A catheter for use with a catheterization system having a plurality of magnetic field generators (F1, F2, F3), each generating a position-data magnetic field, comprising: a flexible tubing (55, 56); and a distal section adapted for engagement with patient tissue, the distal section having: a proximal portion, a distal portion and a flexible joint between the proximal portion and the distal portion; a distal section magnetic field generator positioned in one of the proximal and distal portions (13P, 13D), the distal section magnetic field generator adapted to generate a pressure-data magnetic field; a plurality of sensing coils (SCx, SCy, SCz) positioned in the other of the proximal and distal portions (13P, 13D), and comprising three sensing coils; wherein each sensing coil (SCx, SCy, SCz) is configured to sense each position-data magnetic field and each pressure-data magnetic field and generate signals representative of data relating to position of the distal section and data relating to pressure exerted on the distal section when engaged with the patient tissue; and wherein each sensing coil (SCx, SCy, SCz) has a respective lead connected thereto configured to transmit signals for signal processing; characterized in that the plurality of sensing coils (SCx, SCy, SCz) comprises three mutually-orthogonal sensing coils. a flexible tubing (55, 56); and a distal section adapted for engagement with patient tissue, the distal section having: a proximal portion, a distal portion and a flexible joint between the proximal portion and the distal portion; a distal section magnetic field generator positioned in one of the proximal and distal portions (13P, 13D), the distal section magnetic field generator adapted to generate a pressure-data magnetic field; a plurality of sensing coils (SCx, SCy, SCz) positioned in the other of the proximal and distal portions (13P, 13D), and comprising three sensing coils; wherein each sensing coil (SCx, SCy, SCz) is configured to sense each position-data magnetic field and each pressure-data magnetic field and generate signals representative of data relating to position of the distal section and data relating to pressure exerted on the distal section when engaged with the patient tissue; and wherein each sensing coil (SCx, SCy, SCz) has a respective lead connected thereto configured to transmit signals for signal processing; a proximal portion, a distal portion and a flexible joint between the proximal portion and the distal portion; a distal section magnetic field generator positioned in one of the proximal and distal portions (13P, 13D), the distal section magnetic field generator adapted to generate a pressure-data magnetic field; a plurality of sensing coils (SCx, SCy, SCz) positioned in the other of the proximal and distal portions (13P, 13D), and comprising three sensing coils; wherein each sensing coil (SCx, SCy, SCz) is configured to sense each position-data magnetic field and each pressure-data magnetic field and generate signals representative of data relating to position of the distal section and data relating to pressure exerted on the distal section when engaged with the patient tissue; and wherein each sensing coil (SCx, SCy, SCz) has a respective lead connected thereto configured to transmit signals for signal processing; the plurality of sensing coils (SCx, SCy, SCz) comprises three mutually-orthogonal sensing coils.