Systems and methods for reducing measurement error using optical fiber shape sensors

A method of using a shape sensing apparatus during a procedure on a patient, the method comprising:

• obtaining a pre-operative image of target anatomy within the patient before the procedure;
• extracting a data set from the pre-operative image;
• inserting an instrument into the patient, the instrument including a shape sensor disposed along an elongated shaft, the shape sensor including an elongated optical fiber extending within the elongated shaft and incorporating a radiopaque material along at least a portion of the elongated optical fiber;
• obtaining an intra-operative image of the elongated optical fiber as the instrument advances into the patient;
• correlating the intra-operative image of the elongated optical fiber with the pre-operative image of the target anatomy;
• deducing the position and orientation of the instrument with respect to the target anatomy based upon the correlation;
• and
• navigating the instrument to the target anatomy.