Fig. 1 | Scientific Reports

Fig. 1

From: A deflectable video camera system for laparoscopic surgery based on shape memory alloy actuators

Fig. 1

(a) Schematic representation of the developed wire tensioning and bending mechanism: (A1) Instrument shaft and flexible tip deflected by SMA wire pair; (A2) Linear guide and setscrew; (A3) Tension spring; (A4) Guide for wire movement; (A5) Force sensor connected to wire. (b) Calculation of the required wire length using the angle-dependent length difference: (B1) Inactive wire/antagonist; (B2) Flexible joint; (B3) Active wire/agonist.

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