Patent ID: 7751867

Claim:
A method for establishing enhanced contact of a medical device against a three-dimensional surface geometry within a subject body, the method comprising: obtaining a target location on a surface within a subject body for a medical device to contact by using an imaging device, obtaining local surface geometry information in a neighborhood of the target location, wherein the local surface geometry information includes local surface normal and curvature information determined from at least two points within a local tangent plane containing the target location that are spaced a predetermined distance from the target location, which are used to measure the deviation away from the local tangent plane of a local surface patch; using the local surface geometry information to determine a change of at least one control variable for effecting an over-torque of the medical device to enhance contact of the medical device with the target location on the surface; and applying the change of the at least one control variable to effect an over-torque and enhance contact of the medical device against the surface.