Data underlying the publication "Steering strategies for wasp inspired self propelled needles"

<strong>Supporting information underlying the publication "Steering strategies for wasp inspired self propelled needles":</strong><br><strong>S1 Methods</strong>The experimental procedure for each measurement inside the gelatin phantoms was executed in the sequence of steps documented in this supplementary information.<br><strong>S2 Efficiency computation</strong>In the scientific literature, wasp-inspired needle designs that can be advanced through the tissue without applying an external push force have been proposed. In this supplementary information, we discuss the needle propulsion efficiency computation for different actuation modes: (1) step-by-step motion and (2) continuous motion."<strong>Animation_3segments.mp4</strong>" visualizes the efficiency computation<br><strong>Data</strong>In the performance evaluation, we assessed the performance of the Prebent Ovipositor Needle in soft tissue phantoms made of 5-wt% gelatin. The performance of the Prebent Ovipositor Needle was evaluated based on the propulsion and steering capabilities. We conducted three consecutive experiments to evaluate the performance of the Prebent Ovipositor Needle. First, we assessed whether the pre-bent central needle design improved the needle’s ability to steer while maintaining a self-propelled motion compared to a straight central needle design. Therefore, we evaluated the propulsion and steering capabilities of the Prebent Ovipositor Needle equipped with a pre-bent central segment, which steered downward (1R5 down), and compared it to the Prebent Ovipositor Needle with a straight central segment (1R5 forward). Second, we evaluated whether the steering performance was consistent across different steering directions by comparing the propulsion and steering capabilities when directing the pre-bent central segment upward (1R5 up) compared to downward (1R5 down). Finally, we investigated the impact of different interlocking ring designs by comparing a needle configuration with a single interlocking ring measuring 5 mm (1R5 up) to a configuration with two interlocking rings of 3 mm each (2R3 up).<br>Furthermore, we conducted a set of additional experiments to explore the Prebent Ovipositor Needle’s behavior in different settings. First, we performed a qualitative test to evaluate the needle’s capability to change its steering direction during insertion. Second, we investigated the behavior of the 1R5 down and 1R5 up configurations in terms of propulsion and steering capabilities using a shorter stroke length of 1 mm instead of 2 mm. For each configuration, we conducted two tests over 50 actuation cycles. Lastly, we investigated the behavior of the 1R5 forward configuration needle in stiff substrates.<br><strong>Video 1: 1R5 up condition</strong>Video with a single 5-mm ring in the upward steering configuration.<br><strong>Video 2: 1R5 change steering direction</strong>Video with a single 5-mm ring when the needle changes steering direction.

<strong>发表于《黄蜂启发式自推进针具转向策略》的支撑材料：</strong><br><strong>S1 实验方法</strong>明胶仿体（gelatin phantom）内各项测量的实验流程，均按照本补充材料中记载的步骤序列执行。<br><strong>S2 效率计算</strong>现有科学文献中已提出无需施加外部推力即可在组织内推进的黄蜂启发式针具设计方案。本补充材料将针对两种驱动模式下的针具推进效率计算展开讨论：(1) 分步运动模式；(2) 连续运动模式。动画文件Animation_3segments.mp4对该效率计算过程进行了可视化展示。<br><strong>数据</strong>在性能评估环节，我们针对由5 wt%明胶制成的软组织仿体（soft tissue phantom）测试了预弯产卵器针具（Prebent Ovipositor Needle）的综合性能。该针具的性能以推进能力与转向能力为评估指标。我们共开展三组连续实验以评估预弯产卵器针具的性能：第一组，对比直形中央针体设计，探究预弯中央针体设计能否在维持自推进运动的前提下提升针具的转向能力。为此，我们分别评估了具备向下转向预弯中央段（1R5 down）的预弯产卵器针具，与具备直形中央段（1R5 forward）的预弯产卵器针具的推进与转向能力。第二组，通过对比预弯中央段向上转向（1R5 up）与向下转向（1R5 down）时的推进与转向能力，评估不同转向方向下的转向性能是否具备一致性。第三组，对比单枚5 mm互锁环配置（1R5 up）与两枚各3 mm互锁环配置（2R3 up）的针具结构，探究不同互锁环设计对性能的影响。<br>此外，我们还开展了一组补充实验，以探究预弯产卵器针具在不同工况下的运行特性：第一，通过定性测试评估针具在插入过程中改变转向方向的能力；第二，采用1 mm的更短行程（替代原2 mm行程），针对1R5 down与1R5 up两种配置的推进与转向特性展开研究，每种配置均完成50次驱动循环的两轮测试；最后，探究1R5 forward配置针具在刚性基质中的运行特性。<br><strong>视频1：1R5 up工况</strong>单枚5 mm互锁环向上转向配置的演示视频<br><strong>视频2：1R5转向切换</strong>单枚5 mm互锁环针具切换转向方向的演示视频