The present application is directed to a medical system comprising: an elongate instrument, an optical sensor system operatively coupled to the elongate instrument and configured to supply localization data indicative of a spatial position of at least a portion of the elongate instrument, and a controller configured to control the movement of the elongate instrument based at least in part upon a comparison of an actual position of the elongate instrument derived from the localization data to a projected position of the instrument derived from a kinematic model of the elongate instrument. Further, the present application is directed to a corresponding method for controlling movement of an elongate instrument, comprising the steps of: coupling an optical sensor system to the elongate instrument； providing, using the optical sensor system, localization data indicative of a spatial position of at least a portion of the elongate instrument； comparing, using a processor, an actual position of the elongate instrument derived from the localization data to a projected position of the instrument derived from a kinematic model of the elongate instrument； and controlling, using a controller, the movement of the elongate instrument based at least in part upon the comparison.
