A machine vision system (1102, 1104) for an apparatus (108) for bending or shaping orthodontic archwires (122) or other medical devices into a complex, patient individual shape is described. The apparatus comprises two moveable, compact, manipulators (112,114) with, in total, at least three revolute joints defining three rotation axes and at least three prismatic joints defining at least three translation axes. Gripping tools (116,118) are provided on the manipulators. The two manipulators are arranged to allow a relative movement in six degrees of freedom. The machine vision system is configured to monitor movements of the manipulators and a shape of said archwire before and after bending.
