Print Email Facebook Twitter Follow-The-Leader Mechanisms in Medical Devices Title Follow-The-Leader Mechanisms in Medical Devices: A Review on Scientific and Patent Literature Author Culmone, C. (TU Delft Medical Instruments & Bio-Inspired Technology) Yikilmaz, Semih Fatih (Student TU Delft) Trauzettel, F. (TU Delft Medical Instruments & Bio-Inspired Technology) Breedveld, P. (TU Delft Medical Instruments & Bio-Inspired Technology) Date 2023 Abstract Conventional medical instruments are not capable of passing through tortuous anatomy as required for natural orifice transluminal endoscopic surgery due to their rigid shaft designs. Nevertheless, developments in minimally invasive surgery are pushing medical devices to become more dexterous. Amongst devices with controllable flexibility, so-called Follow-The-Leader (FTL) devices possess motion capabilities to pass through confined spaces without interacting with anatomical structures. The goal of this literature study is to provide a comprehensive overview of medical devices with FTL motion. A scientific and patent literature search was performed in five databases (Scopus, PubMed, Web of Science, IEEExplore, Espacenet). Keywords were used to isolate FTL behavior in devices with medical applications. Ultimately, 35 unique devices were reviewed and categorized. Devices were allocated according to their design strategies to obtain the three fundamental sub-functions of FTL motion: steering, (controlling the leader/end-effector orientation), propagation, (advancing the device along a specific path), and conservation (memorizing the shape of the path taken by the device). A comparative analysis of the devices was carried out, showing the commonly used design choices for each sub-function and the different combinations. The advantages and disadvantages of the design aspects and an overview of their performance were provided. Devices that were initially assessed as ineligible were considered in a possible medical context or presented with FTL potential, broadening the classification. This review could aid in the development of a new generation of FTL devices by providing a comprehensive overview of the current solutions and stimulating the search for new ones. Subject DatabasesForceMedical devicesMinimally invasive surgeryPatentsPathfollowingRobotsShapeShape memory systemsSnake robotsSurgical robotics To reference this document use: http://resolver.tudelft.nl/uuid:e3929f81-7c9a-4a47-94b0-fcf51867aead DOI https://doi.org/10.1109/RBME.2021.3113395 Embargo date 2023-07-01 ISSN 1937-3333 Source IEEE Reviews in Biomedical Engineering, 16, 439-455 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type review Rights © 2023 C. Culmone, Semih Fatih Yikilmaz, F. Trauzettel, P. Breedveld Files PDF Follow_The_Leader_Mechani ... rature.pdf 10.63 MB Close viewer /islandora/object/uuid:e3929f81-7c9a-4a47-94b0-fcf51867aead/datastream/OBJ/view