Design of position and force sensors of the haptic interface for training simulation of radial artery puncture

This paper proposes position and force sensors of the haptic interface for training simulation of radial artery puncture. The position sensor with two optocouplers and one code stick is designed to measure translational movement of the guidewire. The position sensor can measure linear motion with speed up to 160mm/s with 1mm error. The resolution of the designed position sensor is 0.195mm. A leverage structure of the designed force sensor is employed with two force sensitive resistors (FSR) to measure the interaction force. The force sensor can measure 0~10N in the needle-insertion direction, and 0~5N in the needle-withdrawal direction. The force sensing errors are 8.85% and 12.22% in the needle-insertion and needle-withdrawal directions, respectively. The RMS errors are 0.52N and 0.37N for each direction.