A shape sensing system includes a plurality of shape sensing enabled medical devices (118) each having at least one fiber (122). The system is preferably a system for shape sensed robotic ultrasound comprising an endoscope, an ultrasound probe, a medical device and a robot. An optical sensing module (130) is configured to receive optical signals from the at least one optical fiber and interpret the optical signals to provide shape sensing data for each of the plurality of shape sensing enabled medical devices. A registration module (134) is configured to register the plurality of shape sensing enabled medical devices together using the shape sensing data.
