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Snake like continuum robots are increasingly used for minimally invasive surgery. Most robotic devices of this sort that have been reported to date are controlled in an open loop manner. Using shape sensing to provide closed loop feedback would allow for more accurate control of the robot's position and, hence, more precise surgery. Fiber Bragg Gratings, magnetic sensors and optical reflectance sensors have all been reported for this purpose but are often limited by their cost, size, stiffnessdoi:10.1109/iros.2017.8202259 dblp:conf/iros/SchmitzTBSWY17 fatcat:6jtwficph5e25gbtfagq3jaqbq