Supporting information underlying the publication "Design and evaluation of a pneumatic actuation unit for a wasp-inspired self-propelled needle":S1 Software. Arduino code to control Arduino board in phantom and MRI experiments.S2 Appendix. Phantom experiment protocol.S3 Software. MATLAB software to run the phantom experiment data analysis.S4 Data. Raw data set of the phantom experiment.S5 Video. Video of the needle moving through gelatin.S6 Appendix. Magnetic resonance parameters.S7 Appendix. MRI experiment protocol.S8 Video. MRI video of the needle moving through tissue.