A robotic workstation for sensorless contact force control of an interventional tool having a cable driven distal end, the robotic workstation comprising: an actuation position calibrator operable to generate a calibration lookup table of expected motor currents for a measured motor position of each of at least one motorized gear of a robotic actuator engaging the interventional tool by initiating an interventional tool actuation cycle wherein for each of a plurality of shape configurations (90, 91) of the interventional tool, each shape configuration (90, 91) corresponding to a shape of the entire length of the interventional tool, a probe calibration cycle is executed, the probe calibration cycle including measuring and storing each motor current whilst the robotic actuator moves the distal end of the interventional device over a full degree range of a first degree of freedom for numerous degrees of a second degree of freedom of the distal end at a specified degree sample rate; a contact force control calibrator operable to generate a calibration curve including a force-to-motor current curve for the interventional tool by executing an interventional tool actuation cycle wherein a contact force is measured by a force sensor whilst the robotic actuator, for each of a plurality of shape configurations (90, 91) of the interventional tool, each shape configuration (90, 91) corresponding to a shape of the entire length of the interventional tool, executes a probe calibration cycle, the probe calibration cycle including recording each motor current and a corresponding contact force whilst the robotic actuator moves the distal end of the interventional device over a full degree range of a first degree of freedom for numerous degrees of a second degree of freedom of the distal end at a specified degree sample rate; and an actuation controller operably connected to the actuation position calibrator and the contact force control calibrator to generate motor commands for simultaneous actuation position and contact force control of the interventional tool derived from the calibration lookup table and the calibration curve, wherein the robotic workstation is operable to generate the motor commands as a function of an actuation position measurement and a motor current measurement of the at least one motorized gear for a desired actuation position of the interventional tool. an actuation position calibrator operable to generate a calibration lookup table of expected motor currents for a measured motor position of each of at least one motorized gear of a robotic actuator engaging the interventional tool by initiating an interventional tool actuation cycle wherein for each of a plurality of shape configurations (90, 91) of the interventional tool, each shape configuration (90, 91) corresponding to a shape of the entire length of the interventional tool, a probe calibration cycle is executed, the probe calibration cycle including measuring and storing each motor current whilst the robotic actuator moves the distal end of the interventional device over a full degree range of a first degree of freedom for numerous degrees of a second degree of freedom of the distal end at a specified degree sample rate; a contact force control calibrator operable to generate a calibration curve including a force-to-motor current curve for the interventional tool by executing an interventional tool actuation cycle wherein a contact force is measured by a force sensor whilst the robotic actuator, for each of a plurality of shape configurations (90, 91) of the interventional tool, each shape configuration (90, 91) corresponding to a shape of the entire length of the interventional tool, executes a probe calibration cycle, the probe calibration cycle including recording each motor current and a corresponding contact force whilst the robotic actuator moves the distal end of the interventional device over a full degree range of a first degree of freedom for numerous degrees of a second degree of freedom of the distal end at a specified degree sample rate; and an actuation controller operably connected to the actuation position calibrator and the contact force control calibrator to generate motor commands for simultaneous actuation position and contact force control of the interventional tool derived from the calibration lookup table and the calibration curve, wherein the robotic workstation is operable to generate the motor commands as a function of an actuation position measurement and a motor current measurement of the at least one motorized gear for a desired actuation position of the interventional tool.