Supporting information underlying the publication "Design and evaluation of a ball spline wasp-inspired needle":
S1 Data. Raw data set of the experiments.
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.
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 y-direction while allowing rotation around the y-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.
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%.
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).
" authors: - family-names: Bloemberg given-names: Jette - family-names: Fung-A-Jou given-names: Zola orcid: "https://orcid.org/0000-0002-7478-6785" - family-names: Breedveld given-names: Paul orcid: "https://orcid.org/0000-0002-7235-1657" - family-names: Sakes given-names: Aimée title: "Data underlying the publication "Design and evaluation of a ball spline wasp-inspired needle"" keywords: version: 1 identifiers: - type: doi value: 10.4121/90412947-edbb-452e-ace9-f757f6860ea7.v1 license: CC BY-NC-SA 4.0 date-released: 2024-12-17