Lab News

Lab Member Ali Ataollahi is Co-Winner of Boston Children’s Hospital Shark Tank Competition (October 2014)
Ali and cardiology fellow, Sarah Goldberg, were first place co-winners for their device to automate disinfection of central line catheter hubs.
[more info]

IROS Best Paper Award (September 2014)
Our paper, Simultaneously Powering and Controlling Many Actuators With a Clinical MRI Scanner, by A. Becker, O. Felfoul and P. Dupont received the Best Paper Award at IEEE/RSJ IROS 2014.

The 7th NCIGT and NIH Image Guided Therapy Workshop (September 2014)
Our abstract, MRI-Powered, imaged and controlled actuators for interventional robots, by O. Felfoul et al. has been accepted for oral presentation at the 7th Annual Image-Guided Therapy workshop sponsored by the National Center for Image Guided Therapy (NCIGT) and the NIH that will be held on September 18, 2014.
[more info]

IDEA Users Group Meeting (July 2014)
Our work on Closed-Loop Real-Time Commutation Control of an MRI-Powered Robot Actuator was presented July 20, 2014 at the North American IDEA Users Group Meeting hosted by the Athinoula A. Martinos Center for Biomedical Imaging.
[more info]

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

Refereed Articles and Book Chapters
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)
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)
O. Felfoul, A. Becker, C. Bergeles, P.E. Dupont, "Achieving Commutation Control of an MRI-powered Robot Actuator", IEEE Trans. Robotics, 2014. (conditionally accepted)
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]
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 press)
V. Arabagi, A. Gosline, R. Wood, P.E. Dupont, "Pressure Sensing Skins for Minimally Invasive Surgical Instruments", IEEE Trans. Biomedical Engineering, 2014. (in review)
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.
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]
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, 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]
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]
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]
M. Mahvash, P. E. Dupont, "Stiffness control of surgical continuum manipulators", IEEE Trans. Robotics, vol. 27, no. 2, pp. 334-345, 2011. [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]
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]
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]
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. Novotny, J. Stoll, N. Vasilyev, P. J. del Nido, P. E. Dupont, T. Zickler, R. Howe, "GPU based real-time instrument tracking with three-dimensional ultrasound", Medical Image Analysis, vol. 11, pp. 458-464, 2007.
J. Huang, J. Triedman, N. V. Vasilyev, Suematsu. Y., R. Cleveland, P. E. Dupont, "Imaging artifacts of medical instruments in ultrasound-guided interventons", J. Ultrasound in Medicine, vol. 26, pp. 1303-1322, 2007. [pdf]
P. Novotny, S. Jacobsen, N. V. Vasilyev, D. Kettler, I. Salgo, P. E. Dupont, P. J. del Nido, R. Howe, "3D ultrasound in robotic surgery: a study of performance with stereo displays", Int. J. Medical Robotics and Computer Assisted Surgery, vol. 2, pp. 279-285, 2006.
J. Huang, P. E. Dupont, A. Undurti, J. Triedman, R. Cleveland, "Producing diffuse ultrasound reflections from medical instruments using the quadratic residue diffuser", Ultrasound in Medicine and Biology, vol. 32, no. 5, pp. 721-727, 2006. [pdf]
W. Chen, P. E. Dupont, "Electromechanical emulation of active vibratory systems", J. Acoustical Society of America, vol. 119, no. 3, pp. 27-33, 2006. [pdf]
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, "Three-dimensional echo-guided beating heart surgery without cardiopulmonary bypass: atrial septal defect closure in a swine model", J. Thorac Cardiovascular Surgery, vol. 130, no. 5, pp. 1348-1357, 2005. [pdf]
T. J. Debus, P. E. Dupont, R. Howe, "Distinguishability and identifiability testing of contact state models", Advanced Robotics, vol. 19, no. 5, pp. 545-566, 2005. [pdf]
W. Chen, P. E. Dupont, "Realization of mechanical systems from second-order models", J. Acoustical Society of America, vol. 118, no. 2, 2005. [pdf]
T. Debus, P. E. Dupont, R. D. Howe, "Multi-Channel Vibrotactile Display for Teleoperated Assembly", International Journal of Control, Automation and System, vol. 2, no. 3, pp. 390-397, 2004. [pdf]
T. J. Debus, P. E. Dupont, R. Howe, "Contact state estimation using multiple model estimation and hidden markov models", Int. J. Robotics Research, vol. 23, no. 4, pp. 399-414, 2004. [pdf]
J. Cannon, J. Stoll, I. Salgo, H. Knowles, R. Howe, P. E. Dupont, G. Marx, P. J. del Nido, "Real-time 3-dimensional ultrasound for guiding surgical tasks", Computer Aided Surgery, vol. 8, no. 2, pp. 82-90, 2003. [pdf]
J. Cannon, J. Stoll, S. Selha, P. E. Dupont, R. D. Howe, D. Torchiana, "Port placement planning in robot-assisted coronary artery bypass", IEEE Trans. Robotics and Automation, vol. 19, no. 5, pp. 912-917, 2003. [pdf]
J. Cannon, R. Howe, P. E. Dupont, J. Triedman, G. Marx, P. J. del Nido, "Application of robotics in congenital cardiac surgery", Seminars in Thoracic and Cardiovascular Surgery: Pediatric Cardiac Surgery Annual, vol. 6, no. 1, pp. 72-83, 2003.
P. E. Dupont, V. Hayward, B. Armstrong, F. Altpeter, "Single state elasto-plastic friction models", IEEE Trans. Automatic Control, vol. 47, no. 5, pp. 787-792, 2002. [pdf]
P. Song, P. Kraus, V. Kumar, V. Dupont, "Analysis of rigid body dynamic models for simulation of systems with frictional contacts", J. Applied Mechanics, vol. 68, no. 1, pp. 118-128, 2001. [pdf]
J. G. McDaniel, P. E. Dupont, L. Salvino, "A wave approach to estimating frequency-dependent damping under transient loading", J. Sound and Vibration, vol. 231, no. 2, pp. 433-449, 2000. [pdf]
D. Gueorguiev, J. G. McDaniel, P. E. Dupont, L. Felsen, "Analysis of floquet wave generation and propagation in a plate with multiple arrays of attachments", J. Sound and Vibration, vol. 203, no. 5, pp. 819-840, 2000. [pdf]
P. E. Dupont, P. Schulteis, P. Millman, R. Howe, "Automatic identification of environment haptic properties", PRESENCE: Teleoperators and virtual environments, vol. 8, no. 4, pp. 392-409, 1999. [pdf]
P. Kasturi, P. E. Dupont, "Constrained optimal control of vibration dampers", J. Sound and Vibration, pp. 499-509, 1998. [pdf]
P. E. Dupont, S. Yamajako, "Stability of Frictional Contact in Constrained Rigid-body Dynamics", IEEE Trans. Robotics and Automation, vol. 13, no. 2, pp. 230-236, 1997. [pdf]
P. Dupont, P. Kasturi, A. Stokes, "Semi-active Control of Friction Dampers", Journal of Sound and Vibration, vol. 202, no. 2, pp. 203-218, 1997. [pdf]
P. E. Dupont, D. Bapna, "Perturbational Stability of Frictional Sliding with Varying Normal Force", ASME Journal of Vibration and Acoustics, vol. 118, no. 3, pp. 491-497, 1996. [pdf]
P. E. Dupont, Dunlap E., "Friction Modeling and PD Compensation at Very Low Velocities", ASME Journal of Dynamic Systems, Measurement and Control, vol. 8-14, no. 117, pp. 1, 1995. [pdf]
P. E. Dupont, D. Bapna, "Stability of Sliding Frictional Surfaces with Varying Normal Force", ASME Journal of Vibration and Acoustics, vol. 116, no. 2, pp. 237-242, 1994. [pdf]
P. E. Dupont, "Avoiding Stick-slip Through PD Control", IEEE Trans. Automatic Control, vol. 39, no. 5, pp. 1094-1097, 1994. [pdf]
B. Armstrong-Helouvry, P. E. Dupont, C. Canudas de Wit, "A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction", Automatica, vol. 30, no. 7, pp. 1083-1138, 1994. [pdf]
B. Armstrong-Helouvry, P. E. Dupont, C. Canudas de Wit, "Friction in Servo Machines: Analysis and Control Methods", Applied Mechanics Reviews, Special Issue on Friction Induced Vibration, vol. 47, no. 7, pp. 275-305, 1994.
P. E. Dupont, "Existence and Uniqueness of Rigid-Body Dynamics with Coulomb Friction", Transactions of the Canadian Society for Mechanical Engineering, vol. 17, no. 4A, pp. 513-525, 1993. [pdf]
P. E. Dupont, "The Effect of Friction on the Forward Dynamics Problem", Int. J. Robotics Research, vol. 12, no. 2, pp. 164-179, 1993. [pdf]
P. E. Dupont, Derby S., "Two Phase Path Planning for Robots with Six or More Joints", Transactions of the ASME - Journal of Mechanical Design, vol. 112, no. 1, pp. 50-58, 1990. [pdf]
Refereed Conference Papers
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]
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, pp. 864-870, 2014. [pdf]
A. Eqtami, O. Felfoul, P. E. Dupont, "MRI-powered Closed-loop Control for Multiple Magnetic Capsules", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3536-3542, 2014. [pdf]
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]
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, pp. 2017-2023, 2014. (Best Paper Award[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]
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]
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, 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]
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]
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]
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]
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]
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]
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]
P. Sears, P. E. Dupont, "Inverse kinematics of concentric tube steerable needles", IEEE Int. Conf. Robotics and Automation, 2007. [pdf]
P. Novotny, J. Stoll, P. E. Dupont, R. Howe, "Real-time visual servoing of a robot using three dimensional ultrasound", IEEE Int. Conf. Robotics and Automation, 2007. [pdf]
J. Stoll, P. Novotny, P. E. Dupont, R. Howe, "Real-time 3D ultrasound-based servoing of a surgical instrument", IEEE Int. Conf. Robotics and Automation, 2006. [pdf]
J. Stoll, P. E. Dupont, "Force control for grasping force tissue", IEEE Int. Conf. Robotics and Automation, 2006. [pdf]
P. Sears, P. E. Dupont, "A steerable needle technology using curved concentric tubes", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2006. [pdf]
P. Novotny, D. Kettler, P. Jordan, P. E. Dupont, P. J. del Nido, R. Howe, "Stereo display of 3D ultrasound images for surgical robot guidance", IEEE Engineering in Medicine and Biology Conf., 2006.
P. Novotny, J. Stoll, N. V. Vasilyev, P. E. Dupont, R. Howe, "GPU based real-time instrument tracking with three-dimensional ultrasound", Int. Conf. Medical Image Computing and Computer Assisted Intervention, 2006. [pdf]
J. Stoll, P. E. Dupont, "Passive markers for ultrasound tracking of surgical instruments", Int. Conf. Medical Image Computing and Computer Assisted Intervention, 2005. [pdf]
M. Heverly, P. E. Dupont, J. Triedman, "Trajectory optimization for dynamic needle insertion", IEEE Int. Conf. Robotics and Automation, pp. 1658-1663, 2005.
T. Debus, P. E. Dupont, "Distinguishability and identifiability of contact states", IEEE Int. Conf. Robotics and Automation, pp. 1135-1140, 2004. [pdf]
R. Beasley, R. Howe, P. E. Dupont, "Kinematic error correction for minimally invasive surgical robots", IEEE Int. Conf. Robotics and Automation, 2004. [pdf]
T. Debus, P. E. Dupont, R. Howe, "Contact state estimation using multiple model estimation and hidden markov models", 8th Int. Symposium on Experimental Robotics, Springer, vol. 5, New York, pp. 517-526, 2003. [pdf]
T. Debus, P. E. Dupont, T.-J. Jang, R. Howe, "Multichannel Vibrotactile Display for Teleoperated Assembly", IEEE Int. Conf. Robotics and Automation, pp. 592-597, 2002. [pdf]
J. Stoll, P. Dupont, R. Howe, "Ultrasound-based Servoing of Manipulators for Telesurgery", Telemanipulator and Telepresence Technologies VIII Conference, Proceedings of the SPIE, vol. 4570, pp. 78-85, 2001. [pdf]
S. Selha, P. Dupont, R. Howe, D. Torchiana, "Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting", Medical Image Computing and Computer-Assisted Intervention, pp. 1435-1436, 2001. [pdf]
S. Selha, P. Dupont, R. Howe, "Dexterity Optimization by Port Placement in Robot-Assisted Minimally Invasive Surgery", Telemanipulator and Telepresence Technologies VIII Conference, Proceedings of the SPIE, vol. 4570, 2001. [pdf]
T. Debus, T. Becker, P. Dupont, T.-J. Jang, R. Howe, "Multichannel Vibrotactile Display for Sensory Substitution During teleoperation", Telemanipulator and Telepresence Technologies VIII Conference, Proceedings of the SPIE, 2001. [pdf]
T. Debus, J. Stoll, R. Howe, P. Dupont, "Cooperative Human and Machine Perception in Teleoperated Assembly", Experimental Robotics VII, Springer-Verlag, vol. 271, pp. 51-60, 2001. [pdf]
P. Dupont, B. Armstrong, V. Hayward, "Elastic-plastic Friction Model: Contact Compliance and Stiction", American Control Conference, vol. 2, pp. 1072-1077, 2000. [pdf]
T. Debus, P. Dupont, R. Howe, "Automatic Identification of Local Geometric Properties During Teleoperation", IEEE Int. Conf. Robotics and Automation, pp. 3428-3434, 2000. [pdf]
D. Gueorguiev, J.G. McDaniel, P. Dupont, "Simplified Dispersion Relations for Floquet Waves in a Plate with Multiple Arrays of Attachments", Proc 17th Biennial Conference on Mechanical Vibration and Noise, ASME 1999 Design Engineering Technical Conferences, 1999. [pdf]
T. Debus, P. Dupont, R. Howe, "Automatic Property Identification via Parameterized Constraints", IEEE Int. Conf. Robotics and Automation, pp. 1876-1881, 1999. [pdf]
L. Salvino, P. Dupont, J.G. McDaniel, "Evaluation of Granular-fill Damping in Shock Loaded Box Beams", Proc 69th Shock and Vibration Symposium, 1998. [pdf]
P. Kraus, V. Kumar, P. Dupont, "Analysis of Frictional Contact Models for Dynamic Simulation", IEEE Int. Conf. Robotics and Automation, vol. 2, pp. 976-981, 1998. [pdf]
R. Howe, T. Debus, P. Dupont, "Haptic Identification of Remote Environment Properties", SPIE Int Symp Intelligent Systems and Advanced Manufacturing, Proc SPIE, vol. 3524, 1998. [pdf]
P. Dupont, A. Stokes, "Model Reduction Techniques for Shock Loaded Equipment Emulators", Proc 69th Shock and Vibration Symposium, 1998. [pdf]
P. Dupont, J.G. McDaniel, "An Error Measure for the Shock Testing of Scale Models,", Proc 16th Int Conf Acoustics and 135th Meeting Acoustical Society of America, 1998.
P. Kasturi, P. Dupont, "Periodic Optimal Control of Dampers", ASME Design Engineering Technical Conference, 1997. [pdf]
P. Dupont, P. Schulteis, R. Howe, "Experimental Identification of Kinematic Constraints", IEEE Int. Conf. Robotics and Automation, pp. 2677-2682, 1997. [pdf]
P. Schulteis, P. Dupont, P. Millman, R. Howe, "Automatic Identification of Remote Environments", ASME Int Mechanical Engineering Congress & Exposition, vol. DSC-58, pp. 451-458, 1996. [pdf]
P. Dupont, P. Kasturi, A. Stokes, "Experimental Evaluation of a Semi-active Friction Damper", Elasto-impact and Friction in Dynamic Systems, ASME Int Mech Engineering Congress & Exposition, vol. DE-90, pp. 69-74, 1996.
P. Dupont, S. Yamajako, "Stability of Rigid-body Dynamics with Sliding Frictional Contacts", IEEE Int. Conf. Robotics and Automation, pp. 378-384, 1995. [pdf]
P. E. Dupont, A. Stokes, "Semi-active Control of Friction Dampers", 34th Conference on Decision and Control, pp. 3331-3336, 1995.
P. E. Dupont, P. Kasturi, "Experimental Investigation of Friction Dynamics Associated with Normal Load", Symposium on Friction Damping and Friction-induced Vibration, ASME 15th Biennial Conference on Mechanical Vibration and Noise, vol. DE-Vol. 84-1, pp. 1109-1115, 1995.
P. E. Dupont, S. Yamajako, "Jamming and Wedging in Constrained Rigid-body Dynamics", IEEE Int. Conf. Robotics and Automation, pp. 2349-2354, 1994. [pdf]
P. Dupont, Dunlap E., "Friction Modeling and Control in Boundary Lubrication", American Control Conference, pp. 1910-1914, 1993. [pdf]
P. Dupont, B. Armstrong-Helouvry, "Compensation Techniques for Servos with Friction", American Control Conference, pp. 1915-1919, 1993.
B. Armstrong-Helouvry, P. Dupont, "Friction Modeling for Control", American Control Conference, pp. 1905-1909, 1993.
P. Dupont, "The Use of Compliance to Resolve teh Existence and Uniqueness of the Forward Dynamics Solution with Coulomb Friction", Proceedings of the CSME Forum, pp. 537-542, 1992.
P. Dupont, "The Effect of Coulomb Friction on the Existence and Uniqueness of the Forward Dynamics Problem", IEEE Int. Conf. Robotics and Automation, pp. 1442-1447, 1992. [pdf]
P. Dupont, "Avoiding Stick-slip In Position and Force Control Through Feedback", IEEE Int. Conf. Robotics and Automation, pp. 1470-1475, 1991. [pdf]
P. Dupont, "Friction Modeling in Dynamic Robot Simulation", IEEE Int. Conf. Robotics and Automation, pp. 1370-1376, 1990. [pdf]
P. Dupont, Derby S., "A Two Phase Path Planning Algorithm for Robots with Six or More Joints", Trends and Developments in Mechanisms, Machines and Robotics - 1988, ASME 20th Biennial Mechanisms Conference, vol. 3, pp. 415-428, 1988.
P. Dupont, Derby S., "A Simple Heuristic Path Planner for Redundant Robots", Trends and Developments in Mechanisms, Machines and Robotics - 1988, ASME 20th Biennial Mechanisms Conference, vol. 3, pp. 429-440, 1988.
Derby S., P. Dupont, "Path Planning of Redundant Industrial Robots for Aerospace Assembly", Proc SME FASTEC Conference, pp. 317-330, 1987.
P. Dupont, Derby S., "Planning Collision Free Paths for Redundant Robots Using a Selective Search of Configuration Space", Design Engineering Technical Conference, 1986.
Refereed Workshop Papers
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]
R. Howe, T. Debus, P. Dupont, "Twice the Fun: Two Phantoms as a High-Performance Telemanipulation System", Proc Fourth Annual PHANTOM Users Group Workshop, 1999.
P. Dupont, Derby S., "An Algorithm for CAD-based Generation of Collision-Free Robot Paths", CAD Based Programming for Sensory Robots, NATO Advanced Research Workshop, Springer-Verlag, NATO ASI Series, vol. F50, Berlin, pp. 433-465, 1988.
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