Fig. 1 Slot die coating of pressure sensitive adhesive (PSA) onto easy release liner followed by solvent removal and double transfer lamination to PU More about this image found in Slot die coating of pressure sensitive adhesive (PSA) onto easy release lin...

Fig. 2 PU-ThermoTape adhesive surface property characterization. AFM phase images of ( a ) the airside of PSA dry film, ( b ) the face stock-side of PSA dry film after first lamination, and ( c ) the airside of PSA dry film after double transfer process. More about this image found in PU-ThermoTape adhesive surface property characterization. AFM phase images ...

Fig. 3 Peel testing of PU-ThermoTape and other commercially available medical tapes. ( a ) Peeling force versus displacement curves for PU-ThermoTape from LDPE panel at 25 °C and 45 °C. ( b ) Average in vitro peeling strength of PU-ThermoTape and Tegaderm at 25 °C and 45 °C. ( c ) Peeling strength... More about this image found in Peel testing of PU-ThermoTape and other commercially available medical tape...

Fig. 4 Skin cooling curve and DSC measurement of TSP melting and crystallization. ( a ) Skin temperature versus time 1-min after heat pack application. ( b ) DSC curves of TSP melting at 10 °C/min and recrystallizing at varied cooling rate. ( c ) Heat flow of TSP versus time when heating at 10 °C/... More about this image found in Skin cooling curve and DSC measurement of TSP melting and crystallization. ...

Fig. 5 Images of PU-ThermoTape on finger, wrist and neck More about this image found in Images of PU-ThermoTape on finger, wrist and neck

Fig. 6 Wearability and removal pain of both PU-ThermoTape and Tegaderm. ( a ) Wearability index versus days of PU-ThermoTape and Tegaderm, asterix marks (*) represent significance level, * for p  < 0.05, ** for p  < 0.01, *** for p  < 0.001. ( b ) Photos and processed images showing ta... More about this image found in Wearability and removal pain of both PU-ThermoTape and Tegaderm. ( a ) Wear...

Fig. 1 The flowchart of flexible needle puncture operation is divided into three parts: (1) path plan before the process, using advanced imaging equipment to obtain accurate images of the human body and, based on the path plan, finding the best position to enter the needle; (2) robot-assisted punc... More about this image found in The flowchart of flexible needle puncture operation is divided into three p...

Fig. 2 Kinematic model and force analysis of needle: ( a ) bicycle model schema [ 18 ], ( b ) improved unicycle models [ 5 ], and ( c )needle reachable space based on bicycle model [ 20 ] More about this image found in Kinematic model and force analysis of needle: ( a ) bicycle model schema [ ...

Fig. 3 Needle and tissue interaction model—spring model. The tissue is modeled as a spring, distributed on the cantilever beam. The interaction force is the spring's elastic force. The spring is a linear flexible element, which is inconsistent with the actual situation of the tissue [ 6 , 22 – 25 ... More about this image found in Needle and tissue interaction model—spring model. The tissue is modeled as ...

Fig. 4 Robot-assisted closed-loop control method can realize automatic steering of bevel needles. The path optimizer can automatically generate needle paths [ 35 ]. More about this image found in Robot-assisted closed-loop control method can realize automatic steering of...

Fig. 5 Needle control based on duty cycle: ( a ) needle curvature under different duty cycles [ 37 ]; ( b ) experimental verification, the curvature is different under the two duty ratios [ 36 ]; and ( c ) tissue damage caused by needle rotation [ 38 ] More about this image found in Needle control based on duty cycle: ( a ) needle curvature under different ...

Fig. 6 Estimation of flexible needle deflection using ultrasound images: ( a ) flowchart of the algorithm for estimating flexible needle attitude using ultrasound images [ 72 ]; ( b ) flexible needle shape composed using real ultrasound image [ 73 ]; and ( c ) schematic diagram of the attitude est... More about this image found in Estimation of flexible needle deflection using ultrasound images: ( a ) flo...

Fig. 7 There are two methods to obtain the needle position by sensor: optical fiber sensor and strain gauge sensor. When laying out a fiber optic sensor, the needle is usually slotted first, which can disrupt the structure of the needle and change the mechanical properties, but the sensing accurac... More about this image found in There are two methods to obtain the needle position by sensor: optical fibe...

Fig. 8 Various puncture force sensing devices and methods: ( a ) devices that measure puncture force and physical tissue parameters [ 81 ]; ( b ) a flexible needle control device that provides feedback on puncture force [ 82 ]; ( c ) Measurement of needle tip force with FPI [ 83 ]; ( d ) tip force... More about this image found in Various puncture force sensing devices and methods: ( a ) devices that meas...

Fig. 9 Current type of flexible needle More about this image found in Current type of flexible needle

Fig. 10 Schematic diagram of the principle of tendon-driven flexible needles. The flexible beam is bent by changing the tendon length. More about this image found in Schematic diagram of the principle of tendon-driven flexible needles. The f...

Fig. 11 Magnetically driven flexible needle: ( a ) magnetic-driven brain surgery flexible needle drive method schema and ( b ) needle trajectories under different magnetic field directions [ 101 ] More about this image found in Magnetically driven flexible needle: ( a ) magnetic-driven brain surgery fl...

Fig. 12 Various auxiliary puncture equipment: ( a ) MIT ball joint positioning and friction needle insertion [ 102 ]; ( b ) series 3DOF flexible needle puncture robot [ 103 ]; ( c ) handheld autonomous venous puncture [ 104 ]; ( d ) Micromate puncture surgical device [ 105 ]; ( e ) XACT Robotics's... More about this image found in Various auxiliary puncture equipment: ( a ) MIT ball joint positioning and ...