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2020 – today
- 2024
[c63]Yuan Wang, Max McCandless, Abdulhamit Donder, Giovanni Pittiglio, Behnam Moradkhani, Yash Chitalia, Pierre E. Dupont:
Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots. ISMR 2024: 1-7- [i5]Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, Pierre E. Dupont:
Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. CoRR abs/2401.17161 (2024) - [i4]Yuan Wang, Max McCandless, Abdulhamit Donder, Giovanni Pittiglio, Behnam Moradkhani, Yash Chitalia, Pierre E. Dupont:
Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots. CoRR abs/2404.07168 (2024) - [i3]Giovanni Pittiglio, Abdulhamit Donder, Pierre E. Dupont:
Continuum Robot Shape Estimation Using Magnetic Ball Chains. CoRR abs/2410.16025 (2024) - [i2]Giovanni Pittiglio, Fabio Leuenberger, Margherita Mencattelli, Max McCandless, Edward O'Leary, Pierre E. Dupont:
Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment. CoRR abs/2410.16405 (2024) - 2023
- [j36]Karl Price
, Joseph Peine, Margherita Mencattelli, Yash Chitalia, David Pu, Thomas Looi, Scellig S. Stone, James M. Drake, Pierre E. Dupont:
Using robotics to move a neurosurgeon's hands to the tip of their endoscope. Sci. Robotics 8(82) (2023) - [c62]Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont:
Magnetic Ball Chain Robots for Endoluminal Interventions. ICRA 2023: 4717-4723 - [c61]Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, Pierre E. Dupont:
Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. IROS 2023: 8461-8466 - [c60]Yash Chitalia, Abdulhamit Donder, Pierre E. Dupont:
Modeling Tendon-actuated Concentric Tube Robots. ISMR 2023: 1-7 - [c59]Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont:
Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots. ISMR 2023: 1-7 - [i1]Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont:
Magnetic Ball Chain Robots for Endoluminal Interventions. CoRR abs/2302.03728 (2023) - 2022
- [j35]Pierre E. Dupont, Nabil Simaan, Howie Choset, D. Caleb Rucker:
Continuum Robots for Medical Interventions. Proc. IEEE 110(7): 847-870 (2022) - [j34]Bradley J. Nelson, Pierre E. Dupont, Dario Floreano, Ken Goldberg, Hongri Gu, Neil Jacobstein, Cecilia Laschi, Hod Lipson:
What we look for at Science Robotics. Sci. Robotics 7(71) (2022) - [j33]Jiaole Wang, Joseph Peine, Pierre E. Dupont:
Eccentric Tube Robots as Multiarmed Steerable Sheaths. IEEE Trans. Robotics 38(1): 477-490 (2022) - 2021
- [j32]Pierre E. Dupont, Bradley J. Nelson, Michael Goldfarb, Blake Hannaford, Arianna Menciassi, Marcia K. O'Malley, Nabil Simaan, Pietro Valdastri, Guang-Zhong Yang:
A decade retrospective of medical robotics research from 2010 to 2020. Sci. Robotics 6(60) (2021) - 2020
- [j31]Junhyoung Ha, Abhijit Mondal, Zhanyue Zhao, Aditya K. Kaza, Pierre E. Dupont:
Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal. IEEE Trans. Biomed. Eng. 67(1): 177-184 (2020)
2010 – 2019
- 2019
- [j30]Georgios Fagogenis, Margherita Mencattelli, Zurab Machaidze, Benoit Rosa, Karl Price, Fei-Yi Wu, V. Weixler, Mossab Saeed, John E. Mayer, Pierre E. Dupont:
Autonomous robotic intracardiac catheter navigation using haptic vision. Sci. Robotics 4(29) (2019) - [j29]Junhyoung Ha, Georgios Fagogenis, Pierre E. Dupont:
Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics. IEEE Trans. Robotics 35(2): 353-370 (2019) - [c58]Jiaole Wang, Junhyoung Ha, Pierre E. Dupont:
Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. ICRA 2019: 9834-9840 - 2018
- [j28]Hongliang Ren, Banani Anuraj, Pierre E. Dupont:
Varying ultrasound power level to distinguish surgical instruments and tissue. Medical Biol. Eng. Comput. 56(3): 453-467 (2018) - [j27]James G. Bellingham, Pierre E. Dupont, Peer Fischer, Luciano Floridi, Robert J. Full, Neil Jacobstein, Vijay Kumar, Marcia McNutt, Robert D. Merrifield, Bradley J. Nelson, Brian Scassellati, Mariarosaria Taddeo, Russell H. Taylor, Manuela M. Veloso, Zhong Lin Wang, Robert J. Wood:
The grand challenges of Science Robotics. Sci. Robotics 3(14) (2018) - [j26]Karl Price, Slava Arabagi, Ignacio Berra, Zurab Machaidze, Sunil Manjila, Shogo Shimada, Assunta Fabozzo, Gustavo Arnal, David Van Story, Jeffrey D. Goldsmith, Agoston T. Agoston, Chunwoo Kim, Russell Jennings, Peter Ngo, Michael Manfredi, Pierre E. Dupont:
In vivo tissue regeneration with robotic implants. Sci. Robotics 3(14) (2018) - 2017
- [j25]Junhyoung Ha, Pierre E. Dupont:
Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. IEEE Robotics Autom. Lett. 2(1): 298-304 (2017) - [j24]James Cambias, Kevin Cleary, Eric Daimler, James M. Drake, Pierre E. Dupont, Nobuhiko Hata, Peter Kazanzides, Sylvain Martel, Rajni V. Patel, Veronica J. Santos, Russell H. Taylor:
Medical robotics - Regulatory, ethical, and legal considerations for increasing levels of autonomy. Sci. Robotics 2(4) (2017) - [j23]Junhyoung Ha, Frank C. Park, Pierre E. Dupont:
Optimizing Tube Precurvature to Enhance the Elastic Stability of Concentric Tube Robots. IEEE Trans. Robotics 33(1): 22-37 (2017) - [c57]Junhyoung Ha, Pierre E. Dupont:
Incorporating tube-to-tube clearances in the kinematics of concentric tube robots. ICRA 2017: 6730-6736 - 2016
- [j22]Junhyoung Ha, Frank C. Park, Pierre E. Dupont:
Elastic Stability of Concentric Tube Robots Subject to External Loads. IEEE Trans. Biomed. Eng. 63(6): 1116-1128 (2016) - [c56]Cheongjae Jang, Junhyoung Ha, Pierre E. Dupont, Frank Chongwoo Park:
Toward on-line parameter estimation of concentric tube robots using a mechanics-based kinematic model. IROS 2016: 2400-2405 - [c55]Georgios Fagogenis, Christos Bergeles, Pierre E. Dupont:
Adaptive nonparametric kinematic modeling of concentric tube robots. IROS 2016: 4324-4329 - 2015
- [j21]Nikolay V. Vasilyev, Andrew H. C. Gosline, Arun Veeramani, MingTing Wu, Gregory P. Schmitz, Richard T. Chen, Veaceslav Arabagi, Pedro J. del Nido, Pierre E. Dupont:
Tissue removal inside the beating heart using a robotically delivered metal MEMS tool. Int. J. Robotics Res. 34(2): 236-247 (2015) - [j20]Caroline Nadeau, Hongliang Ren, Alexandre Krupa, Pierre E. Dupont:
Intensity-Based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes. IEEE Trans Autom. Sci. Eng. 12(1): 367-371 (2015) - [j19]Christos Bergeles, Andrew H. C. Gosline, Nikolay V. Vasilyev, Patrick J. Codd, Pedro J. del Nido, Pierre E. Dupont:
Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints. IEEE Trans. Robotics 31(1): 67-84 (2015) - [j18]Ouajdi Felfoul, Aaron T. Becker, Christos Bergeles, Pierre E. Dupont:
Achieving Commutation Control of an MRI-Powered Robot Actuator. IEEE Trans. Robotics 31(2): 387-399 (2015) - [c54]Aaron T. Becker, Ouajdi Felfoul, Pierre E. Dupont:
Toward tissue penetration by MRI-powered millirobots using a self-assembled Gauss gun. ICRA 2015: 1184-1189 - [c53]Chunwoo Kim, Seok Chang Ryu, Pierre E. Dupont:
Real-time adaptive kinematic model estimation of concentric tube robots. IROS 2015: 3214-3219 - [c52]Alina Eqtami, Pierre E. Dupont:
Stabilizing the relative position of millirobots inside an MRI scanner considering magnetic interaction forces. IROS 2015: 3220-3226 - 2014
- [c51]Dana D. Damian, Slava Arabagi, Assunta Fabozzo, Peter Ngo, Russell Jennings, Michael Manfredi, Pierre E. Dupont:
Robotic implant to apply tissue traction forces in the treatment of esophageal atresia. ICRA 2014: 786-792 - [c50]Seok Chang Ryu, Pierre E. Dupont:
FBG-based shape sensing tubes for continuum robots. ICRA 2014: 3531-3537 - [c49]Beobkyoon Kim, Junhyoung Ha, Frank C. Park, Pierre E. Dupont:
Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robots. ICRA 2014: 5374-5379 - [c48]Junhyoung Ha, Frank Chongwoo Park, Pierre E. Dupont:
Achieving elastic stability of concentric tube robots through optimization of tube precurvature. IROS 2014: 864-870 - [c47]Aaron T. Becker, Ouajdi Felfoul, Pierre E. Dupont:
Simultaneously powering and controlling many actuators with a clinical MRI scanner. IROS 2014: 2017-2023 - [c46]Alina Eqtami, Ouajdi Felfoul, Pierre E. Dupont:
MRI-powered closed-loop control for multiple magnetic capsules. IROS 2014: 3536-3542 - 2013
- [j17]Panagiotis Vartholomeos, Christos Bergeles, Lei Qin, Pierre E. Dupont:
An MRI-powered and controlled actuator technology for tetherless robotic interventions. Int. J. Robotics Res. 32(13): 1536-1552 (2013) - [c45]Christos Bergeles, Panagiotis Vartholomeos, Lei Qin, Pierre E. Dupont:
Closed-loop commutation control of an MRI-powered robot actuator. ICRA 2013: 698-703 - [c44]Veaceslav Arabagi, Andrew H. C. Gosline, Robert J. Wood, Pierre E. Dupont:
Simultaneous soft sensing of tissue contact angle and force for millimeter-scale medical robots. ICRA 2013: 4396-4402 - [c43]Christos Bergeles, Pierre E. Dupont:
Planning stable paths for concentric tube robots. IROS 2013: 3077-3082 - 2012
- [j16]Andrew H. C. Gosline, Nikolay V. Vasilyev, Evan J. Butler, Chris Folk, Adam Cohen, Richard T. Chen, Nora Lang, Pedro J. del Nido, Pierre E. Dupont:
Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools. Int. J. Robotics Res. 31(9): 1081-1093 (2012) - [j15]Jeffrey A. Stoll, Hongliang Ren, Pierre E. Dupont:
Passive Markers for Tracking Surgical Instruments in Real-Time 3-D Ultrasound Imaging. IEEE Trans. Medical Imaging 31(3): 563-575 (2012) - [c42]Christos Bergeles, Lei Qin, Panagiotis Vartholomeos, Pierre E. Dupont:
Tracking and position control of an MRI-powered needle-insertion robot. EMBC 2012: 928-931 - [c41]Andrew H. C. Gosline, Nikolay V. Vasilyev, Arun Veeramani, MingTing Wu, Gregory P. Schmitz, Richard T. Chen, Veaceslav Arabagi, Pedro J. del Nido, Pierre E. Dupont:
Metal MEMS tools for beating-heart tissue removal. ICRA 2012: 1921-1926 - [c40]Panagiotis Vartholomeos, M. Reza Akhavan-Sharif, Pierre E. Dupont:
Motion planning for multiple millimeter-scale magnetic capsules in a fluid environment. ICRA 2012: 1927-1932 - [c39]Hongliang Ren, Pierre E. Dupont:
Tubular Enhanced Geodesic Active Contours for continuum robot detection using 3D ultrasound. ICRA 2012: 2907-2912 - [c38]Evan J. Butler, Robert Hammond-Oakley, Szymon Chawarski, Andrew H. C. Gosline, Patrick J. Codd, Tomer Anor, Joseph R. Madsen, Pierre E. Dupont, Jesse Lock:
Robotic neuro-emdoscope with concentric tube augmentation. IROS 2012: 2941-2946 - 2011
- [j14]Mohsen Mahvash, Pierre E. Dupont:
Stiffness Control of Surgical Continuum Manipulators. IEEE Trans. Robotics 27(2): 334-345 (2011) - [c37]Genevieve Laing, Pierre E. Dupont:
Beating-heart mitral valve chordal replacement. EMBC 2011: 2476-2479 - [c36]Hongliang Ren, Pierre E. Dupont:
Tubular structure enhancement for surgical instrument detection in 3D ultrasound. EMBC 2011: 7203-7206 - [c35]Chris Bedell, Jesse Lock, Andrew H. C. Gosline, Pierre E. Dupont:
Design optimization of concentric tube robots based on task and anatomical constraints. ICRA 2011: 398-403 - [c34]Evan J. Butler, Chris Folk, Adam Cohen, Nikolay V. Vasilyev, Richard T. Chen, Pedro J. del Nido, Pierre E. Dupont:
Metal MEMS tools for beating-heart tissue approximation. ICRA 2011: 411-416 - [c33]Tomer Anor, Joseph R. Madsen, Pierre E. Dupont:
Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example. ICRA 2011: 667-673 - [c32]Jesse Lock, Pierre E. Dupont:
Friction modeling in concentric tube robots. ICRA 2011: 1139-1146 - [c31]Hongliang Ren, Nikolay V. Vasilyev, Pierre E. Dupont:
Detection of curved robots using 3D ultrasound. IROS 2011: 2083-2089 - [c30]Panagiotis Vartholomeos, Lei Qin, Pierre E. Dupont:
MRI-powered actuators for robotic interventions. IROS 2011: 4508-4515 - 2010
- [j13]Mohsen Mahvash, Pierre E. Dupont:
Mechanics of Dynamic Needle Insertion into a Biological Material. IEEE Trans. Biomed. Eng. 57(4): 934-943 (2010) - [j12]Pierre E. Dupont, Jesse Lock, Brandon Itkowitz, Evan J. Butler:
Design and Control of Concentric-Tube Robots. IEEE Trans. Robotics 26(2): 209-225 (2010) - [c29]Richard D. Walker, Sean B. Andersson, Calin Belta, Pierre E. Dupont:
IN-HAPTICS: Interactive navigation using haptics. HAPTICS 2010: 463-466 - [c28]Pierre E. Dupont, Jesse Lock, Brandon Itkowitz:
Real-time position control of concentric tube robots. ICRA 2010: 562-568 - [c27]Mohsen Mahvash, Pierre E. Dupont:
Stiffness control of a continuum manipulator in contact with a soft environment. IROS 2010: 863-870 - [c26]Jesse Lock, Genevieve Laing, Mohsen Mahvash, Pierre E. Dupont:
Quasistatic modeling of concentric tube robots with external loads. IROS 2010: 2325-2332
2000 – 2009
- 2009
- [j11]Vincent Hayward, Brian Armstrong, Friedhelm Altpeter, Pierre E. Dupont:
Discrete-Time Elasto-Plastic Friction Estimation. IEEE Trans. Control. Syst. Technol. 17(3): 688-696 (2009) - [c25]Mohsen Mahvash, Pierre E. Dupont:
Fast needle insertion to minimize tissue deformation and damage. ICRA 2009: 3097-3102 - [c24]Pierre E. Dupont, Jesse Lock, Evan J. Butler:
Torsional kinematic model for concentric tube robots. ICRA 2009: 3851-3858 - 2007
- [j10]Paul M. Novotny, Jeffrey A. Stoll, Nikolay V. Vasilyev, Pedro J. del Nido, Pierre E. Dupont, Todd E. Zickler, Robert D. Howe:
GPU based real-time instrument tracking with three-dimensional ultrasound. Medical Image Anal. 11(5): 458-464 (2007) - [c23]Patrick Sears, Pierre E. Dupont:
Inverse Kinematics of Concentric Tube Steerable Needles. ICRA 2007: 1887-1892 - [c22]Paul M. Novotny, Jeffrey A. Stoll, Pierre E. Dupont, Robert D. Howe:
Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound. ICRA 2007: 2655-2660 - 2006
- [c21]Paul M. Novotny, Daniel T. Kettler, Petr Jordan, Pierre E. Dupont, Pedro J. del Nido, Robert D. Howe:
Stereo Display of 3D Ultrasound Images for Surgical Robot Guidance. EMBC 2006: 1509-1512 - [c20]Jeffrey A. Stoll, Paul M. Novotny, Robert D. Howe, Pierre E. Dupont:
Real-time 3D Ultrasound-based Servoing of a Surgical Instrument. ICRA 2006: 613-618 - [c19]Patrick Sears, Pierre E. Dupont:
A Steerable Needle Technology Using Curved Concentric Tubes. IROS 2006: 2850-2856 - [c18]Paul M. Novotny, Jeffrey A. Stoll, Nikolay V. Vasilyev, Pedro J. del Nido, Pierre E. Dupont, Robert D. Howe:
GPU Based Real-Time Instrument Tracking with Three Dimensional Ultrasound. MICCAI (1) 2006: 58-65 - 2005
- [j9]Thomas Debus, Pierre E. Dupont, Robert D. Howe:
Distinguishability and identifiability testing of contact state models. Adv. Robotics 19(5): 545-566 (2005) - [c17]Matt Heverly, Pierre E. Dupont, John K. Triedman:
Trajectory Optimization for Dynamic Needle Insertion. ICRA 2005: 1646-1651 - [c16]Jeffrey A. Stoll, Pierre E. Dupont:
Passive Markers for Ultrasound Tracking of Surgical Instruments. MICCAI (2) 2005: 41-48 - 2004
- [j8]Thomas Debus, Pierre E. Dupont, Robert D. Howe:
Contact State Estimation Using Multiple Model Estimation and Hidden Markov Models. Int. J. Robotics Res. 23(4-5): 399-413 (2004) - [c15]Ryan A. Beasley, Robert D. Howe, Pierre E. Dupont:
Kinematic Error Correction for Minimally Invasive Surgical Robots. ICRA 2004: 358-364 - [c14]Thomas Debus, Pierre E. Dupont:
Distinguishability and Identifiability of Contact States. ICRA 2004: 1135-1140 - 2003
- [j7]Jeremy W. Cannon, Jeffrey A. Stoll, Shaun Selha, Pierre E. Dupont, Robert D. Howe, David F. Torchiana:
Port placement planning in robot-assisted coronary artery bypass. IEEE Trans. Robotics Autom. 19(5): 912-917 (2003) - 2002
- [j6]Pierre E. Dupont, Vincent Hayward, Brian Armstrong, Friedhelm Altpeter:
Single state elastoplastic friction models. IEEE Trans. Autom. Control. 47(5): 787-792 (2002) - [c13]Thomas Debus, Tae-Jeong Jang, Pierre E. Dupont, Robert D. Howe:
Multi-Channel Vibrotactile Display for Teleoperated Assembly. ICRA 2002: 592-597 - [c12]Thomas Debus, Pierre E. Dupont, Robert D. Howe:
Contact State Estimation using Multiple Model Estimation and Hidden Markov Models. ISER 2002: 517-526 - 2001
- [c11]Shaun Selha, Pierre E. Dupont, Robert D. Howe, David F. Torchiana:
Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting. MICCAI 2001: 1435-1436 - 2000
- [c10]Pierre E. Dupont, Brian Armstrong, Vincent Hayward:
Elasto-plastic friction model: contact compliance and stiction. ACC 2000: 1072-1077 - [c9]Thomas Debus, Pierre E. Dupont, Robert D. Howe:
Automatic Identification of Local Geometric Properties During Teleoperation. ICRA 2000: 3428-3434 - [c8]Thomas Debus, Jeffrey A. Stoll, Robert D. Howe, Pierre E. Dupont:
Cooperative Human and Machine Perception in Teleoperated Assembly. ISER 2000: 51-60
1990 – 1999
- 1999
- [j5]Pierre E. Dupont, Timothy M. Schulteis, Paul A. Millman, Robert D. Howe:
Automatic Identification of Environment Haptic Properties. Presence Teleoperators Virtual Environ. 8(4): 394-411 (1999) - [c7]Thomas Debus, Pierre E. Dupont, Robert D. Howe:
Automatic Property Identification via Parameterized Constraints. ICRA 1999: 1876-1881 - 1997
- [j4]Pierre E. Dupont, Serge P. Yamajako:
Stability of frictional contact in constrained rigid-body dynamics. IEEE Trans. Robotics Autom. 13(2): 230-236 (1997) - [c6]Pierre E. Dupont, Timothy M. Schulteis, Robert D. Howe:
Experimental identification of kinematic constraints. ICRA 1997: 2677-2682 - 1996
- [c5]Pierre E. Dupont, Serge P. Yamajako:
Stability of rigid-body dynamics with sliding frictional contacts. ICRA 1996: 378-384 - 1994
- [j3]Brian Armstrong-Hélouvry, Pierre E. Dupont, Carlos Canudas de Wit:
A survey of models, analysis tools and compensation methods for the control of machines with friction. Autom. 30(7): 1083-1138 (1994) - [j2]Pierre E. Dupont:
Avoiding stick-slip through PD control. IEEE Trans. Autom. Control. 39(5): 1094-1097 (1994) - [c4]Pierre E. Dupont, Serge P. Yamajako:
Jamming and Wedging in Constrained Rigid-Body Dynamics. ICRA 1994: 2349-2354 - 1993
- [j1]Pierre E. Dupont:
The Effect of Friction on the Forward Dynamics Problem. Int. J. Robotics Res. 12(2): 164-179 (1993) - 1992
- [c3]Pierre E. Dupont:
The effect of Coulomb friction on the existence and uniqueness of the forward dynamics problem. ICRA 1992: 1442-1447 - 1991
- [c2]Pierre E. Dupont:
Avoiding stick-slip in position and force control through feedback. ICRA 1991: 1470-1475 - 1990
- [c1]Pierre E. Dupont:
Friction modeling in dynamic robot simulation. ICRA 1990: 1370-1376
Coauthor Index
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