Various embodiments concern a force sensing catheter having a proximal segment containing a proximal hub, a distal segment containing a distal hub, and a spring segment that extends from the proximal segment to the distal segment. The spring segment comprises a plurality of struts connected to both of the proximal and distal hubs. Each strut includes a preformed bend. The struts mechanically support the distal segment in a base orientation with respect to the proximal segment, flex at the preformed bends when the distal segment moves relative to the proximal segment in response to a force, and resiliently return the distal segment to the base orientation once the force has been removed. The catheter further comprises a plurality of sensors configured to output signals indicative of relative movement between the proximal and distal segments for determining a magnitude and direction of the force.
