Data underlying the publication "Design and evaluation of an MRI-ready, self-propelled needle for prostate interventions"

<strong>Supporting information underlying the publication "Design and evaluation of an MRI-ready, self-propelled needle for prostate interventions":</strong><br><strong>S1 Appendix. Support structure design and manufacturing [S1_Appendix.docx]</strong>Description of the developed support structure for the MRI experiment in the 7-Tesla MRI scanner. A support structure for the Ovipositor MRI-Needle and the target tissue was required to facilitate the evaluation of the Ovipositor MRI-Needle performance inside a preclinical MRI system. The preclinical MRI system used in this study is a preclinical 7-T MRI system (MR Solutions, Guildford, United Kingdom). The support structure should provide a steady base for the Ovipositor MRI-Needle that fits within the restricted space available inside the MRI system. Furthermore, the support structure should allow moving the tissue towards the needle with very low friction. <br><strong>S2 Appendix. Magnetic resonance parameters [S2_Appendix.docx]</strong>MR parameters set for the MR images during the <em>ex vivo</em> prostate experiment in the 7-Tesla MRI scanner. This appendix contains the magnetic resonance (MR) parameters set for the <em>ex vivo</em> experiment in this study. Table S2-1 shows the MR parameters set for the MR images of the <em>ex vivo</em> prostate experiment. <br><strong>S3 Appendix. Experimental protocol [S3_Appendix.docx]</strong>Steps for the <em>ex vivo</em> prostate experiment.The experimental procedure for each measurement inside the prostate tissue was executed in the following sequence of ten steps. <br><strong>S4 Appendix. Study data and original MR images [S4_Appendix.docx]</strong>Raw quantitative data and original MR images of the <em>ex vivo</em> prostate experiment. This appendix contains the original MR images of the <em>ex vivo</em> prostate tissue experiment and the measurements performed during the experiment, including the measurements after every set of five cycles. In the “Evaluation” Section, the MR images contain color indications for the needle, tissue, sides of the box, and the reference point in the box to measure the slip ratio. Fig S4-1 shows the original MR images without the color indications. Table S4-1 shows the results of the <em>ex vivo</em> evaluation, including the results after every set of five cycles of actuation. The results from measurement numbers 4 and 5 were removed because the needle moved below or over the tissue instead of through the tissue. <br><strong>S1 Video. Video of the needle tip moving the needle segments subsequently [S1_Video.mp4]</strong>Close-up of the needle tip showing the wasp-inspired motions sequence moving through 5wt% gelatin.

本补充信息支撑发表于《用于前列腺介入的适配磁共振成像（Magnetic Resonance Imaging，MRI）自主推进式针具的设计与评估》的研究：
<strong>S1 附录 支撑结构设计与制造 [S1_Appendix.docx]</strong>
针对7特斯拉磁共振成像（MRI）扫描仪内的MRI实验，对所开发的支撑结构进行说明。为在临床前MRI系统中评估产卵器式MRI针具的性能，需搭建适配产卵器式MRI针具与靶组织的支撑结构。本研究采用的临床前MRI系统为英国吉尔福德MR Solutions公司生产的7特斯拉临床前MRI系统。该支撑结构需为产卵器式MRI针具提供稳定基座，且需适配MRI系统内部有限的空间；同时，支撑结构应能以极低摩擦带动组织向针具方向移动。
<strong>S2 附录 磁共振参数 [S2_Appendix.docx]</strong>
列出7特斯拉MRI扫描仪内离体前列腺实验的磁共振成像参数。本附录包含本研究中离体实验所用的磁共振（MR）参数设置。表S2-1展示了离体前列腺实验的磁共振图像参数。
<strong>S3 附录 实验方案 [S3_Appendix.docx]</strong>
离体前列腺实验的操作步骤。本研究中前列腺组织内的每一次测量实验均按以下十个步骤依次执行。
<strong>S4 附录 研究数据与原始磁共振图像 [S4_Appendix.docx]</strong>
包含离体前列腺实验的原始定量数据与原始磁共振图像。本附录收录了离体前列腺组织实验的原始磁共振图像，以及实验过程中采集的所有测量数据，包括每完成5次驱动循环后的测量结果。在「评估」章节中，磁共振图像会对针具、组织、箱体侧壁以及箱内用于测量滑移率的参考点进行颜色标注。图S4-1展示了未添加颜色标注的原始磁共振图像。表S4-1展示了离体评估的实验结果，包括每完成5次驱动循环后的测量结果。由于第4、5次测量中针具未穿透组织，而是在组织表面滑移或移位，因此该两组数据已被剔除。
<strong>S1 视频 针尖依次驱动针节运动的视频 [S1_Video.mp4]</strong>
针尖特写镜头，展示受黄蜂启发的运动序列在5wt%明胶中穿行的过程。