A subject-specific skeletal model of a body is created, and an intended path of a catheter within the body is defined in the model. While the probe is inserted into the body electrical currents are passed through the body between at least one electrode in the probe and through respective electroconductive location pads that are disposed at a plurality of locations on the body surface along the intended path. Based on respective characteristics of the currents passing through the plurality of locations, position coordinates of the probe are iteratively determined. The actual path of the probe is tracked with reference to in the model using the iteratively determined position coordinates to determine whether the actual path corresponds to the intended path.
