Elongated surgical manipulator with body position and distal force sensing

A position sensing manipulator, comprising:

• a base;
• a flexing portion extending from the base and defining a longitudinal axis, wherein the flexing portion comprises an elongate flexible body between the base and a distal portion;
• the distal portion extending from and distal to the flexing portion, the distal portion including a rigid section;
• a plurality of fiber Bragg gratings, at least one first fiber Bragg grating of the plurality of fiber Bragg gratings disposed in the flexing portion and at least one second fiber Bragg grating of the plurality of fiber Bragg gratings disposed in the distal portion, the plurality of fiber Bragg gratings configured to determine a shape of the flexing portion and a location of the distal portion, the distal portion including a yoke portion coupled to the flexing portion;
• and
• a steering mechanism extending distally through the flexing portion and terminating at the yoke portion, the steering mechanism coupled to the yoke portion and configured to flex the flexing portion, wherein the distal portion is isolated from flexure of the flexing portion,
• wherein the plurality of fiber Bragg gratings are operatively coupled to a plurality of fiber optics routed along a length of the flexing portion, wherein the plurality of fiber optics are parallel to the longitudinal axis of the flexing portion and having uniform rotational disposition about the longitudinal axis of the flexing portion so that the plurality of fiber Bragg gratings are positioned into groups of three or more fiber Bragg gratings substantially centered at a corresponding location along the longitudinal axis.