A force-sensing tip assembly for a catheter comprises a tip shell, an acoustic transducer, a first target, and a first spring. The tip shell is for joining to the catheter. The acoustic transducer is disposed within the tip shell and is capable of generating an acoustic ping. The first target is spaced from the acoustic transducer within the tip shell. The first spring is in the tip shell and configured to allow a relative position between the acoustic transducer and the first target to change over a range. The first target is shaped and positioned to reflect at least a portion of the acoustic ping back to the acoustic transducer as a first echo over at least a portion of the range.
