Lab News

ICRA 2014 Workshop (February 2014)
We are co-organizing 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 review)
P. Codd, V. Arabagi, A. Gosline, P. E. Dupont, "Design and Initial Characterization of a Novel Pressure-Sensing Skin for Detecting Impending Tissue Damage during Neuroendoscopy", Journal of Neurosurgery: Pediatrics, vol. 13, no. 1, pp. 114-121, 2014.
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", Int. J. Robotics Research, 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]
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, 2013. (in review)
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. 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. Armstron, 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]
Refereed Conference Papers
S. Ryu, P. E. Dupont, "FBG-based Shape Sensing Tubes for Continuum Robots", IEEE Int. Conf. Robotics and Automation, 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, 2014. (in press)
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 review)
A. Eqtami, O. Felfoul, P. Vartholomeos, P. E. Dupont, "Simultaneous Closed-Loop Control of Multiple MRI-Powered Actuators with Parallel Axes", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2014. (in review)
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 review)
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, 2014. (in press)
A. Becker, O. Felfoul, P. E. Dupont, "Simultaneous, Independent Control of Many Motors by a clinical MRI scanner", IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2014. (in review)
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", IEEE Int. Symposium on Exlerimenta Robotics, pp. 517-526, 2003. [pdf]
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]
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