of each of the electrodes and to provide feedback on the contact status of each electrode to a user. a frequency source configured to generate a plurality of digital drive signals each having a unique modulation frequency that is a harmonic of a common base frequency; at least a first digital to analog converter (106, 106A-106H) configured to receive the plurality of digital drive signals and output a plurality of analog drive signals, wherein the plurality of analog drive signals are simultaneously applied to the plurality of electrodes located on the medical device; at least a first analog to digital converter (122, 122A-122H) configured to receive a plurality of measured analog voltage signals from each of the plurality of electrodes generated in response to the analog drive signals and referenced to the reference electrode and to generate a composite digital response signal from the plurality of measured analog voltage signals, a demodulator circuit configured to: synchronously demodulate the composite digital response signal for each of the plurality of unique modulation frequencies; and output an impedance value for each of the plurality of electrodes, wherein the system is further configured to determine contact status with the tissue of each electrode based on the output impedance value of each of the electrodes and to provide feedback on the contact status of each electrode to a user. synchronously demodulate the composite digital response signal for each of the plurality of unique modulation frequencies; and output an impedance value for each of the plurality of electrodes, wherein the system is further configured to determine contact status with the tissue of each electrode based on the output impedance value of each of the electrodes and to provide feedback on the contact status of each electrode to a user.