Shape sensor contained in a link of a kinematic chain with at least one pre-set perturbation and method to sense relative partial-pose information using the shape sensor

摘要

A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.