Table 2.

In-Plane Comparison of the Constant Curvature and Characterization Modeling Approaches

Insertion Depth [mm]	RoC [mm] (PCC)	Tip RMSE [mm] (PCC)	Robot Shape RMSE [mm] (PCC)	Tip RMSE [mm] (D-PCC (Our Method))	Robot Shape RMSE [mm] (D-PCC (Our Method))
$s=5$	9.52e03	0.02	0.02±0.01	0.03	0.01±0.01
$s=10$	9.52e03	0.56	0.03±0.02	0.83	0.23±0.16
$s=15$	38.32	0.22	0.17±0.09	0.16	0.33±0.20
$s=20$	23.58	0.24	0.61±0.40	0.63	0.24±0.13
$s=25$	23.49	0.03	0.51±0.39	0.95	0.47±0.46
$s=29$	29.36	0.60	0.81±0.45	1.08	0.32±0.24
Average	~	0.26	0.37	0.58	0.28