Data underlying the publication "Design and evaluation of a ball spline wasp-inspired needle"

<strong>Supporting information underlying the publication "Design and evaluation of a ball spline wasp-inspired needle":</strong><br><strong>S1 Data. Raw data set of the experiments.</strong>To evaluate the performance of the Splinositor under controlled conditions, we performed two experiments in gelatin phantoms. The experiments aimed to investigate the performance behavior of the needle actuated (1) for different actuation velocities (tab: "Velocity tests") and (2) inside different gelatin phantoms, (tab: "Gelatin concentration tests" both in terms of the slip of the needle with respect to the gelatin phantom.<br>The first experiment aimed to find the most efficient technical configuration of the Splinositor inside gelatin phantoms with a concentration of 15% weight (wt) powder in water. The independent variables were the mobility of the ball spline and the actuation speed (ω) of the needle. To investigate the effect of the central ball spline, we evaluated the prototype in two conditions in which: (1) the central ball spline was fixed to constrain its translation in the <em>y</em>-direction while allowing rotation around the <em>y</em>-axis, while the gelatin sample was placed on a low-friction cart, and (2) the central ball spline was able to move like intended (i.e., mobile) and the gelatin sample remained stationary. To investigate the effect of the actuation angular velocity (ω), ω was set at π, 2π, or 3π rad/s using a metronome.<br>The second experiment aimed to investigate the effect of the stiffness of the gelatin phantom on the Splinositor performance for the configuration with a mobile ball spline and an actuation velocity of π rad/s. The independent variable was the concentration of gelatin powder in the phantoms, which was set at 5 wt%, 10 wt%, and 15 wt%.<br>Additionally, we performed force measurements using a force gauge to show the insertion force on each needle segment during insertion of the needle bundle in 5-wt% and 10-wt% gelatin samples (tab: "Needle insertion force tests") and insertion force exerted on the needle segments by the actuation system (tab: "Actuation system force tests"). Lastly, we computed the theoretical critical load for each needle segment (tab: "Theoretical critical load).

<strong>发表论文《仿球花键黄蜂针的设计与评估》的配套支撑材料：</strong><br><strong>S1数据集：实验原始数据集</strong>为评估Splinositor在受控环境下的性能，我们在明胶体模（gelatin phantom）中开展了两组实验。本实验旨在探究受驱针的性能表现：(1) 不同驱动速度下的表现（对应表格"Velocity tests"）；(2) 置于不同配比明胶体模中的表现（对应表格"Gelatin concentration tests"），两项测试均以针相对于明胶体模的滑移量作为评估指标。
第一组实验旨在探究在水中明胶粉末浓度为15%重量比（wt%）的明胶体模中，Splinositor的最优技术配置。本实验的自变量为球花键（ball spline）的运动状态与针的驱动速度（ω）。为探究中心球花键的作用效果，我们在两种工况下对原型机进行了测试：(1) 固定中心球花键，限制其沿y轴方向的平动，但允许其绕y轴旋转，同时将明胶样品置于低摩擦小车上；(2) 中心球花键按设计意图自由运动（即可动状态），且明胶样品保持静止。为探究驱动角速度（ω）的影响，我们通过节拍器将ω设置为π、2π或3π rad/s。
第二组实验旨在探究当球花键处于可动状态、驱动速度为π rad/s时，明胶体模的刚度对Splinositor性能的影响。本实验的自变量为明胶粉末在体模中的浓度，分别设置为5 wt%、10 wt%与15 wt%。
此外，我们使用测力计（force gauge）开展了力测量实验：一是在针束插入5 wt%与10 wt%明胶样品的过程中，测量各针段所受的插入力（对应表格"Needle insertion force tests"）；二是测量驱动系统作用于各针段的插入力（对应表格"Actuation system force tests"）。最后，我们计算了各针段的理论临界载荷（对应表格"Theoretical critical load"）。