The present invention provides a system and method for determining the position of a tool having a distal end sensor and at least one other sensor.
A This method comprises obtaining data from a distal edge sensor, the method comprising performing a convergence on the acquired data, convergence indicates whether the acquired data are disturbances, the convergence and to perform, in the case shown the convergence that the acquired data is not disturbance includes calculating the position of the tool by using the acquired data, to indicate the convergence that the acquired data is disturbances acquires the additional data from at least one other sensor, it performs the convergence on the acquired additional data, and calculating the position of the tool by using the additional data acquired may include.
.FIELD 1