Lab News

ICRA Best Medical Robotics Paper Finalist (June 2014)
Our paper, FBG-based Shape Sensing Tubes for Continuum Robots by S. Ryu and P. Dupont, was named a finalist for the Best Medical Robotics Paper Award at IEEE ICRA 2014.

ICRA 2014 Workshop (June 2014)
We co-organized a workshop at ICRA 2014 entitled Advances in Flexible Robots for Surgical Interventions.
[more info]

At Children’s Hospital, engineer is a key post (October 2013)
Our work on esophageal atresia is featured in the Boston Globe.
[more info]

IET Webinar on Robotics for Ultra-minimally Invasive Surgery(April 2013)
Dr. Dupont was featured in a recent webinar by the Institute of Engineering and Technology.
[more info]

ICRA Best Medical Robotics Paper Finalist (April 2013)
Our paper, Closed-Loop Commutation Control of an MRI-Powered Robot Actuator by C. Bergeles et al., was nominated a finalist for the Best Medical Robotics Paper Award at IEEE ICRA 2013.

Technology Review (June 2012)
Our research on robotic beating-heart surgery is featured on the Technology Review website.
[more info]

ICRA Best Medical Robotics Paper Award (May 2012)
Our paper entitled Metal MEMS Tools for Beating-heart Tissue Removal by A. Gosline et al. received the Best Medical Robotics Paper Award at IEEE ICRA 2012.

IROS 2012 Workshop (May 2012)
Our group is organizing a workshop at IEEE/RSJ IROS 2012 entitled Magnetically Actuated Multiscale Medical Robots.
[more info]

Our Robots Make the Fashion Scene in NYC (April 2012)
Our robots were invited to show off their moves in the Big Apple at Shoe & Tell.
[more info]

ISMRM Summa Cum Laude Merit Award (April 2012)
Our abstract, A Closed-Loop MRI-Power actuator for Robotic Interventions by L. Qin et al., received a Summa Cum Laude Merit Award for being a student authored abstract scoring in the top 3% of all submitted abstracts at ISMRM 2012.

IROS Best Conference Paper Finalist (September 2011)
Our paper, MRI-Powered Actuators for Robotic Interventions by P. Vartholomeos et al., was a finalist for the Best Conference Paper Award at IEEE.RSJ IROS 2011.

Two ICRA Best Medical Robotics Paper Finalists (May 2011)
Two of our papers, Metal MEMS Tools for Beating-heart Tissue Approximation by E. Butler et al. and Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints by C. Bedell et al., were named finalists for the Best Medical Robotics Paper Award at IEEE ICRA 2011.

King-Sun Fu TRO Best Paper Award (May 2011)
Our paper, Design and Control of Concentric Tube Robots by P. E. Dupont et al., was selected as the best paper of the IEEE Transactions on Robotics for 2010.

Director Named IEEE Fellow (November 2010)
Pierre E. Dupont was named a 2011 IEEE Fellow for his contributions to modeling and control of frictional contact in robotics.

TEDMED 2010 (October 2010)
Our concentric tube robots traveled to San Diego for TEDMED 2010.
[more info]

ICRA 2010 Workshop (May 2010)
Our group organized a workshop at ICRA 2010 entitled Snakes, Worms, and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery.

[all news]

Publications of the Pediatric Cardiac Bioengineering Lab Members

2014
P. Codd, V. Arabagi, A. Gosline, P. E. Dupont, "Novel Pressure-Sensing Skin for Detecting Impending Tissue Damage during Neuroendoscopy", Journal of Neurosurgery: Pediatrics, vol. 13, no. 1, pp. 114-121, 2014. [pdf]
N. V. Vasilyev, A. Gosline, A. Veeramani, M.T. Wu, G. Schmitz, R. Chen, V. Arabagi, P. J. del Nido, P.E. Dupont, "Tissue Removal Inside the Beating Heart using a Robotically Delivered Metal MEMS Tool", Int. J. Robotics Research, 2014. (in press)
S. Ryu, P. E. Dupont, "FBG-based Shape Sensing Tubes for Continuum Robots", IEEE Int. Conf. Robotics and Automation, pp. 3531-3537, 2014. (Finalist for Best Medical Robotics Paper[pdf]
C. Nadeau, H. Ren, A. Krupa, P. Dupont, "Intensity-based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes", IEEE Transactions on Automation Science and Engineering, 2014. (in press)
B. Kim, J. Ha, F.C. Park, P.E. Dupont, "Optimizing Curvature Sensor Placement for Fast, Accurate Shape Sensing of Continuum Robots", IEEE Int. Conf. Robotics and Automation, pp. 5374-5379, 2014. [pdf]
J. Ha, F. Park, P. E. Dupont, "Achieving Elastic Stability of Concentric Tube Robots Through Optimization of Tube Precurvature", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2014. (in press)
A. Eqtami, O. Felfoul, P. E. Dupont, "MRI-powered Closed-loop Control for Multiple Magnetic Capsules", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2014. (in press)
D. Damian, S. Arabagi, A. Fabozzo, P. Ngo, R. Jennings, M. Manfredi, P.E. Dupont, "Robotic Implant to Apply Tissue Traction Forces in the Treatment of Esophageal Atresia", IEEE Int. Conf. Robotics and Automation, pp. 786-792, 2014. [pdf]
C. Bergeles, A.H. Gosline, N.V. Vasilyev, P.J. Codd, P. J. del Nido, P. E. Dupont, "Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints", IEEE Trans. Robotics, 2014. (in review)
A. Becker, O. Felfoul, P. E. Dupont, "Simultaneously Powering and Controlling Many Actuators With a Clinical MRI Scanner", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2014. (in press)
N.V. Vasilyev, P. J. del Nido, P.E. Dupont, "Robotic Surgery", Chapter in E.M. da Cruz, D. Ivy, J. Jaggers, editors. Pediatric and Congenital Cardiology, Cardiac Surgery and Intensive Care, Springer Verlag, vol. 3, London, pp. 1237-1249, 2014.
2013
P. Vartholomeos, C. Bergeles, L. Qin, P. E. and Dupont, "An MRI-powered and Controlled Actuator Technology for Tetherless Robotic Interventions", Int. J. Robotics Research, vol. 32, no. 13, pp. 1536-1552, 2013. [pdf]
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, "Percutaneous Steerable Robotic Tool Delivery Platform and Metal MEMS Device for Tissue Manipulation and Approximation: Initial Experience with Closure of Patent Foramen Ovale", Circulation: Cardiovascular Interventions, vol. 6, pp. 468-475, 2013. [pdf]
A. Gosline, V. Arabagi, A. Kassam, P. E. Dupont, "Achieving Biocompatibility in Soft Sensors for Surgical Robots", Hamlyn Symposium on Medical robotics, pp. 5-6, 2013. [pdf]
C. Bergeles, P. E. Dupont, "Planning Stable Paths for Concentric Tube Robots", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3077-3082, 2013. [pdf]
C. Bergeles, P. Vartholomeos, L. Qin, P. E. Dupont, "Closed-Loop Commutation Control of an MRI-Powered Robot Actuator", IEEE Int. Conf. Robotics and Automation, pp. 690-695, 2013. (Finalist for Best Medical Robotics Paper[pdf]
V. Arabagi, A. Gosline, R. Wood, P. E. Dupont, "Simultaneous Soft Sensing of Contact Orientation and Force for Millimeter-scale Medical Robots", IEEE Int. Conf. Robotics and Automation, pp. 4381-4387, 2013. [pdf]
2012
N. V. Vasilyev, P. E. Dupont, P. J. del Nido, "Robotics and imaging in congenital heart surgery", Future Cardiology, vol. 8, no. 2, pp. 285-296, 2012. [pdf]
P. Vartholomeos, R. Akhavan-Sharif, P. E. Dupont, "Motion planning for multiple millimeter-scale magnetic capsules in a fluid environment", IEEE Int. Conf. Robotics and Automation, pp. 1927-1932, 2012. [pdf]
P. Vartholomeos, C. Bergeles, L. Qin, P. E. Dupont, "Closed-loop position control of an MRI-powered biopsy robot.", Hamlyn Symposium on Medical robotics, pp. 83-84, 2012. [pdf]
J. A. Stoll, H. Ren, P. E. Dupont, "Passive markers for tracking surgical instruments in real-time 3D ultrasound imaging", IEEE Trans. Medical Imaging, vol. 31, no. 3, pp. 563-575, 2012. [pdf]
H. Ren, P. E. Dupont, "Tubular enhanced geodesic active contours for continuum robot detection using 3D ultrasound", IEEE Int. Conf. Robotics and Automation, pp. 2907-2912, 2012. [pdf]
C. Nadeau, H. Ren, A. Krupa, P. E. Dupont, "Target tracking in 3D ultrasound volumes by direct visual servoing", Hamlyn Symposium on Medical robotics, pp. 15-16, 2012. [pdf]
A. Gosline, N. V. Vasilyev, E. Butler, C. Folk, A. Cohen, R. Chen, N. Lang, P. J. del Nido, P. E. Dupont, "Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools", Int. J. Robotics Research, 2012. [pdf]
A. Gosline, N. V. Vasilyev, A. Veeramani, M. T. Wu, G. Schmitz, R. Chen, V. Arabagi, P. J. del Nido, P. E. Dupont, "Metal-MEMS tools for beating-heart tissue removal", IEEE Int. Conf. Robotics and Automation, pp. 1921-1936, 2012. (Best Medical Robotics Paper Award[pdf]
P. E. Dupont, S. Chawarski, E. Butler, R. Hammond-Oakley, A. Gosline, P. Codd, T. Anor, J. Madsen, J. Lock, "Extending the reach and stability of manually steerable neuroendoscopes through robotics", Hamlyn Symposium on Medical robotics, pp. 89-90, 2012. [pdf]
P. Dupont, A. Gosline, N. Vasilyev, J. Lock, E. Butler, C. Folk, A. Cohen, A. Veeramani, M. Wu, G. Schmitz, R. Chen, R. del Nido, "Concentric Tube Robots for Minimally Invasive Surgery", Hamlyn Symposium on Medical robotics, pp. 3-4, 2012. [pdf]
E. Butler, R. Hammond-Oakley, S. Chawarski, A. Gosline, P. Codd, T. Anor, J. Madsen, P. E. Dupont, J. Lock, "Robotic neuroendoscope with concentric tube augmentation", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2941-2946, 2012. [pdf]
C. Bergeles, L. Qin, P. Vartholomeos, P. E. Dupont, "Tracking and position control of an MRI-powered needle-insertion robot", IEEE Engineering in Medicine and Biology Conf., pp. 928-931, 2012. [pdf]
2011
P. Vartholomeos, L. Qin, P. E. Dupont, "MRI-powered actuators for robotic interventions", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 4508-4515, 2011. (Finalist for Best Paper Award[pdf]
H. Ren, P. E. Dupont, "Tubular structure enhancement for surgical instrument detection in 3D ultrasound", IEEE Engineering in Medicine and Biology Conf., pp. 7203-7206, 2011. [pdf]
H. Ren, N. V. Vasilyev, P. E. Dupont, "Detection of curved robots using 3D ultrasound", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2083-2089, 2011. [pdf]
M. Mahvash, P. E. Dupont, "Stiffness control of surgical continuum manipulators", IEEE Trans. Robotics, vol. 27, no. 2, pp. 334-345, 2011. [pdf]
J. Lock, P. E. Dupont, "Friction modeling in concentric tube roots", IEEE Int. Conf. Robotics and Automation, pp. 1139-1146, 2011. [pdf]
G. Laing, P. E. Dupont, "Beating-heart mitral valve chordal replacement", IEEE Engineering in Medicine and Biology Conf., pp. 2476-2479, 2011. [pdf]
E. Butler, C. Folk, A. Cohen, N. V. Vasilyev, R. Chen, P. J. del Nido, P. E. Dupont, "Metal-MEMS tools for beating-heart tissue approximation", IEEE Int. Conf. Robotics and Automation, pp. 411-416, 2011. (Finalist for Best Medical Robotics Paper[pdf]
C. Bedell, J. Lock, A. Gosline, P. E. Dupont, "Design optimization of concentric tube robots based on task and anatomical constraints", IEEE Int. Conf. Robotics and Automation, pp. 398-403, 2011. (Finalist for Best Medical Robotics Paper[pdf]
T. Anor, J. Madsen, P. E. Dupont, "Algorithms for design of continuum robots using the concentric tuves approach: a neurosurgical example", IEEE Int. Conf. Robotics and Automation, pp. 667-673, 2011. [pdf]
2010
R. Walker, S. Andersson, C. Belta, P. E. Dupont, "IN-Haptics: interactive navigation using haptics", IEEE Haptics Symposium, pp. 463-466, 2010. [pdf]
M. Mahvash, P. E. Dupont, "Stiffness control of a continuum manipulator in contact with a soft environment", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 863-870, 2010. [pdf]
M. Mahvash, P. E. Dupont, "Mechanics of dynamic needle insertion into a biological material", IEEE Trans. Biomedical Engineering, vol. 57, no. 4, pp. 934-943, 2010. [pdf]
J. Lock, G. Lain, M. Mahvash, P. E. Dupont, "Quasistatic modeling of concentric tube robots with external loads", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2325-2332, 2010. [pdf]
P. E. Dupont, J. Lock, B. Itkowitz, "Real-time position control of concentric tube robots", IEEE Int. Conf. Robotics and Automation, pp. 562-568, 2010. [pdf]
P. E. Dupont, J. Lock, B. Itkowitz, E. Butler, "Design and control of concentric tube robots", IEEE Trans. Robotics, vol. 26, no. 2, pp. 209-225, 2010. (King-Sun Fu Best Paper of the IEEE Transactions on Robotics for 2010.[pdf]
2009
D. Perrin, N. V. Vasilyev, P. Novotny, J. A. Stoll, R. Howe, P. E. Dupont, I. Salgo, P. J. del Nido, "Image guided surgical interventions", Current Problems in Surgery, Mosby, Inc, vol. 46, no. 9, pp. 730-766, 2009. [pdf]
M. Mahvash, P. E. Dupont, "Fast needle insertion to minimize tissue deformation and damage", IEEE Int. Conf. Robotics and Automation, pp. 3097-3102, 2009. [pdf]
V. Hayward, B. Armstrong, F. Altpeter, P. E. Dupont, "Discrete-time elasto-plastic friction estimation", IEEE Trans. Control Systems Technology, vol. 17, no. 3, pp. 688-696, 2009. [pdf]
P. E. Dupont, J. Lock, E. Butler, "Torsional kinematic model for concentric tube robots", IEEE Int. Conf. Robotics and Automation, pp. 3851-3858, 2009. [pdf]
2008
M. Mahvash, P. E. Dupont, "Bilateral teleoperation of flexible surgical robots", IEEE Int. Conf. Robotics and Automation, New Vistas and Challenges in Telerobotics Workshop, 2008. [pdf]
2007
P. Sears, P. E. Dupont, "Inverse kinematics of concentric tube steerable needles", IEEE Int. Conf. Robotics and Automation, 2007. [pdf]
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