Embodiments of the present invention provide an apparatus with a flexible or semi-rigid elongated body and a plurality of sensor devices. The plurality of sensor devices are arranged at or in the flexible or semi-rigid elongated body in a manner distributed along a longitudinal direction of the flexible or semi-rigid elongated body. Each sensor device of the plurality of sensor devices is configured to provide information on a local orientation, position and/or curvature of the flexible or semi-rigid elongated body.
