TABLE 1.

Mean orientation $A{P}_{\theta }$ and positioning accuracy $A{P}_P$ (in percent of the nominal or mean dimension of the continuum flexible segment) for different PCR designs.

Design	Image	DoF	Structure	Models	Calibration	$A{P}_P$ (%)	$A{P}_{\theta }$ (°)
Orekhov et al. (2016)		6	6 PF	Cosserat	No	2.8	3.81
Yang et al. (2018)		3	3PFF	Cosserat	No	0.1	-
Wu et al. (2017)		3	Multi	Neural Network	No	0.43	-
Wu and Shi (2019)			Constraint	Cosserat	Yes	0.8	-
Nuelle et al. (2020)		3	3PFR	Constant Curvature	Yes	1.4	1.1