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. Author manuscript; available in PMC: 2016 Oct 17.
Published in final edited form as: IEEE Sens J. 2015 Jun 5;15(10):5494–5503. doi: 10.1109/JSEN.2015.2442266

Fig. 4.

Fig. 4

Schematic diagram for the shape reconstruction method. (a) SS1 -Shape sensor 1. (b) SS2 - Shape sensor 2. (c) N11, N12 and N13 - Three FBG sensing nodes along SS1. (d) N21, N22 and N23 - Three FBG sensing nodes along SS2. (e) ΣD - Distal coordinates system. (f) ΣP - Proximal coordinates system.