Supporting information underlying the publication "Design and evaluation of an MRI-ready, self-propelled needle for prostate interventions":
S1 Appendix. Support structure design and manufacturing [S1_Appendix.docx]
Description of the developed support structure for the MRI experiment in the 7-Tesla MRI scanner.
A support structure for the Ovipositor MRI-Needle and the target tissue was required to facilitate the evaluation of the Ovipositor MRI-Needle performance inside a preclinical MRI system. The preclinical MRI system used in this study is a preclinical 7-T MRI system (MR Solutions, Guildford, United Kingdom). The support structure should provide a steady base for the Ovipositor MRI-Needle that fits within the restricted space available inside the MRI system. Furthermore, the support structure should allow moving the tissue towards the needle with very low friction.
S2 Appendix. Magnetic resonance parameters [S2_Appendix.docx]
MR parameters set for the MR images during the ex vivo prostate experiment in the 7-Tesla MRI scanner.
This appendix contains the magnetic resonance (MR) parameters set for the ex vivo experiment in this study. Table S2-1 shows the MR parameters set for the MR images of the ex vivo prostate experiment.
S3 Appendix. Experimental protocol [S3_Appendix.docx]
Steps for the ex vivo prostate experiment.
The experimental procedure for each measurement inside the prostate tissue was executed in the following sequence of ten steps.
S4 Appendix. Study data and original MR images [S4_Appendix.docx]
Raw quantitative data and original MR images of the ex vivo prostate experiment.
This appendix contains the original MR images of the ex vivo prostate tissue experiment and the measurements performed during the experiment, including the measurements after every set of five cycles. In the “Evaluation” Section, the MR images contain color indications for the needle, tissue, sides of the box, and the reference point in the box to measure the slip ratio. Fig S4-1 shows the original MR images without the color indications.
Table S4-1 shows the results of the ex vivo evaluation, including the results after every set of five cycles of actuation. The results from measurement numbers 4 and 5 were removed because the needle moved below or over the tissue instead of through the tissue.
S1 Video. Video of the needle tip moving the needle segments subsequently [S1_Video.mp4]
Close-up of the needle tip showing the wasp-inspired motions sequence moving through 5wt% gelatin.
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