Training simulation of palpation for radial artery access for percutaneous coronary intervention

Abstract

This paper proposes a haptic interface of training simulation to train the radial artery palpation. Since the radial artery palpation is using only the sensation transmitted to the fingertip without any visual information to detect the position and path of the radial artery, it is important to provide a realistic haptic feedback in a training simulation. Transmitted force changes with the blood pressure of the radial artery corresponding to the heartbeat. The skin including the radial artery is modeled as springs to analyze the transmitted force. Since the relation between the transmitted force and the position of the syringe pump is nonlinear, the position data of the syringe pump is obtained for transmitted the target force. The syringe pump is position controlled with an error of 14.92 % in training simulation. Various scenarios can be provided by changing the position and the path of the radial artery in two DOF for increasing the training effect of radial artery palpation. The clinical experts and medical technicians verified the usefulness and the realism of the proposed haptic interface. The average scores of usefulness and realism were 4.36 and 3.76 out of 5 points, respectively.