Fig. 1. Structure of shape self-sensing needle

Fig. 2. Shape sensing calibration experimental device

Fig. 3. Reflection spectra of three fibers under different curvatures

Fig. 4. Needle Shape reconstruction algorithm based on BP neutral network

Fig. 5. Error of test set sample

Fig. 6. Shape self-sensing needle dynamic test experimental setup

Fig. 7. Edge extraction of needle shape based on canny edge detection algorithm

Fig. 8. Shape reconstruction result by the neural network