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. Author manuscript; available in PMC: 2017 Jul 3.
Published in final edited form as: IEEE Robot Autom Lett. 2017 Mar 8;2(3):1656–1663. doi: 10.1109/LRA.2017.2679902

Fig. 2.

Fig. 2

(a) Example of current fetoscopes (Karl Storz, DE), the curved shaft allows the visualisation of the placenta when it is positioned on the anterior (abdomen side); (b) Tip of the fetoscope, with optical, lighting and working channels; (c) typical image observed from the fetoscope showing a limited field of view of the internal placental wall.