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. Author manuscript; available in PMC: 2022 Oct 25.
Published in final edited form as: Int J Med Robot. 2016 Aug 4;13(2):10.1002/rcs.1762. doi: 10.1002/rcs.1762

Figure 2.

Figure 2.

Needle shape reconstruction procedure. First, curvatures at sensor loci are calculated from FBG wavelength readings. Then, different interpolation methods are applied and the needle shape is achieved by integrating the curvature equation twice