A catheter procedure system comprising: a bedside system comprising a percutaneous device (202, 206), at least one drive mechanism (232, 234, 236) coupled to the percutaneous device (202, 206) and at least one motor (238, 240, 242) coupled to the at least one drive mechanism (232, 234, 236); and a workstation coupled to the bedside system, the workstation comprising: a user interface (118, 126); and a controller coupled to the bedside system and the user interface (118, 126), the controller programmed to: receive at least one parameter of the motor (238, 240, 242); determine a quadrature current of the motor (238, 240, 242) based on at least the at least one parameter; determine a load torque on the motor (238, 240, 242) based on at least the quadrature current, an angular velocity and an angular acceleration; and control the operation of the motor (238, 240, 242) based on the load torque, wherein the operation of the motor (238, 240, 242) causes the drive mechanism (232, 234, 236) to move the percutaneous device (202, 206), wherein the motor is a brushless DC motor or a stepper motor, and wherein the load torque for a brushless DC motor is determined in accordance with: τ ^ l k = Ki q − set k − B ω ^ k − J ω ^ ̇ k where τ̂ l [ k] is the load torque, ω̂ [ k] is the angular velocity, ω ^ ̇ k is the angular acceleration, K is a torque constant, B is damping coefficient of the rotor, J is moment of inertia of the rotor and i q -set is a desired setpoint of the quadrature current, and wherein the load torque for a stepper motor is determined in accordance with: i q k = − sin n p θ k i α k + cos n p θ k i β k τ ^ l k = Ki q k − B ω ^ k − J ω ^ ̇ k − K d 4 sin 4 n p θ k where i q is the quadrature current, i α is a measured phase current, i β is a measured phase current, n p is a number of magnetic pole pairs of the rotor, θ is the angular position of the rotor, τ̂ l [ k] is the load torque, ω̂ [ k] is the angular velocity, ω ^ ̇ k is the angular acceleration, K is a torque constant, B is damping coefficient of the rotor, J is moment of inertia of the rotor, and K d4 is a detent torque amplitude. a bedside system comprising a percutaneous device (202, 206), at least one drive mechanism (232, 234, 236) coupled to the percutaneous device (202, 206) and at least one motor (238, 240, 242) coupled to the at least one drive mechanism (232, 234, 236); and a workstation coupled to the bedside system, the workstation comprising: a user interface (118, 126); and a controller coupled to the bedside system and the user interface (118, 126), the controller programmed to: receive at least one parameter of the motor (238, 240, 242); determine a quadrature current of the motor (238, 240, 242) based on at least the at least one parameter; determine a load torque on the motor (238, 240, 242) based on at least the quadrature current, an angular velocity and an angular acceleration; and control the operation of the motor (238, 240, 242) based on the load torque, wherein the operation of the motor (238, 240, 242) causes the drive mechanism (232, 234, 236) to move the percutaneous device (202, 206), wherein the motor is a brushless DC motor or a stepper motor, and a user interface (118, 126); and a controller coupled to the bedside system and the user interface (118, 126), the controller programmed to: receive at least one parameter of the motor (238, 240, 242); determine a quadrature current of the motor (238, 240, 242) based on at least the at least one parameter; determine a load torque on the motor (238, 240, 242) based on at least the quadrature current, an angular velocity and an angular acceleration; and control the operation of the motor (238, 240, 242) based on the load torque, wherein the operation of the motor (238, 240, 242) causes the drive receive at least one parameter of the motor (238, 240, 242); determine a quadrature current of the motor (238, 240, 242) based on at least the at least one parameter; determine a load torque on the motor (238, 240, 242) based on at least the quadrature current, an angular velocity and an angular acceleration; and control the operation of the motor (238, 240, 242) based on the load torque, wherein the operation of the motor (238, 240, 242) causes the drive mechanism (232, 234, 236) to move the percutaneous device (202, 206), wherein the motor is a brushless DC motor or a stepper motor, and wherein the load torque for a brushless DC motor is determined in accordance with: τ ^ l k = Ki q − set k − B ω ^ k − J ω ^ ̇ k where τ̂ l [ k] is the load torque, ω̂ [ k] is the angular velocity, ω ^ ̇ k is the angular acceleration, K is a torque constant, B is damping coefficient of the rotor, J is moment of inertia of the rotor and i q -set is a desired setpoint of the quadrature current, and wherein the load torque for a stepper motor is determined in accordance with: i q k = − sin n p θ k i α k + cos n p θ k i β k τ ^ l k = Ki q k − B ω ^ k − J ω ^ ̇ k − K d 4 sin 4 n p θ k where i q is the quadrature current, i α is a measured phase current, i β is a measured phase current, n p is a number of magnetic pole pairs of the rotor, θ is the angular position of the rotor, τ̂ l [ k] is the load torque, ω̂ [ k] is the angular velocity, ω ^ ̇ k is the angular acceleration, K is a torque constant, B is damping coefficient of the rotor, J is moment of inertia of the rotor, and K d4 is a detent torque amplitude.