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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.
Published Online: May 21, 2025
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 ...
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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 reversibility test of PU-ThermoTape. (d) Comparison of the temperature-dependent peeling strength of ThermoTape with PET backing to several commercially available medical tapes at 25 °C and 45 °C. Data reported as mean±SD (n = 3), whereas asterisk marks (*) represent significance level, ** for p < 0.01, * for p < 0.05.
Published Online: May 21, 2025
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...
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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/min and cooling at −3 °C/min, determining tape removal window for ThermoTape.
Published Online: May 21, 2025
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. ...
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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 tape wear over time. In the second row of each tape, blue border area represents the tape area delaminated from skin, whereas solid purple color represents area still adhered to skin. (c) Average pain score of PU-ThermoTape and Tegaderm removal after 14-day wear with and without heat pack application. Data reported as mean±SD (n = 7), whereas * represents significance level, * for p < 0.05. (d) Normalized reduced pain upon heating of PU-ThermoTape and Tegaderm.
Published Online: May 21, 2025
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...
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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 puncture, under the supervision of the medical staff, the robot will perform the needle insertion operation autonomously; and (3) intra-operative navigation, obtain the real-time needle tip position and needle posture and physiological feedback, ensure the needle advance according to the planned path
Published Online: May 21, 2025
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...
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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]
Published Online: May 21, 2025
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 [ ...
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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]. (a) The original spring model; (b) the cantilever beam model and the discrete needle deflection model; (c) combine spring model and cutting force model to build the needle–tissue model; (d) needle–tissue model considering tissue deformation; and (e) using spring model to construct needle–tissue interaction model in hierarchical tissues.
Published Online: May 21, 2025
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 ...
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Robot-assisted closed-loop control method can realize automatic steering of bevel needles. The path optimizer can automatically generate needle paths [35].
Published Online: May 21, 2025
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...
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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]
Published Online: May 21, 2025
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 ...
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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 estimation method [53]
Published Online: May 21, 2025
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...
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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 accuracy is higher. (a) and (b) Shape reconstruction method based on FBGs [75]; (c) and (d) fiber optic sensor arrangement options [76,77]; and (e) measuring needle shape with series multidegree (SMD) resistance sensors [78].
Published Online: May 21, 2025
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...
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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 sensing with temperature compensation [84]; (e) force sensor integrated in the bottom of the needle [85]; (f) 3DOF force sensing with integrated FBGs [86]; (g) the study by Uzun et al. [87]; and (h) sensors with temperature compensation using cascaded FPIs [88]
Published Online: May 21, 2025
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...
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Schematic diagram of the principle of tendon-driven flexible needles. The flexible beam is bent by changing the tendon length.
Published Online: May 21, 2025
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...
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Magnetically driven flexible needle: (a) magnetic-driven brain surgery flexible needle drive method schema and (b) needle trajectories under different magnetic field directions [101]
Published Online: May 21, 2025
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...
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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 5DOF puncture robot [106]; (f) Beijing Institute of Technology's 5DOF puncture surgical robot [107]; and (g) Shandong University's tendon-driven puncture surgical robot [108]
Published Online: May 21, 2025
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 ...