CPC A61B 34/20 (2016.02) [A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02); A61B 2090/0809 (2016.02); A61B 2090/0818 (2016.02); A61B 2090/3782 (2016.02)] | 20 Claims |
1. A method of controlling an instrument within an interior region of a body, the method comprising:
accessing robotic command data configured to instruct positioning of the instrument;
accessing strain data from an optical fiber positioned within the instrument that is indicative of a strain on a portion of the instrument positioned within the interior region of the body;
determining shape data based on the strain data;
determining that the shape data indicates a curvature value that exceeds a curvature value indicated by the robotic command data;
based on the curvature value exceeding the curvature value indicated by the robotic command data, determining adjusted shape data;
determining an estimated state of the instrument based on the adjusted shape data; and
outputting the estimated state of the instrument.
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