Data underlying the publication "Design of a Wasp-Inspired Biopsy Needle Capable of Self-Propulsion and Friction-Based Tissue Transport"

<strong>Supporting information underlying the publication "Design of a Wasp-Inspired Biopsy Needle Capable of Self-Propulsion and Friction-Based Tissue Transport":</strong><br><strong>S1 Data. Raw data set of the experiments</strong>The goal of the evaluation of the wasp-inspired biopsy needle was twofold: 1) assessing the core-transport capability (excel tabs: "Test 1A", "Results 1A", "Test 1B", "Results 1B") and 2) assessing the self-propulsion ability (excel tabs: "Test 2", "Results 2"). These objectives were addressed in two separate experiments. Experiment 1 focused on core transport while Experiment 2 focused on self-propulsion. During testing, the setup involved moving tissue phantoms towards the prototype to enable keeping the prototype stationary. This contrasts a realistic scenario where the needle would advance through tissue, but since the relative movement between the needle and the tissue phantom is the same, it was assumed that this would not influence the test results.<br><strong>S2 Video. Proof-of-principle of sequential self-propulsion and tissue-transport</strong>As a proof of principle, it was assessed whether the self-propulsion and core transport could be performed sequentially. Using the set-up of Experiment 2, the wasp-inspired biopsy needle was inserted 20 mm into a gelatin block (10 wt%), measuring 80 mm in total length. The motor was turned on, allowing the needle to self-propel over a distance of 45 mm, after which the central needle segment was removed by pulling it out to allow for core extraction over the remaining 15 mm, yielding a core of 15 mm. The near-frictionless air track was then deactivated, immobilizing the gelatin block as the gelatin core was transported from the distal tip to the opening in the outer cone of the actuator.Excel tab: "Test 3"

### 论文《可自主推进且基于摩擦实现组织转运的仿蜂式活检针设计》支撑材料
#### S1 Data 实验原始数据集
本次仿蜂式活检针的评估目标分为两项：1）评估针芯转运能力（Excel工作表标签："Test 1A"、"Results 1A"、"Test 1B"、"Results 1B"）；2）评估自主推进性能（Excel工作表标签："Test 2"、"Results 2"）。上述两项评估目标通过两组独立实验完成：实验1聚焦针芯转运，实验2聚焦自主推进性能。实验过程中，实验装置通过向原型针移动组织模体，使原型针保持静止。该设置与真实场景中针体穿透组织前进的方式不同，但由于针体与组织模体之间的相对运动一致，因此可认为该设置不会对实验结果产生影响。
#### S2 Video 自主推进与组织转运时序验证视频
本验证实验旨在验证自主推进与针芯转运能否时序执行。基于实验2的装置设置，将仿蜂式活检针插入总长度为80mm的10 wt%明胶块中20mm。启动电机后，针体可自主推进45mm；随后拔出中央针段，即可在剩余15mm的行程中完成针芯取样，最终获得长度为15mm的针芯样本。随后关闭近无摩擦空气导轨，固定明胶块，将明胶针芯从针体远端运送到执行机构外锥的出料口。
Excel工作表标签："Test 3"