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complications perforation peripheral tortuosity tiger catheters jr judkins right jl judkins left aortic root coronary engaging technique anatomy of coronary ostium coronary engagement single-wall technique upper extremity technique radial artery tortuosity radial artery loop patent hemostasis hematoma flushing double-wall technique barbeau test arterial sheath allen test transradial access technique anatomy of the radial artery tra transradial access laser atherectomy orbital atherectomy rotational atherectomy ivl intravascular lithotripsy scoring balloons cutting balloons ncb non-compliant balloons modification techniques calcification severity oct ivus intracoronary imaging calcified coronary lesions plaque preparation stent failure pci calcification coronary artery waveforms damping damped waveforms ventricularization ventricularized coronary dissection aorto-coronary dissection dissection