A catheter procedure system includes a bedside system having a percutaneous device, at least one drive mechanism coupled to the percutaneous device and at least one motor coupled to the at least one drive mechanism. The system also includes a workstation that is coupled to the bedside system and includes a user interface and a controller coupled to the bedside system and the user interface. The controller is programmed to receive at last one parameter of the motor, determine a quadrature current of the motor based on at least the at least one parameter, determine a load torque on the motor based on at least the quadrature current, an angular velocity and an angular acceleration and control the operation of the motor based on the load torque, wherein the operation of the motor causes the drive mechanism to move the percutaneous device.
