Technical Brief

A Virtual Reality Haptic Robotic Simulator for Central Venous Catheterization Training1

[+] Author and Article Information
David Pepley, Jason Moore

Department of Mechanical and Nuclear Engineering,
The Pennsylvania State University,
State College, PA 16801

Mary Yovanoff

Department of Industrial Engineering,
The Pennsylvania State University,
State College, PA 16801

Katelin Mirkin, David Han

Hershey Medical Center,
The Pennsylvania State University,
State College, PA 16801

Scarlett Miller

Department of Engineering
Design and Industrial Engineering,
The Pennsylvania State University,
State College, PA 16801

DOI: 10.1115/1.4033867Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030937 (Aug 01, 2016) (2 pages) Paper No: MED-16-1132; doi: 10.1115/1.4033867 History: Received March 01, 2016; Revised March 17, 2016

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McGee, D. C. , and Gould, M. K. , 2003, “ Current Concepts—Preventing Complications of Central Venous Catheterization,” New Engl. J. Med., 348(12), pp. 1123–1133. [CrossRef]
Vozenilek, J. , Huff, J. S. , Reznek, M. , and Gordon, J. A. , 2004, “ See One, Do One, Teach One: Advanced Technology in Medical Education,” Acad. Emerg. Med., 11(11), pp. 1149–1154. [CrossRef] [PubMed]
Coles, T. R. , Meglan, D. , and John, N. W. , 2011, “ The Role of Haptics in Medical Training Simulators: A Survey of the State of the Art,” IEEE Trans. Haptics, 4(1), pp. 51–66. [CrossRef] [PubMed]
Gordon, A. , Kim, I. , Barnett, A. C. , and Moore, J. Z. , “ Needle Insertion Force Model for Haptic Simulation,” ASME Paper No. MSEC2015-9352.
Hayden, G., 2015, “ Procedural Ultrasound Images,” Medical University of South Carolina, Charleston, SC.


Grahic Jump Location
Fig. 1

Prototype haptic robotic CVC trainer with virtual ultrasound probe, haptic needle, and scanning surface

Grahic Jump Location
Fig. 2

Ultrasound image of IJ and CA made by (a) virtual synthetic rendering and (b) actual ultrasound probe in human tissue [5]

Grahic Jump Location
Fig. 3

Absolute error between actual probe angle and sensed angle



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