Haptics and the heart: Force and tactile feedback system for cardiovascular interventions.

Abstract

Interventional cardiovascular procedures are performed while operators view multiple visual displays including fluoroscopic and ultrasonic images, intracardiac electrical signals, electroanatomic mapping data, and hemodynamic indices. Operators are unable to palpate physiologic and biophysical signals or feel intracardiac anatomy due to the attenuation and dampening properties of cardiac catheters. This poses a significant limitation when performing higher risk procedures such as complex coronary interventions, transeptal or epicardial puncture to gain access to the left atrium or pericardium for ablation of heart rhythm disorders, cardiac device delivery, and when attempting to maintain stable tissue contact force ("CF") during ablation of cardiac arrhythmia. We utilized signals acquired from a prototype sensorized cardiac guiding catheter, conventional transeptal puncture kit with end hole manometry, commercially available contact force sensing ablation catheter, and epicardial puncture needle, input these signals into a novel signal processing system and generated palpable sensations to blinded subjects using a proprietary tactile/force (haptic) feedback system. Qualitative and quantitative analysis of the system was performed. The proprietary haptic (tactile and force) feedback system provides sense of touch during cardiovascular interventions recreating palpable, real-time biophysical events and physiologic information and enables operators to react to critical cardiovascular signals with minimal delay relative to visual motor reaction time to simple display data. We describe a proprietary haptic (tactile and force) feedback system that provides sense of touch during cardiovascular interventions recreating palpable, real-time biophysical events and physiologic information.