Fig. 5 | Scientific Reports

Fig. 5

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

Fig. 5

(a) Experimental setup: (1) Aluminium frame; (2) Industrial camera; (3) Lateral force sensor; (4) Laparoscopic instrument with wire force sensors; (5) Instrument shaft; (6) Upper temperature sensor; (7) Lower temperature sensor; (8) Backlight. (b) Camera view for angle detection with detected contour (red). (c) System structure, information and energy flow of the experimental setup.

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