Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots
Y. Wang, M. McCandless, A. Donder, G. Pittiglio, B. Moradkhani, Y. Chitalia, P. E. Dupont
2024 International Symposium on Medical Robotics (ISMR)
Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions
G. Pittiglio, M. Mencattelli, A. Donder, and Y. Chitalia, P. E. Dupont
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8461-8466, 2023
Using robotics to move a neurosurgeon’s hands to the tip of their endoscope
K. Price, J. Peine, M. Mencattelli, Y. Chitalia, D. Pu, T. Looi, S. Stone, J. Drake, P.E. Dupont
Science Robotics
A Novel Ex Vivo Tracheobronchomalacia Model for Airway Stent Testing and In Vivo Model Refinement
A. Mondal, G.A. Visner, A.K. Kaza, P.E. Dupont
The Journal of Thoracic and Cardiovascular Surgery
Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots
G. Pittiglio, M. Mencattelli, A. Donder, Y. Chitalia, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp 27-28, 2023
Magnetic Ball Chain Robots for Endoluminal Interventions
G. Pittiglio, M. Mencattelli, P.E. Dupont
IEEE International Conference on Robotics and Automation, ICRA 2023
Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots
G. Pittiglio, M. Mencattelli, P.E. Dupont
International Symposium on Medical Robotics (ISMR) 2023
Modeling Tendon-actuated Concentric Tube Robots
Y. Chitalia, A. Donder, P.E. Dupont
International Symposium on Medical Robotics (ISMR) 2023
Robotic instruments inside the MRI bore: key concepts and evolving paradigms in imaging-enhanced cranial neurosurgery
S. Manjila, B. Rosa, K. Price, R. Manjila, M. Mencattelli, P.E. Dupont
World Neurosurgery, 2023
Bimanual Endoscopic Robot for Neurosurgery
K. Price, J. Peine, Y. Chitalia, M. Mencattelli, A. Pourkand, T. Looi, J. Drake, P. E. Dupont
Hamlyn Symposium on Medical Robotics 2022 pp. 99-100, 2022
Modeling Telescoping Tendon-Actuated Continuum Robots
Y. Chitalia, A. Donder, P. E. Dupont
Hamlyn Symposium on Medical Robotics 2022 pp. 131-132, 2022
Eccentric Tube Robots as Multiarmed Steerable Sheaths
J. Wang, J. Peine, P.E. Dupont
IEEE Trans. Robotics, vol. 38, no. 1, pp. 477-490, 2022
Continuum Robots for Medical Interventions
P.E. Dupont, N. Simaan, H. Choset, C. Rucker
Proceedings of the IEEE, 2022
Non-surgical Removal of Partially Absorbable Bionic Implants
V. Del Bono, J. Peine, M. Finocchiaro, K. Price, M. Mencattelli, Y. Chitalia, V. Ko, L. Yu, J. Secor, A. Pan, Z. Machaidze, M. Puder, A. Artoni, P.E. Dupont
IEEE Transactions on Medical Robotics and Bionics, 2022
Preclinical Evaluation of a Pediatric Airway Stent for Tracheobronchomalacia
A. Mondal, J. Ha, V. Y. Jo, F.Y. Wu, A. K. Kaza, P.E. Dupont
The Journal of Thoracic and Cardiovascular Surgery, Elsevier, vol. 161, no. 1, pp. e51-e60, 2021
In Vivo Molding of Airway Stents
M. Mencattelli, A. Mondal, R. Miale, D Van Story, J. Peine, Y. Li, A. Artoni, A.K. Kaza, P. E. Dupont
Advanced Functional Materials, vol. 2010525, pp. https://doi.org/10.1002/adfm.202010525, 2021
A Soft Robotic Balloon Endoscope for Airway Procedures
Y. Li, J. Peine, M. Mencattelli, J. Wang, J. Ha, P. E. Dupont
Soft Robotics, 2021
A decade retrospective of medical robotics research from 2010 to 2020
P.E. Dupont, B. J. Nelson, M. Goldfarb, B. Hannaford, A. Menciassi, M. K. O’Malley, N. Simaan, P. Valdastri, G.Z. Yang
Science Robotics, vol. 6, no. 60, pp. eabi8017, 2021
Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal
J. Ha, A. Mondal, Z. Zhao, A.K. Kaza, P.E. Dupont
IEEE Trans. Biomedical Engineering, vol. 67, no. 1, pp. 177-184, 2020
Design of a Robotic Balloon-catheter Endoscope for Sinus Procedures
Y. Li, R. Rahbar, P. E. Dupont
Hamlyn Symposium on Medical Robotics 2019, pp 9-10, 2019
Design and Modelling of a Multi-segment Steerable Sheath for Single-port Endoscopic Procedures
J. Wang, P.E. Dupont
Hamlyn Symposium on Medical Robotics 2019, pp 45-46, 2019
Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes
J. Wang, J. Ha, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 9834-9840, 2019
Optically-guided instrument for transapical beating-heart delivery of artificial mitral chordae tendineae
Z. Machaidze, M. Mencattelli, G. Arnal, K. Price, F. Wu, V. Weixler, D. Brown, J. Mayer Jr, P.E. Dupont
The Journal of Thoracic and Cardiovascular Surgery, vol. 158, no. 5, pp. 9834-9840, 2019
Autonomous robotic intracardiac catheter navigation using haptic vision
G. Fagogenis, M. Mencattelli, Z. Machaidze, B. Rosa, K. Price, F. Wu, V. Weixler, M. Saeed, J.E. Mayer, P.E. Dupont
Science Robotics, vol. 4, no. 29, pp. eaaw1977, 2019
Varying Ultrasound Power to Distinguish Surgical Instruments and Tissue
H. Ren, A. Banani,P.E. Dupont
Medical & Biological Engineering & Computing, vol. 56, pp. 453-467, 2018
Minimally invasive bilateral anterior cingulotomy via open minicraniotomy using a novel multiport cisternoscope: a cadaveric demonstration
S. Manjila, B. Rosa, M. Mencattelli, P.E. Dupont
Operative Neurosurgery, pp. opy083, 2018
Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics
J. Ha, G. Fagogenis, P.E. Dupont
IEEE Trans. on Robotics, vol. 35, no. 2, pp. 353-370, 2018
In vivo tissue regeneration with robotic implants
D. Damian, K. Price, S. Arabagi, I. Berra, Z. Machaidze, S. Manjila, S. Shimada, A. Fabozzo, G. Arnal, D. Van Story, J. Goldsmith, A. Agoston, C. Kim, R. Jennings, P. Ngo, M. Manfredi, P.E. Dupont
Science Robotics, vol. 3, no. 14, pp. eaaq0018, 2018
The grand challenges of Science Robotics
G.Z. Yang, J. Bellingham, P.E. Dupont, P. Fischer, L. Floridi, R. Full, N. Jacobstein, V. Kumar, M. McNutt, R. Merrifield, B.J. Nelson, B. Scassellati, M. Taddeo, R. Taylor, M. Veloso, Z.L. Wang, R. Wood
Science Robotics, vol. 3, no. 14, pp. 353-370, 2018
Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots
J. Ha, F.C. Park, P.E. Dupont
IEEE Trans. on Robotics, vol. 33, no. 1, pp. 22-37, 2017
Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy
G.Z. Yang, J. Cambias, K. Cleary, E. Daimler, J. Drake, P.E. Dupont, N. Hata, P. Kazanzides, S. Martel, R. Patel, V. Santos, R. Taylor
Science Robotics, vol. 2, no. 4, pp. eaam8638, 2017
A low cost bioprosthetic semilunar valve for research, disease modeling and surgical training applications
B. Rosa, Z. Machaidze, B. Shin, S. Manjila, D. Brown, C. Baird, J. Mayer Jr,P.E. Dupont
Interactive CardioVascular and Thoracic Surgery, 2017
Image-based Contact Stabilization Inside the Beating Heart
B. Rosa, G. Fagogenis, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 17-18, 2017
Cardioscopically-guided beating heart surgery: paravalvular leak repair
B. Rosa, Z. Machaidze, M. Mencattelli, S. Manjila, B. Shin, K. Price, M. Borger, V. Thourani, P.J. del Nido, D. Brown, C. Baird, J. Mayer Jr, P.E. Dupont
The Annals of Thoracic Surgery, vol. 104, no. 3, pp. 1074-1079, 2017
Incorporating Tube-to-Tube Clearances in the Kinematics of Concentric Tube Robots
J. Ha, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 6730-6736, 2017
Effect of Path History on Concentric Tube Robot Model Calibration
J. Ha, G. Fagogenis, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 77-78, 2017
Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes
J. Ha, P.E. Dupont
IEEE Robotics and Automation Letters, vol. 2, no. 1, pp. 298-304, 2017
A Multi-port MR-compatible Neuroendoscope - Spanning the Gap Between Rigid and Flexible Scopes
S. Manjila,M. Mencattelli, B. Rosa, K. Price, G. Fagogenis, P.E. Dupont
Neurosurgical Focus, vol. 41, no. 3, pp. E13 (15 pages), 2016
Cardioscopic Tool-delivery Instrument for Beating-heart Surgery
A. Ataollahi,I. Berra, N.V. Vasilyev, Z. Machaidze, P.E. Dupont
ASME / IEEE Trans. Mechatronics, vol. 21, no. 1, pp. 584-590, 2016
When will a robot outperform a handheld instrument? - A Case Study in Beating-heart Paravalvular Leak Closure
B. Rosa and Z. Machaidze, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 11-12, 2016
A Robotic Implant for Enterogenesis
K. Price, Z. Machaidze, T. Jaksic, R.P. Jennings, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 68-69, 2016
Multi-port Neuroendoscope for Robotic Intraventricular Procedures
M. Mencattelli, S. Manjila, B. Rosa, K. Price, G. Fagogenis, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 32-33, 2016
Enabling Automated MRI-based Targeting Assessment During Dipole Field Navigation
M. Latulippe, O. Felfoul, P.E. Dupont, S. Martel
Applied Physics Letters, vol. 108, no. 062403, 2016
Toward On-line Parameter Estimation of Concentric Tube Robots Using a Mechanics-based Model
C. Jang, J. Ha, P.E. Dupont, F.C. Park
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2016
Elastic Stability of Concentric Tube Robots Subject to External Loads
J. Ha, F.C. Park, P.E. Dupont
IEEE Trans. Biomedical Engineering, vol. 63, no. 6, pp. 1116-1128, 2016
Simultaneous steering and imaging of magnetic particles using MRI toward delivery of therapeutics
O. Felfoul, A. Becker, G. Fagogenis, P.E. Dupont
Scientific Reports, 2016
Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots
G. Fagogenis, C. Bergeles, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2016
Biocompatible Pressure Sensing Skins for Minimally Invasive Surgical Instruments
V. Arabagi, O. Felfoul, A. Gosline, R. Wood, P.E. Dupont
IEEE Sensors Journal, vol. 16, no. 5, pp. 1294-1303, 2016
Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints
C. Bergeles, A.H. Gosline, N.V. Vasilyev, P.J. Codd, P.J. del Nido, P.E. and Dupont
IEEE Trans. Robotics, vol. 33, no. 1, pp. 67-84, 2015
Tissue Removal Inside the Beating Heart using a Robotically Delivered Metal MEMS Tool
N.V. Vasilyev, A. Gosline, A. Veeramani, M.T. Wu,G. Schmitz, R. Chen, V. Arabagi, P.J. del Nido, P.E. Dupont
Int. J. Robotics Research, vol. 34, no. 2, pp. 236-247, 2015
Intensity-based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes
C. Nadeau, H. Ren, A. Krupa, P.E. Dupont
IEEE Transactions on Automation Science and Engineering, vol. 12, no. 1, pp. 367-371, 2015
Real-time Adaptive Kinematic Model Estimation of Concentric Tube Robots
C. Kim, S. Ryu, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3214-3219, 2015
Cardioscopic Imaging to Guide Manual and Robotic Surgery Inside the Beating Heart
C. Kim, A. Ataollahi, I. Berra, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 15-16, 2015
Untethered Magnetic Millirobot for Targeted Drug Delivery
V. Iacovacci, G. Lucarini, L. Ricotti, P. Dario, P.E. Dupont, A. Menciassi
Biomedical Microdevices, vol. 17, no. 3, pp. 1-12, 2015
Magnetic Bi-component Millirobot for Targeted Drug Delivery
V. Iacovacci, G. Lucarini, L. Ricotti, P. Dario, P.E. Dupont, A. Menciassi
Hamlyn Symposium on Medical Robotics, pp. 5-6, 2015
Achieving Commutation Control of an MRI-powered Robot Actuator
O. Felfoul, A. Becker, C. Bergeles, P.E. Dupont
IEEE Trans. Robotics, vol. 31, no. 2, pp. 387-399, 2015
Stabilizing the Relative Position of Millirobots inside an MRI Scanner Considering Magnetic Interaction Forces
A. Eqtami, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3220-3226, 2015
Design of a robotic implant for in vivo esophageal tissue growth
D. Damian, S. Arabagi, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 73-74, 2015
Toward Tissue Penetration by MRI-powered Millirobots Using a Self-Assembled Gauss Gun
A. Becker, O. Felfoul, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 1184-1189, 2015
MRI-Powered Robotics
A. Becker, O. Felfoul, Li Huang, P.E. Dupont
International Symposium on Robotics Research, 2015
Novel Pressure-Sensing Skin for Detecting Impending Tissue Damage during Neuroendoscopy
P. Codd, V. Arabagi, A. Gosline, P.E. Dupont
Journal of Neurosurgery - Pediatrics, vol. 13, no. 1, pp. 114-121, 2014
FBG-based Shape Sensing Tubes for Continuum Robots
S. Ryu, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 3531-3537, 2014
Optimizing Curvature Sensor Placement for Fast, Accurate Shape Sensing of Continuum Robots
B. Kim, J. Ha, F.C. Park, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 5374-5379, 2014
Achieving Elastic Stability of Concentric Tube Robots Through Optimization of Tube Precurvature
J. Ha, F. Park, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 864-870, 2014
MRI-powered Closed-loop Control for Multiple Magnetic Capsules
A. Eqtami, O. Felfoul, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3536-3542, 2014
Robotic Implant to Apply Tissue Traction Forces in the Treatment of Esophageal Atresia
D. Damian, S. Arabagi, A. Fabozzo, P. Ngo, R. Jennings, M. Manfredi, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 786-792, 2014
Simultaneously Powering and Controlling Many Actuators With a Clinical MRI Scanner
A. Becker, O. Felfoul, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2017-2023, 2014
Robotic Surgery
N.V. Vasilyev, P.J. del Nido, P.E. Dupont
Book chapter in E.M. da Cruz, D. Ivy, J. Jaggers, editors. Pediatric and Congenital Cardiology, Cardiac Surgery and Intensive Care, vol. 3 pp. 1237-1249, 2014
An MRI-powered and Controlled Actuator Technology for Tetherless Robotic Interventions
P. Vartholomeos, C. Bergeles, L. Qin, P.E. Dupont
Int. J. Robotics Research, vol. 32, no. 13, pp. 1536-1552, 2013
Percutaneous Steerable Robotic Tool Delivery Platform and Metal MEMS Device for Tissue Manipulation and Approximation: Initial Experience with Closure of Patent Foramen Ovale
N.V. Vasilyev, A. Gosline, E. Butler, N. Lang, P. Codd, H. Yamauchi, E. Feins, C. Folk, A. Cohen, R. Chen, P.J. del Nido, P.E. Dupont
Circulation - Cardiovascular Interventions, vol. 6, pp. 468-475, 2013
Achieving Biocompatibility in Soft Sensors for Surgical Robots
A. Gosline, V. Arabagi, A. Kassam, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 5-6, 2013
Planning Stable Paths for Concentric Tube Robots
C. Bergeles, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3077-3082, 2013
Closed-Loop Commutation Control of an MRI-Powered Robot Actuator
C. Bergeles, P. Vartholomeos, L. Qin, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 690-695, 2013
Simultaneous Soft Sensing of Contact Orientation and Force for Millimeter-scale Medical Robots
V. Arabagi, A. Gosline, R. Wood, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 4381-4387, 2013
Robotics and imaging in congenital heart surgery
N.V. Vasilyev, P.E. Dupont, P.J. del Nido
Future Cardiology, vol. 8, no. 2, pp. 285-296, 2012
Motion planning for multiple millimeter-scale magnetic capsules in a fluid environment
P. Vartholomeos, R. Akhavan-Sharif, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 1927-1932, 2012
Closed-loop position control of an MRI-powered biopsy robot
P. Vartholomeos, C. Bergeles, L. Qin, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 83-84, 2012
Passive markers for tracking surgical instruments in real-time 3D ultrasound imaging
J.A. Stoll, H. Ren, P.E. Dupont
IEEE Trans. Medical Imaging, vol. 31, no. 3, pp. 563-575, 2012
Tubular enhanced geodesic active contours for continuum robot detection using 3D ultrasound
H. Ren, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 2907-2912, 2012
Target tracking in 3D ultrasound volumes by direct visual servoing
C. Nadeau, H. Ren, A. Krupa, P.E. Dupont
Hamlyn Symposium on Medical Robotics, pp. 15-16, 2012
Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools
A. Gosline, N.V. Vasilyev, E. and Butler, C. Folk, A. Cohen, R. Chen, N. Lang, P.J. del Nido, P.E. Dupont
Int. J. Robotics Research, 2012
Metal-MEMS tools for beating-heart tissue approximation
E. Butler, C. Folk, A. Cohen, N.V. Vasilyev, R. Chen, P.J. del Nido, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 411-416, 2012
Extending the reach and stability of manually steerable neuroendoscopes through robotics
P.E. Dupont, S. Chawarski, E. Butler, R. Hammond-Oakley, A. Gosline, P. Codd, T. Anor, J. Madsen, J. Lock
Hamlyn Symposium on Medical Robotics, pp. 89-90, 2012
Concentric Tube Robots for Minimally Invasive Surgery
P.E. Dupont, A. Gosline, N. Vasilyev, J. Lock, E. Butler, C. Folk, A. Cohen, A. Veeramani, M. Wu, G. Schmitz, R. Chen, R. del Nido
Hamlyn Symposium on Medical Robotics, pp. 3-4, 2012
Robotic neuroendoscope with concentric tube augmentation
E. Butler, R. Hammond-Oakley, S. Chawarski, A. Gosline, P. Codd, T. Anor, J. Madsen, P.E. Dupont, J. Lock
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2941-2946, 2012
Tracking and position control of an MRI-powered needle-insertion robot
C. Bergeles, L. Qin, P. Vartholomeos, P.E. Dupont
IEEE Engineering in Medicine and Biology Conf., pp. 928-931, 2012
MRI-powered actuators for robotic interventions
P. Vartholomeos, L. Qin, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 4508-4515, 2011
Tubular structure enhancement for surgical instrument detection in 3D ultrasound
H. Ren, P.E. Dupont
IEEE Engineering in Medicine and Biology Conf., pp. 7203-7206, 2011
Detection of curved robots using 3D ultrasound
H. Ren, N.V. Vasilyev, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2083-2089, 2011
Stiffness control of surgical continuum manipulators
M. Mahvash, P.E. Dupont
IEEE Trans. Robotics, vol. 27, no. 2, pp. 334-345, 2011
Friction modeling in concentric tube roots
J. Lock, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 1139-1146, 2011
Beating-heart mitral valve chordal replacement
G. Laing, P.E. Dupont
IEEE Engineering in Medicine and Biology Conf., pp. 2476-2479, 2011
Metal-MEMS tools for beating-heart tissue approximation
E. Butler, C. Folk, A. Cohen, N.V. Vasilyev, R. Chen, P.J. del Nido, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 411-416, 2011
Design optimization of concentric tube robots based on task and anatomical constraints
C. Bedell, J. Lock, A. Gosline, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 398-403, 2011
Algorithms for design of continuum robots using the concentric tubes approach: a neurosurgical example
T. Anor, J. Madsen, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 667-673, 2011
IN-Haptics: interactive navigation using haptics
R. Walker, S. Andersson, C. Belta, P.E. Dupont
IEEE Haptics Symposium, pp. 463-466, 2010
Stiffness control of a continuum manipulator in contact with a soft environment
M. Mahvash, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 863-870, 2010
Mechanics of dynamic needle insertion into a biological material
M. Mahvash, P.E. Dupont
IEEE Trans. Biomedical Engineering, vol. 57, no. 4, pp. 934-943, 2010
Quasistatic modeling of concentric tube robots with external loads
J. Lock, G. Lain, M. Mahvash, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2325-2332, 2010
Real-time position control of concentric tube robots
P.E. Dupont, J. Lock, B. Itkowitz
IEEE Int. Conf. Robotics and Automation, pp. 562-568, 2010
Design and control of concentric tube robots
P.E. Dupont, J. Lock, B. Itkowitz, E. Butler
IEEE Trans. Robotics, vol. 26, no. 2, pp. 209-225, 2010
Image guided surgical interventions
D. Perrin, N.V. Vasilyev, P. Novotny, J.A. Stoll, R. Howe,P.E. Dupont, I. Salgo, P.J. del Nido
Current Problems in Surgery, vol. 46, no. 9, pp. 730-766, 2009
Fast needle insertion to minimize tissue deformation and damage
M. Mahvash, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 3097-3102, 2009
Discrete-time elasto-plastic friction estimation
V. Hayward, B. Armstrong, F. Altpeter, P.E. Dupont
IEEE Trans. Control Systems Technology, vol. 17, no. 3, pp. 688-696, 2009
Torsional kinematic model for concentric tube robots
P.E. Dupont, J. Lock, E. Butler
IEEE Int. Conf. Robotics and Automation, pp. 3851-3858, 2009
Bilateral teleoperation of flexible surgical robots
M. Mahvash, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, New Vistas and Challenges in Telerobotics Workshop, 2008
Inverse kinematics of concentric tube steerable needles
P. Sears, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, 2007
Real-time visual servoing of a robot using three dimensional ultrasound
P. Novotny, J. Stoll, P.E. Dupont, R. Howe
IEEE Int. Conf. Robotics and Automation, 2007
GPU based real-time instrument tracking with three-dimensional ultrasound
P. Novotny, J. Stoll, N. Vasilyev, P.J. del Nido, P.E. Dupont, PT. Zickler, R. Howe
Medical Image Analysis, vol. 11, pp. 458-464, 2007
Imaging artifacts of medical instruments in ultrasound-guided interventions
J. Huang, J. Triedman, N.V. Vasilyev, Y. Suematsu, R. Cleveland, P.E. Dupont
J. Ultrasound in Medicine, vol. 26, pp. 1303-1322, 2007
Real-time 3D ultrasound-based servoing of a surgical instrument
J. Stoll, P. Novotny, P.E. Dupont, R. Howe
IEEE Int. Conf. Robotics and Automation, 2006
Force control for grasping soft tissue
J. Stoll, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, 2006
A steerable needle technology using curved concentric tubes
P. Sears, P.E. Dupont
IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2006
Stereo display of 3D ultrasound images for surgical robot guidance
P. Novotny, D. Kettler, P. Jordan, P.E. Dupont, P.J. del Nido, R. Howe, R.
IEEE Engineering in Medicine and Biology Conf., 2006
GPU based real-time instrument tracking with three-dimensional ultrasound
P. Novotny, J. Stoll, N.V. Vasilyev, P.E. Dupont, R. Howe
Int. Conf. Medical Image Computing and Computer Assisted Intervention, 2006
3D ultrasound in robotic surgery: a study of performance with stereo displays
P. Novotny, S. Jacobsen, N.V. Vasilyev, D. Kettler, I. Salgo, P.E. Dupont, P.J. del Nido, R. Howe
Int. J. Medical Robotics and Computer Assisted Surgery, vol. 2, pp. 279-285, 2006
Producing diffuse ultrasound reflections from medical instruments using the quadratic residue diffuser
J. Huang, P.E. Dupont, A. Undurti, J. Triedman, R. Cleveland
Ultrasound in Medicine and Biology, vol. 32, no. 5, pp. 721-727, 2006
Electromechanical emulation of active vibratory systems
W. Chen, P.E. Dupont
J. Acoustical Society of America, vol. 119, no. 3, pp. 27-33, 2006
Three-dimensional echo-guided beating heart surgery without cardiopulmonary bypass - atrial septal defect closure in a swine model
Y. Suematsu, J.F. Martinez, B.K. Wolf, G.R. Marx, J.A. Stoll, P.E. Dupont, R. Howe, J.K. Triedman, P.J. del Nido
J. Thorac Cardiovascular Surgery, vol. 130, no. 5, pp. 1348-1357, 2005
Passive markers for ultrasound tracking of surgical instruments
J. Stoll, P.E. Dupont
Int. Conf. Medical Image Computing and Computer Assisted Intervention, 2005
Trajectory optimization for dynamic needle insertion
M. Heverly, P.E. Dupont, J. Triedman
IEEE Int. Conf. Robotics and Automation, 2005
Distinguishability and identifiability testing of contact state models
T.J. Debus, P.E. Dupont, R. Howe
Advanced Robotics, vol. 19, no. 5, pp. 545-566, 2005
Realization of mechanical systems from second-order models
W. Chen, P.E. Dupont
J. Acoustical Society of America, vol. 118, no. 2, 2005
Multi-Channel Vibrotactile Display for Teleoperated Assembly
T. Debus, P.E. Dupont, R.D. Howe
International Journal of Control, Automation and System, vol. 2, no. 3, pp. 390-397, 2004
Distinguishability and identifiability of contact states
T. Debus, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 1135-1140, 2004
Contact state estimation using multiple model estimation and hidden markov models
T. Debus, P.E. Dupont, R.D. Howe
Int. J. Robotics Research, vol. 23, no. 4, pp. 399-414, 2004
Kinematic error correction for minimally invasive surgical robots
R. Beasley, R. Howe, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, 2004
Three-dimensional echocardiography-guided beating-heart surgery without cardiopulmonary bypass: A feasibility study
Y. Suematsu, G.R. Marx, J.A. Stoll, P.E. DuPont, R.O. Cleveland, R.D. Howe, J.K. Triedman, T. Mihaljevic, B.N. Mora, B.J. Savord, I.S. Salgo, P.J. del Nido
The Journal of Thoracic and Cardiovascular Surgery, vol. 128, no. 4, pp. 579-587, 2004
Contact state estimation using multiple model estimation and hidden markov models
T. Debus, P.E. Dupont, R.D. Howe
8th Int. Symposium on Experimental Robotics, vol. 5, pp. 517-52, 2003
Real-time 3-dimensional ultrasound for guiding surgical tasks
J. Cannon, J. Stoll, I. Salgo, H. Knowles, R. Howe, P.E. Dupont, G. Marx, P.J. del Nido
Computer Aided Surgery, vol. 8, no. 2 pp. 82-90, 2003
Port placement planning in robot-assisted coronary artery bypass
J. Cannon, J. Stoll, S. Selha, P.E. Dupont, R.D. Howe, D. Torchiana
IEEE Trans. Robotics and Automation, vol. 19, no. 5 pp. 912-917, 2003
Application of robotics in congenital cardiac surgery
J. Cannon, R. Howe, P.E. Dupont, J. Triedman, G. Marx, P.J. del Nido
Seminars in Thoracic and Cardiovascular Surgery - Pediatric Cardiac Surgery Annual, vol. 6, no. 1 pp. 72-83, 2003
Single state elasto-plastic friction models
P.E. Dupont, V. Hayward, B. Armstrong, F. Altpeter
IEEE Trans. Automatic Control, vol. 47, no. 5 pp. 787-792, 2002
Multichannel Vibrotactile Display for Teleoperated Assembly
T. Debus, P.E. Dupont, T.J. Jang, R. Howe
IEEE Int. Conf. Robotics and Automation, pp. 592-597, 2002
Ultrasound-based Servoing of Manipulators for Telesurgery
J. Stoll, P. Dupont, R. Howe
Telemanipulator and Telepresence Technologies VIII Conference, Proceedings of the SPIE, vol. 4570, pp. 78-85, 2001
Analysis of rigid body dynamic models for simulation of systems with frictional contacts
P. Song, P. Kraus, V. Kumar, P.E. Dupont
J. Applied Mechanics, vol. 68, no. 1, pp. 118-128, 2001
Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting
S. Selha, P.E. Dupont, R. Howe, D. Torchiana
Medical Image Computing and Computer-Assisted Intervention, pp. 1435-1436, 2001
Dexterity Optimization by Port Placement in Robot-Assisted Minimally Invasive Surgery
S. Selha, P.E. Dupont, R. Howe
Telemanipulator and Telepresence Technologies VIII Conference, Proceedings of the SPIE, vol. 4570, 2001
Multichannel Vibrotactile Display for Sensory Substitution During teleoperation
T. Debus, T. Becker, P.E. Dupont, T.J. Jang, R. and Howe
Multichannel Vibrotactile Display for Sensory Substitution During teleoperation, 2001
Cooperative Human and Machine Perception in Teleoperated Assembly
T. Debus, J. Stoll, R. Howe, P.E. Dupont
Cooperative Human and Machine Perception in Teleoperated Assembly, Lecture notes in control and information sciences, vol. 271, pp. 51-60, 2001
A wave approach to estimating frequency-dependent damping under transient loading
J.G. McDaniel, P.E. Dupont, L. Salvino
J. Sound and Vibration, vol. 231, no. 2, pp. 433-449, 2000
Analysis of floquet wave generation and propagation in a plate with multiple arrays of attachments
D. Gueorguiev, J.G. McDaniel, P.E. Dupont, L. Felsen
J. Sound and Vibration, vol. 203, no. 5, pp. 819-840, 2000
Elasto-plastic Friction Model: Contact Compliance and Stiction
P.E. Dupont, B. Armstrong, V. Hayward
American Control Conference, pp. 1072-1077, 2000
Automatic Identification of Local Geometric Properties During Teleoperation
T. Debus, P.E. Dupont, R. Howe
IEEE Int. Conf. Robotics and Automation, pp. 3428-3434, 2000
Twice the Fun: Two Phantoms as a High-Performance Telemanipulation System
R. Howe, T. Debus, P.E. Dupont
Proc Fourth Annual PHANTOM Users Group Workshop, 1999
Simplified Dispersion Relations for Floquet Waves in a Plate with Multiple Arrays of Attachments
D. Gueorguiev, J.G. McDaniel, P.E. Dupont
Proc 17th Biennial Conference on Mechanical Vibration and Noise, ASME 1999 Design Engineering , 1999
Automatic identification of environment haptic properties
P.E. Dupont, P. Schulteis, P. Millman, R. Howe
PRESENCE - Teleoperators and virtual environments, vol. 8, no. 4, pp. 392-409, 1999
Automatic Property Identification via Parameterized Constraints
T. Debus, P.E. Dupont, R. Howe
IEEE Int. Conf. Robotics and Automation, pp. 1876-1881, 1999
Evaluation of Granular-fill Damping in Shock Loaded Box Beams
L. Salvino, P.E. Dupont, J.G. McDaniel
Proc 69th Shock and Vibration Symposium, 1998
An Error Measure for the Shock Testing of Scale Models
P.E. Dupont, J.G. McDaniel
Proc 16th Int Conf Acoustics and 135th Meeting Acoustical Society of America, 1998
Analysis of Frictional Contact Models for Dynamic Simulation
P. Kraus, V. Kumar, P.E. Dupont
IEEE Int. Conf. Robotics and Automation, vol. 2, pp. 976-981, 1998
Constrained optimal control of vibration dampers
P. Kasturi, P.E. Dupont
J. Sound and Vibration, pp. 499-509, 1998
Haptic Identification of Remote Environment Properties
R. Howe, T. Debus, P.E. Dupont
SPIE Int Symp Intelligent Systems and Advanced Manufacturing, Proc SPIE, vol. 3524, 1998
Model Reduction Techniques for Shock Loaded Equipment Emulators
P.E. Dupont, A. Stokes
Proc 69th Shock and Vibration Symposium, 1998
Semi-active Control of Friction Dampers
P.E. Dupont, P. Kasturi, A. Stokes
Journal of Sound and Vibration, vol. 202, no. 2, pp. 203-218, 1997
Stability of Frictional Contact in Constrained Rigid-body Dynamics
P.E. Dupont, S. Yamajako
IEEE Trans. Robotics and Automation, vol. 13, no. 2, pp. 230-236, 1997
Periodic Optimal Control of Dampers
P. Kasturi, P.E. Dupont
ASME Design Engineering Technical Conference, 1997
Experimental Identification of Kinematic Constraints
P.E. Dupont, P. Schulteis, R. Howe
IEEE Int. Conf. Robotics and Automation, pp. 2677-2682, 1997
Perturbational Stability of Frictional Sliding with Varying Normal Force
P.E. Dupont, D. Bapna
ASME Journal of Vibration and Acoustics, vol. 118, no. 3, pp. 491-497, 1996
Automatic Identification of Remote Environments
P. Schulteis, P.E. Dupont, P. Millman,R. Howe
ASME Int Mechanical Engineering Congress & Exposition, pp. 451-458, 1996
Experimental Evaluation of a Semi-active Friction Damper
P.E. Dupont, P. Kasturi, A. Stokes
Elasto-impact and Friction in Dynamic Systems, ASME Int Mech Engineering Congress & Exposition, vol. DE-90, pp. 69-74, 1996
Friction Modeling and PD Compensation at Very Low Velocities
P.E. Dupont, E. Dunlap
ASME Journal of Dynamic Systems, Measurement and Control, vol. 117, pp. 8-14, 1995
Stability of Rigid-body Dynamics with Sliding Frictional Contacts
P.E. Dupont, S. Yamajako
IEEE Int. Conf. Robotics and Automation, pp. 378-384, 1995
Semi-active Control of Friction Dampers
P.E. Dupont, P. Kasturi, A. Stokes
Journal of Sound and Vibration, vol. 202, no. 2, pp. 203-218, 1995
Experimental Investigation of Friction Dynamics Associated with Normal Load
P.E. Dupont, P. Kasturi
Symposium on Friction Damping and Friction-induced Vibration, ASME 15th Biennial Conference on Mechanical Vibration and Noise, DE-Vol. 84-1, pp. 1109-1115, 1995
Friction in Servo Machines: Analysis and Control Methods
B. Armstrong-Helouvry, P.E. Dupont, C. Canudas de Wit
Applied Mechanics Reviews, Special Issue on Friction Induced Vibration, vol. 47, no. 7, pp. 275-305, 1994
A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction
B. Armstrong-Helouvry, P.E. Dupont, C. Canudas de Wit
Automatica, vol. 30, no. 7, pp. 1083-1138, 1994
Avoiding Stick-slip Through PD Control
P.E. Dupont
IEEE Trans. Automatic Control, vol. 39, no. 5, pp. 1094-1097, 1994
Stability of Sliding Frictional Surfaces with Varying Normal Force
P.E. Dupont, D. Bapna
ASME Journal of Vibration and Acoustics, vol. 116, no. 2, pp. 237-242, 1994
Jamming and Wedging in Constrained Rigid-body Dynamics
P.E. Dupont, S. Yamajako
IEEE Int. Conf. Robotics and Automation, pp. 2349-2354, 1994
The Effect of Friction on the Forward Dynamics Problem
P.E. Dupont
Int. J. Robotics Research, vol. 12, no. 2, pp. 164-179, 1993
Friction Modeling and Control in Boundary Lubrication
P.E. Dupont, E. Dunlap
American Control Conference, pp. 1910-1914, 1993
Existence and Uniqueness of Rigid-Body Dynamics with Coulomb Friction
P.E. Dupont
Transactions of the Canadian Society for Mechanical Engineering, vol. 17, no. 4A, pp. 513-525, 1993
Compensation Techniques for Servos with Friction
P.E. Dupont, B. Armstrong-Helouvry
American Control Conference, pp. 1915-1919, 1993
Friction Modeling for Control
B. Armstrong-Helouvry, P.E. Dupont
American Control Conference, pp. 1905-1909, 1993
The Use of Compliance to Resolve the Existence and Uniqueness of the Forward Dynamics Solution with Coulomb Friction
P.E. Dupont
Proceedings of the CSME Forum, pp. 537-542, 1992
The Effect of Coulomb Friction on the Existence and Uniqueness of the Forward Dynamics Problem
P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 1442-1447, 1993
Avoiding Stick-slip In Position and Force Control Through Feedback
P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 1470-1475, 1991
Two Phase Path Planning for Robots with Six or More Joints
P.E. Dupont, S. Derby
Transactions of the ASME - Journal of Mechanical Design, vol. 112, no. 1, pp. 50-58, 1990
Friction Modeling in Dynamic Robot Simulation
P.E. Dupont
IEEE Int. Conf. Robotics and Automation, pp. 1370-1376, 1990
A Two Phase Path Planning Algorithm for Robots with Six or More Joints
P.E. Dupont, S. Derby
Trends and Developments in Mechanisms, Machines and Robotics - 1988, ASME 20th Biennial Mechanisms Conference, vol. 3, pp. 415-428, 1988
A Simple Heuristic Path Planner for Redundant Robots
P.E. Dupont, S. Derby
Trends and Developments in Mechanisms, Machines and Robotics - 1988, ASME 20th Biennial Mechanisms Conference, vol. 3, pp. 429-440, 1988
An Algorithm for CAD-based Generation of Collision-Free Robot Paths
P.E. Dupont, S. Derby
CAD Based Programming for Sensory Robots, NATO Advanced Research Workshop, vol. F50, pp. 433-465, 1988