A fiber optic tracking system includes a light source, a first optical fiber, a second optical fiber, a sensing unit, and a controller operatively coupled to the sensing unit. Each optical fiber includes a plurality of sensing sections and has a fixed sensing point located along its respective length that is fixed relative to tissue. Each optical fiber is configured to receive an optical signal from the light source. The sensing sections are configured to modify the optical signals in response to a deformation of the respective optical fiber. The sensing unit is configured to receive modified optical signals from the first optical fiber and the second optical fiber. The controller is configured to determine locations in a working coordinate system of the fixed sensing points using the modified optical signals and determine a pose of the tissue based on the locations of the fixed sensing points.
