Fig. 2
From: A deflectable video camera system for laparoscopic surgery based on shape memory alloy actuators
(a) Instrument joint assembly: (A1) Finished assembly of the bending section with flexible Ni–Ti joint; (A2) CAD model of the inner stacked segments for insulation and guiding of the wires; (A3) CAD model of a single segment with guide holes and rolling surfaces. (b) Guiding and sheathing in the instrument shaft: (B1) PTFE tube; (B2) 3D printed inlay; (B3) Stainless-steel tube.
