 The proposed image-based method employs continuous finite element simulation of the catheter motion using imaging data to estimate multi-point forces along catheter-vessel interaction.
<clarity>  The proposed image-based method employs continuous finite element simulation of the catheter motion using imaging data to estimate multi-point forces along catheter-vessel interaction.
 The proposed image-based method employs continuous finite element simulation of the tool using imaging data to estimate multi-point forces along catheter-vessel interaction.