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Haptic palpation of aortic pressure waveforms
Abstract
Cardiovascular disease is the leading cause of death worldwide. According to the World Health Organization, cardiovascular disease was responsible for 17.5 million deaths in 2012, or 30% of all deaths. Recent research suggests that, in addition to pulse rate, the pulse waveform itself contains useful diagnostic information. To explore tactile representation of these waveforms, this demonstration deploys a haptic representation of the aortic pressure profile synchronized to a synthetic electrocardiogram using a consumer grade haptic interface.
... Regarding simulation use in palpation, there are several examples in literature that make use of interaction, often coupled with virtual environments. These include systems for tumour detection [17][18][19][20] as well as pulse palpation [21][22][23][24][25][26]. ...
This paper describes a system for training healthcare practitioners in the identification of different arterial pulses. The driving system uses a linear solenoid in an open loop force control. Due to the large hysteresis it exhibited, a form of compensation was implemented, based on the classic Preisach model of hysteresis. Implementation of said model resulted in a significant reduction of force tracking error, demonstrating the feasibility of the chosen approach for the intended application.
Pulse palpation is an important procedure that allows a physician to rapidly assess the status of a patients cardiovascular system. This paper explores the possibility of using vibrotactile stimuli to render fine temporal profiles of pulse pressure waves. A lightweight wearable vibrotactile glove, called Hap-pulse, is designed to render fine pulse waves through vibrotactile stimuli on users fingertips. To preserve the fine features of original pulse waves, models are fitted from real pulse wave data (photoplethysmogram (PPG) pulse waveform database), using fourth-order polynomial functions. A square wave envelope mapping algorithm is proposed to produce vibration amplitudes of Linear Resonance Actuators (LRAs), which aims to render the detailed waveform of systolic and diastolic blood pressure states. Evaluation results suggest that Hap-pulse can render pulse waves with an average correlation coefficient 97.84%. To validate the distinguishability and fidelity of Hap-pulse's palpation rendering, a user study consisting of traditional Chinese medicine doctors and unskilled students is conducted. The correct recognition rate of identifying four typical pulse waves is 87.08% (doctors), 57.50% (untrained students) and 79.59% (trained students). These results indicate a novel application of rendering subtle pulse wave signals with vibrotactile gloves, which illustrates the potential of simulating patient palpation training in virtual or remote medical diagnosis.
Interventional Radiology is a rapidly expanding speciality using minimally invasive techniques to treat a multitude of clinical problems. Current work in progress aims to create an affordable virtual training tool to reduce training times and patient risk during a trainee practitioners learning cycle. The procedure of arterial catheterisation has been broken down into a number of subtasks, one of which requires an operator to locate the femoral artery pulse by palpation. This is performed in preparation for a needle insertion to allow the entry of a guide wire and catheter into the patient. This paper presents the current state of research into a unique solution for affordable haptic simulation of pulse palpation in a virtual environment.
Palpation is a physical examination technique where objects, e.g., organs or body parts, are touched with fingers to determine their size, shape, consistency and location. Many medical procedures utilize palpation as a supplementary interaction technique and it can be therefore considered as an essential basic method. However, palpation is mostly neglected in medical training simulators, with the exception of very specialized simulators that solely focus on palpation, e.g., for manual cancer detection. In this article we propose a novel approach to enable haptic palpation interaction for virtual reality-based medical simulators. The main contribution is an extensive user study conducted with a large group of medical experts. To provide a plausible simulation framework for this user study, we contribute a novel and detailed interaction algorithm for palpation with tissue dragging, which utilizes a multi-object force algorithm to support multiple layers of anatomy and a pulse force algorithm for simulation of an arterial pulse. Furthermore, we propose a modification for an off–the–shelf haptic device by adding a lightweight palpation pad to support a more realistic finger grip configuration for palpation tasks. The user study itself has been conducted on a medical training simulator prototype with a specific procedure from regional anesthesia, which strongly depends on palpation. The prototype utilizes a co-rotational finite-element approach for soft tissue simulation and provides bimanual interaction by combining the aforementioned techniques with needle insertion for the other hand. The results of the user study suggest reasonable face validity of the simulator prototype and in particular validate medical plausibility of the proposed palpation interaction algorithm.
This paper presents a virtual environment for training femoral palpation and needle insertion, the opening steps of many interventional radiology procedures. A novel augmented reality simulation called PalpSim has been developed that allows the trainees to feel a virtual patient using their own hands. The palpation step requires both force and tactile feedback. For the palpation haptics effect, two off-the-shelf force feedback devices have been linked together to provide a hybrid device that gives five degrees of force feedback. This is combined with a custom built hydraulic interface to provide a pulse like tactile effect. The needle interface is based on a modified PHANTOM Omni end effector that allows a real interventional radiology needle to be mounted and used during simulation. While using the virtual environment, the haptics hardware is masked from view using chroma-key techniques. The trainee sees a computer generated patient and needle, and interacts using their own hands. This simulation provides a high level of face validity and is one of the first medical simulation devices to integrate haptics with augmented reality.
Analysis of the contour of the peripheral pulse to assess arterial properties was first described in the nineteenth century. With the recognition of the importance of arterial stiffness there has been a resurgence of interest in pulse wave analysis, particularly the analysis of the radial pressure pulse acquired using a tonometer. An alternative technique utilizes a volume pulse. This may conveniently be acquired optically from a finger (digital volume pulse). Although less widely used, this technique deserves further consideration because of its simplicity and ease of use. As with the pressure pulse, the contour of the digital volume pulse is sensitive to changes in arterial tone induced by vasoactive drugs and is influenced by ageing and large artery stiffness. Measurements taken directly from the digital volume pulse or from its second derivative can be used to assess these properties. This review describes the background to digital volume pulse contour analysis, how the technique relates to contour analysis of the pressure pulse, and current and future applications.
Pulse Waves: How Vascular Hemodynaics Affects Blood Pressure
- P Salvi
Waveform Analysis of Peripheral Pulse Wave Detected in the Fingertip with a Photoplethysmograph
- I Hlimononko
- R Meigas
- Vahisalu