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. 2021 Apr 21;11:8609. doi: 10.1038/s41598-021-88117-7

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© The Author(s) 2021

Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Needle shape reconstruction during the tip movement from 0 to 1 cm with a step of 0.1 cm for all directions: (a) left and right; (b) upper and lower; (c) up-right and low-left; (d) low-right and up-left. In this figure, TS is the tip shift relative to the needle base and TRP is the tip relative position with respect to the first sensing point.