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