System for Controlling an Instrument Using Shape Sensors

A system for controlling an instrument having an elongate body, the system comprising:

• a plurality of articulating segments joined together along at least a portion of the elongate body;
• a user input device configured to provide a control signal to change a shape of at least one of the plurality of articulating segments;
• a sensor in contact with the elongate body configured to provide a shape signal corresponding to the shape of at least one of the plurality of articulating segments;
• and
• a controller in communication with the user input device and the sensor, wherein the controller directs the movement of at least one of the plurality of articulating segments in response to the control signal and the shape signal.