Data underlying the publication "Discrete Bevel-Tip Steering in a Wasp-Inspired Needle for Transperineal Laser Ablation"

<strong>Supporting information underlying the publication "Discrete Bevel-Tip Steering in a Wasp-Inspired Needle for Transperineal Laser Ablation":</strong><br><strong>S1 Supplementary Information. Optical fiber evaluation [Appendix.pdf]</strong>Inside a needle for TransPerineal Laser Ablation (TPLA), an optical fiber is inserted to transfer the laser energy to the target site (i.e., the tumor of the prostate gland). Therefore, in a steerable TPLA needle, the optical fiber needs to follow a curved trajectory in tandem with the needle’s curvature. Severe deflection of the optical fiber could potentially lead to power loss at the tip due to bending losses within the fiber. Laser light exiting the fiber core and entering the fiber cladding will be absorbed, resulting in a loss of power at the fiber tip. Information on the power output during curved trajectories is crucial for integration of optical fibers in steerable needles, as well as for determining the correct power setting on the laser. The study in this supplementary information file experimentally investigates the impact of guiding an optical fiber along a curved trajectory on its power output.<br><strong>S2 Data. Raw data of the experiment [Raw data set of the experiment.xlsx]</strong>The experiment of this explorative study aimed to investigate the needle’s self-propelling and steering performance in gelatin phantoms whilst guiding a 300-µm optical fiber for TPLA through the needle’s central lumen, resulting in a total needle outer diameter of 0.8 mm. For the self-propelling performance, we calculated the propulsion efficiency. For the steering performance, we used the deflection-to-insertion ratio as a measure. The gelatin concentration (i.e., 10 wt%) and the number of actuation cycles (i.e., 20) were kept constant for all measurements. The experimental setup consisted of the needle with integrated fiber in its lumen, a gelatin phantom on a lightweight low-friction aluminum cart, and a camera to capture the position of the needle in the gelatin. To prevent disturbances from manual actuation and ensure zero external push force, the actuation unit remained stationary, and the gelatin tissue phantom was positioned on a low-friction cart. The principle of self-propelled needle insertion with zero external push force holds if the needle pulls the gelatin phantom toward itself by pulling itself deeper into the gelatin. For every measurement, we captured the needle position with respect to the gelatin phantom at the start of, during, and after 20 actuation cycles. The needle tip's position was recorded using a camera mounted on a tripod, positioned directly above the needle to capture a top-down view of the needle tip within the gelatin phantom. Millimeter graph paper was placed at the bottom surface of the low-friction cart to serve as a reference for the traveled distance of the needle tip relative to the gelatin phantom during the experiments. After each measurement, the needle was removed from the phantom and cleaned with water. Each condition was repeated four times, resulting in a total of 12 measurements.

<strong>发表于《用于经会阴激光消融的受黄蜂启发的斜尖转向离散针头》的支撑性信息：</strong><br><strong>S1 补充信息：光纤评估[附录.pdf]</strong>在经会阴激光消融（Transperineal Laser Ablation, TPLA）用针头中，需插入光纤以将激光能量传输至靶部位（即前列腺肿瘤）。因此，在可转向TPLA针头中，光纤需随针头的曲率沿弯曲轨迹同步行进。光纤的过度偏转可能因光纤内部的弯曲损耗导致尖端功率损失。从纤芯射出并进入包层的激光会被吸收，进而造成光纤尖端的功率损耗。弯曲轨迹下的输出功率信息，对于可转向针头的光纤集成以及激光设备的正确功率参数设置均至关重要。本补充信息文件中的研究通过实验，探究了沿弯曲轨迹引导光纤对其输出功率的影响。<br><strong>S2 实验原始数据[实验原始数据集.xlsx]</strong>本探索性研究的实验旨在探究：将用于TPLA的300μm光纤穿过针头中央管腔后，针头在明胶模体中的自推进与转向性能，此时针头总外径为0.8mm。针对自推进性能，我们通过推进效率进行量化评估；针对转向性能，则采用偏转-插入比作为评价指标。所有测试均保持明胶浓度（即10 wt%）与驱动循环次数（即20次）恒定不变。实验装置包含：管腔内置入光纤的针头、置于轻质低摩擦铝制滑台上的明胶模体，以及用于拍摄针头在明胶中位置的相机。为避免手动驱动带来的干扰并确保无外力推送，驱动单元保持静止，而明胶组织模体置于低摩擦滑台上。无外力推送的自推进针头插入原理为：针头通过向明胶内部更深行进，将明胶模体拉向自身。每次测试中，我们均记录20次驱动循环开始时、进行中以及结束后，针头相对于明胶模体的位置。通过安装在三脚架上的相机记录针头尖端位置，相机置于针头正上方，以拍摄明胶模体内针头尖端的俯视视角画面。低摩擦滑台的底面铺有毫米方格纸，作为实验中针头尖端相对于明胶模体移动距离的参考标尺。每次测试结束后，将针头从模体中取出并用水清洗。每个测试条件重复4次，总计完成12组测试。