The Ovipositor Maximator: a Novel Follow-the-Leader Mechanism

Abstract

Minimally invasive surgery has several benefits over open surgery, including a decrease in complication risk, pain and recovery time, but requires higher dexterity and better navigation abilities. Devices that are capable of follow-the-leader motion could offer these navigation abilities, but are difficult to miniaturise without restricting the possible paths in complexity. In this study, a novel follow-the-leader device is presented. The needle consists of seven precurved needle segments that are placed parallel to each other in one shaft. By substituting the needle segments of increasing length in a cyclic fashion, motion along a curved path is enabled, while limiting the maximum outer diameter to 1.6 mm. Control of the needle is done manually, by following an intuitive route with a stylus. The needle tip was evaluated in both air and gelatine, exhibiting maximum targeting errors of 3.4 mm in air and 4.0 mm in gelatine. The maximum footprint width in air was measured to be 10.6 mm. The presented device demonstrates the potential of the new follow-the-leader principle for minimally invasive surgeries.