Key result
Robotic applanation tonometry identifies optimal pressurization angles and measures maximum pulse peaks with ~5% variation.
A novel robotic applanation tonometry sensor can precisely measure radial artery pulse waveforms by optimizing the pressurization angle.
No immediate clinical adoption warranted; leaves open validation of robotic tonometry for arterial monitoring.
In this paper, a novel measurement method of radial artery pulse waveform using robotic applanation tonometry (RAT) was present to reduce the errors by the pressing direction of the vessel. The RAT consisted of an array of pressure sensors and 2-axis tilt sensor, which was attached to the universal joint with a linear spring and five-DOF robotic manipulator with a one-axis force sensor. Using the RAT mechanism, the pulse sensor could be manipulated to perpendicularly pressurize the radial artery. A pilot experimental result showed that the proposed mechanism could find the optimal pressurization angles of the pulse sensor within ±3∘ standard deviations. Coefficient values of variation of maximum pulse peaks extracted from the pulse waveforms were 4.692, 6.994, and 11.039 % for three channels with the highest magnitudes. It is expected that the proposed method can be helpful to develop more precise tonometry system measuring the pulse waveform on the radial artery.
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Young-Min Kim (2017) studied Healthy (n=1). Robotic applanation tonometry (RAT) was evaluated on Coefficient of variation (CV) of maximum pulse peaks. The robotic applanation tonometry system identified optimal pressurization angles within ±3° standard deviations and measured maximum pulse peaks with a coefficient of variation of 4.692%.
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