A fiber optic tracking system, comprising: a surgical port configured to be inserted into an incision; a light source; an optical fiber having a plurality of fixed sensing points located along a length of the optical fiber that are fixed relative to the surgical port, wherein the optical fiber: is configured to receive an optical signal from the light source; and includes a plurality of sensing sections arranged along the length of the optical fiber and configured to modify the optical signal received by the optical fiber in response to a deformation of the optical fiber; a sensing unit configured to receive a modified optical signal from the optical fiber; and a controller operatively coupled to the sensing unit and configured to determine locations in a working coordinate system of the fixed sensing points using the modified optical signal, wherein the surgical port includes a flexible wall configured to contact an incision, wherein a section of the optical fiber is flexible and coupled to the flexible wall such that the section of the optical fiber can conform to the incision, when in use, wherein at least two of the fixed sensing points are located within the section, and wherein the controller is configured to determine a shape of the incision using the locations of the fixed sensing points; and wherein the surgical port includes an outer protrusion coupled to the flexible wall, wherein the controller is configured to determine a pose (i.e. the location and orientation) of the outer protrusion in the working coordinate system, and wherein the controller is configured to determine a pose of an entry to the incision in the working coordinate system based on the pose of the outer protrusion. a surgical port configured to be inserted into an incision; a light source; an optical fiber having a plurality of fixed sensing points located along a length of the optical fiber that are fixed relative to the surgical port, wherein the optical fiber: is configured to receive an optical signal from the light source; and includes a plurality of sensing sections arranged along the length of the optical fiber and configured to modify the optical signal received by the optical fiber in response to a deformation of the optical fiber; is configured to receive an optical signal from the light source; and includes a plurality of sensing sections arranged along the length of the optical fiber and configured to modify the optical signal received by the optical fiber in response to a deformation of the optical fiber; a sensing unit configured to receive a modified optical signal from the optical fiber; and a controller operatively coupled to the sensing unit and configured to determine locations in a working coordinate system of the fixed sensing points using the modified optical signal, wherein the surgical port includes a flexible wall configured to contact an incision, wherein a section of the optical fiber is flexible and coupled to the flexible wall such that the section of the optical fiber can conform to the incision, when in use, wherein at least two of the fixed sensing points are located within the section, and wherein the controller is configured to determine a shape of the incision using the locations of the fixed sensing points; and wherein the surgical port includes an outer protrusion coupled to the flexible wall, wherein the controller is configured to determine a pose (i.e. the location and orientation) of the outer protrusion in the working coordinate system, and wherein the controller is configured to determine a pose of an entry to the incision in the working coordinate system based on the pose of the outer protrusion.