A subject-specific skeletal model of a body is created,and an intended path of a catheter within the body is definedin the model. While the probe is inserted into the bodyelectrical currents are passed through the body between at leastone electrode in the probe and through respectiveelectroconductive location pads that are disposed at a plurality oflocations on the body surface along the intended path. Based onrespective characteristics of the currents passing throughthe plurality of locations, position coordinates of the probeare iteratively determined. The actual path of the probe istracked with reference to in the model using the iterativelydetermined position coordinates to determine whether theactual path corresponds to the intended path.
