Pierre E. Dupont

112 papers A* 34A 17C 1Journal 48Unranked 12

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Closed-Loop Control of Steerable Balloon Endoscopes for Robot-Assisted Transcatheter Intracardiac Procedures. IEEE Robotics Autom. Lett. Max McCandless, Jonathan Hamid, Sammy Elmariah, Nathaniel Langer, Pierre E. Dupont
2025	J	`jnl`	A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons. CoRR Pejman Kheradmand, Behnam Moradkhani, Raghavasimhan Sankaranarayanan, Kent K. Yamamoto, Tanner J. Zachem, Patrick J. Codd, Yash Chitalia, Pierre E. Dupont
2025	J	`jnl`	Closed-loop Control of Steerable Balloon Endoscopes for Robot-assisted Transcatheter Intracardiac Procedures. CoRR Max McCandless, Jonathan Hamid, Sammy Elmariah, Nathaniel Langer, Pierre E. Dupont
2025	J	`jnl`	Comparison of Classical, Neural Network and Hybrid Models for Hysteretic Single-Tendon Catheter Kinematics. IEEE Robotics Autom. Lett. Yuan Wang, Pierre E. Dupont
2025	J	`jnl`	Medical robots learn to be autonomous. Sci. Robotics Pierre E. Dupont
2025	J	`jnl`	The grand challenges of learning medical robot autonomy. Sci. Robotics Pierre E. Dupont, Alperen Degirmenci
2025	J	`jnl`	Using Robotics to Improve Transcatheter Edge-to-Edge Repair of the Mitral Valve. CoRR Léa Pistorius, Namrata U. Nayar, Phillip Tran, Sammy Elmariah, Pierre E. Dupont
2024	A	`conf`	Continuum Robot Shape Estimation Using Magnetic Ball Chains. IROS Giovanni Pittiglio, Abdulhamit Donder, Pierre E. Dupont
2024	J	`jnl`	Continuum Robot Shape Estimation Using Magnetic Ball Chains. CoRR Giovanni Pittiglio, Abdulhamit Donder, Pierre E. Dupont
2024	J	`jnl`	Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. CoRR Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, Pierre E. Dupont
2024	J	`jnl`	Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment. CoRR Giovanni Pittiglio, Fabio Leuenberger, Margherita Mencattelli, Max McCandless, Edward O'Leary, Pierre E. Dupont
2024	—	`conf`	Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots. ISMR Yuan Wang, Max McCandless, Abdulhamit Donder, Giovanni Pittiglio, Behnam Moradkhani, Yash Chitalia, Pierre E. Dupont
2024	J	`jnl`	Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots. CoRR Yuan Wang, Max McCandless, Abdulhamit Donder, Giovanni Pittiglio, Behnam Moradkhani, Yash Chitalia, Pierre E. Dupont
2023	—	`conf`	Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots. ISMR Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont
2023	A	`conf`	Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. IROS Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, Pierre E. Dupont
2023	A*	`conf`	Magnetic Ball Chain Robots for Endoluminal Interventions. ICRA Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont
2023	J	`jnl`	Magnetic Ball Chain Robots for Endoluminal Interventions. CoRR Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont
2023	—	`conf`	Modeling Tendon-actuated Concentric Tube Robots. ISMR Yash Chitalia, Abdulhamit Donder, Pierre E. Dupont
2023	J	`jnl`	Using robotics to move a neurosurgeon's hands to the tip of their endoscope. Sci. Robotics Karl Price, Joseph Peine, Margherita Mencattelli, Yash Chitalia, David Pu, Thomas Looi, Scellig S. Stone, James M. Drake, Pierre E. Dupont
2022	J	`jnl`	Continuum Robots for Medical Interventions. Proc. IEEE Pierre E. Dupont, Nabil Simaan, Howie Choset, D. Caleb Rucker
2022	J	`jnl`	Eccentric Tube Robots as Multiarmed Steerable Sheaths. IEEE Trans. Robotics Jiaole Wang, Joseph Peine, Pierre E. Dupont
2022	J	`jnl`	What we look for at Sci. Robotics Bradley J. Nelson, Pierre E. Dupont, Dario Floreano, Ken Goldberg, Hongri Gu, Neil Jacobstein, Cecilia Laschi, Hod Lipson
2021	J	`jnl`	A decade retrospective of medical robotics research from 2010 to 2020. Sci. Robotics Pierre E. Dupont, Bradley J. Nelson, Michael Goldfarb, Blake Hannaford, Arianna Menciassi, Marcia K. O'Malley, Nabil Simaan, Pietro Valdastri, Guang-Zhong Yang
2020	J	`jnl`	Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal. IEEE Trans. Biomed. Eng. Junhyoung Ha, Abhijit Mondal, Zhanyue Zhao, Aditya K. Kaza, Pierre E. Dupont
2019	J	`jnl`	Autonomous robotic intracardiac catheter navigation using haptic vision. Sci. Robotics Georgios Fagogenis, Margherita Mencattelli, Zurab Machaidze, Benoit Rosa, Karl Price, Fei-Yi Wu, V. Weixler, Mossab Saeed, John E. Mayer, Pierre E. Dupont
2019	J	`jnl`	Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics. IEEE Trans. Robotics Junhyoung Ha, Georgios Fagogenis, Pierre E. Dupont
2019	A*	`conf`	Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. ICRA Jiaole Wang, Junhyoung Ha, Pierre E. Dupont
2018	J	`jnl`	In vivo tissue regeneration with robotic implants. Sci. Robotics 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
2018	J	`jnl`	The grand challenges of Sci. Robotics 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
2018	J	`jnl`	Varying ultrasound power level to distinguish surgical instruments and tissue. Medical Biol. Eng. Comput. Hongliang Ren, Banani Anuraj, Pierre E. Dupont
2017	J	`jnl`	Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. IEEE Robotics Autom. Lett. Junhyoung Ha, Pierre E. Dupont
2017	A*	`conf`	Incorporating tube-to-tube clearances in the kinematics of concentric tube robots. ICRA Junhyoung Ha, Pierre E. Dupont
2017	J	`jnl`	Medical robotics - Regulatory, ethical, and legal considerations for increasing levels of autonomy. Sci. Robotics 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
2017	J	`jnl`	Optimizing Tube Precurvature to Enhance the Elastic Stability of Concentric Tube Robots. IEEE Trans. Robotics Junhyoung Ha, Frank C. Park, Pierre E. Dupont
2016	A	`conf`	Adaptive nonparametric kinematic modeling of concentric tube robots. IROS Georgios Fagogenis, Christos Bergeles, Pierre E. Dupont
2016	J	`jnl`	Elastic Stability of Concentric Tube Robots Subject to External Loads. IEEE Trans. Biomed. Eng. Junhyoung Ha, Frank C. Park, Pierre E. Dupont
2016	A	`conf`	Toward on-line parameter estimation of concentric tube robots using a mechanics-based kinematic model. IROS Cheongjae Jang, Junhyoung Ha, Pierre E. Dupont, Frank Chongwoo Park
2015	J	`jnl`	Achieving Commutation Control of an MRI-Powered Robot Actuator. IEEE Trans. Robotics Ouajdi Felfoul, Aaron T. Becker, Christos Bergeles, Pierre E. Dupont
2015	J	`jnl`	Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints. IEEE Trans. Robotics Christos Bergeles, Andrew H. C. Gosline, Nikolay V. Vasilyev, Patrick J. Codd, Pedro J. del Nido, Pierre E. Dupont
2015	J	`jnl`	Intensity-Based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes. IEEE Trans Autom. Sci. Eng. Caroline Nadeau, Hongliang Ren, Alexandre Krupa, Pierre E. Dupont
2015	A	`conf`	Real-time adaptive kinematic model estimation of concentric tube robots. IROS Chunwoo Kim, Seok Chang Ryu, Pierre E. Dupont
2015	A	`conf`	Stabilizing the relative position of millirobots inside an MRI scanner considering magnetic interaction forces. IROS Alina Eqtami, Pierre E. Dupont
2015	J	`jnl`	Tissue removal inside the beating heart using a robotically delivered metal MEMS tool. Int. J. Robotics Res. 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
2015	A*	`conf`	Toward tissue penetration by MRI-powered millirobots using a self-assembled Gauss gun. ICRA Aaron T. Becker, Ouajdi Felfoul, Pierre E. Dupont
2014	A	`conf`	Achieving elastic stability of concentric tube robots through optimization of tube precurvature. IROS Junhyoung Ha, Frank Chongwoo Park, Pierre E. Dupont
2014	A*	`conf`	FBG-based shape sensing tubes for continuum robots. ICRA Seok Chang Ryu, Pierre E. Dupont
2014	A	`conf`	MRI-powered closed-loop control for multiple magnetic capsules. IROS Alina Eqtami, Ouajdi Felfoul, Pierre E. Dupont
2014	A*	`conf`	Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robots. ICRA Beobkyoon Kim, Junhyoung Ha, Frank C. Park, Pierre E. Dupont
2014	A*	`conf`	Robotic implant to apply tissue traction forces in the treatment of esophageal atresia. ICRA Dana D. Damian, Slava Arabagi, Assunta Fabozzo, Peter Ngo, Russell Jennings, Michael Manfredi, Pierre E. Dupont
2014	A	`conf`	Simultaneously powering and controlling many actuators with a clinical MRI scanner. IROS Aaron T. Becker, Ouajdi Felfoul, Pierre E. Dupont
2013	J	`jnl`	An MRI-powered and controlled actuator technology for tetherless robotic interventions. Int. J. Robotics Res. Panagiotis Vartholomeos, Christos Bergeles, Lei Qin, Pierre E. Dupont
2013	A*	`conf`	Closed-loop commutation control of an MRI-powered robot actuator. ICRA Christos Bergeles, Panagiotis Vartholomeos, Lei Qin, Pierre E. Dupont
2013	A	`conf`	Planning stable paths for concentric tube robots. IROS Christos Bergeles, Pierre E. Dupont
2013	A*	`conf`	Simultaneous soft sensing of tissue contact angle and force for millimeter-scale medical robots. ICRA Veaceslav Arabagi, Andrew H. C. Gosline, Robert J. Wood, Pierre E. Dupont
2012	A*	`conf`	Metal MEMS tools for beating-heart tissue removal. ICRA 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
2012	A*	`conf`	Motion planning for multiple millimeter-scale magnetic capsules in a fluid environment. ICRA Panagiotis Vartholomeos, M. Reza Akhavan-Sharif, Pierre E. Dupont
2012	J	`jnl`	Passive Markers for Tracking Surgical Instruments in Real-Time 3-D Ultrasound Imaging. IEEE Trans. Medical Imaging Jeffrey A. Stoll, Hongliang Ren, Pierre E. Dupont
2012	J	`jnl`	Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools. Int. J. Robotics Res. 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
2012	A	`conf`	Robotic neuro-emdoscope with concentric tube augmentation. IROS 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
2012	—	`conf`	Tracking and position control of an MRI-powered needle-insertion robot. EMBC Christos Bergeles, Lei Qin, Panagiotis Vartholomeos, Pierre E. Dupont
2012	A*	`conf`	Tubular Enhanced Geodesic Active Contours for continuum robot detection using 3D ultrasound. ICRA Hongliang Ren, Pierre E. Dupont
2011	A*	`conf`	Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example. ICRA Tomer Anor, Joseph R. Madsen, Pierre E. Dupont
2011	—	`conf`	Beating-heart mitral valve chordal replacement. EMBC Genevieve Laing, Pierre E. Dupont
2011	A*	`conf`	Design optimization of concentric tube robots based on task and anatomical constraints. ICRA Chris Bedell, Jesse Lock, Andrew H. C. Gosline, Pierre E. Dupont
2011	A	`conf`	Detection of curved robots using 3D ultrasound. IROS Hongliang Ren, Nikolay V. Vasilyev, Pierre E. Dupont
2011	A*	`conf`	Friction modeling in concentric tube robots. ICRA Jesse Lock, Pierre E. Dupont
2011	A	`conf`	MRI-powered actuators for robotic interventions. IROS Panagiotis Vartholomeos, Lei Qin, Pierre E. Dupont
2011	A*	`conf`	Metal MEMS tools for beating-heart tissue approximation. ICRA Evan J. Butler, Chris Folk, Adam Cohen, Nikolay V. Vasilyev, Richard T. Chen, Pedro J. del Nido, Pierre E. Dupont
2011	J	`jnl`	Stiffness Control of Surgical Continuum Manipulators. IEEE Trans. Robotics Mohsen Mahvash, Pierre E. Dupont
2011	—	`conf`	Tubular structure enhancement for surgical instrument detection in 3D ultrasound. EMBC Hongliang Ren, Pierre E. Dupont
2010	J	`jnl`	Design and Control of Concentric-Tube Robots. IEEE Trans. Robotics Pierre E. Dupont, Jesse Lock, Brandon Itkowitz, Evan J. Butler
2010	—	`conf`	IN-HAPTICS: Interactive navigation using haptics. HAPTICS Richard D. Walker, Sean B. Andersson, Calin Belta, Pierre E. Dupont
2010	J	`jnl`	Mechanics of Dynamic Needle Insertion into a Biological Material. IEEE Trans. Biomed. Eng. Mohsen Mahvash, Pierre E. Dupont
2010	A	`conf`	Quasistatic modeling of concentric tube robots with external loads. IROS Jesse Lock, Genevieve Laing, Mohsen Mahvash, Pierre E. Dupont
2010	A*	`conf`	Real-time position control of concentric tube robots. ICRA Pierre E. Dupont, Jesse Lock, Brandon Itkowitz
2010	A	`conf`	Stiffness control of a continuum manipulator in contact with a soft environment. IROS Mohsen Mahvash, Pierre E. Dupont
2009	J	`jnl`	Discrete-Time Elasto-Plastic Friction Estimation. IEEE Trans. Control. Syst. Technol. Vincent Hayward, Brian Armstrong, Friedhelm Altpeter, Pierre E. Dupont
2009	A*	`conf`	Fast needle insertion to minimize tissue deformation and damage. ICRA Mohsen Mahvash, Pierre E. Dupont
2009	A*	`conf`	Torsional kinematic model for concentric tube robots. ICRA Pierre E. Dupont, Jesse Lock, Evan J. Butler
2007	J	`jnl`	GPU based real-time instrument tracking with three-dimensional ultrasound. Medical Image Anal. Paul M. Novotny, Jeffrey A. Stoll, Nikolay V. Vasilyev, Pedro J. del Nido, Pierre E. Dupont, Todd E. Zickler, Robert D. Howe
2007	A*	`conf`	Inverse Kinematics of Concentric Tube Steerable Needles. ICRA Patrick Sears, Pierre E. Dupont
2007	A*	`conf`	Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound. ICRA Paul M. Novotny, Jeffrey A. Stoll, Pierre E. Dupont, Robert D. Howe
2006	A	`conf`	A Steerable Needle Technology Using Curved Concentric Tubes. IROS Patrick Sears, Pierre E. Dupont
2006	—	`conf`	GPU Based Real-Time Instrument Tracking with Three Dimensional Ultrasound. MICCAI (1) Paul M. Novotny, Jeffrey A. Stoll, Nikolay V. Vasilyev, Pedro J. del Nido, Pierre E. Dupont, Robert D. Howe
2006	A*	`conf`	Real-time 3D Ultrasound-based Servoing of a Surgical Instrument. ICRA Jeffrey A. Stoll, Paul M. Novotny, Robert D. Howe, Pierre E. Dupont
2006	—	`conf`	Stereo Display of 3D Ultrasound Images for Surgical Robot Guidance. EMBC Paul M. Novotny, Daniel T. Kettler, Petr Jordan, Pierre E. Dupont, Pedro J. del Nido, Robert D. Howe
2005	J	`jnl`	Distinguishability and identifiability testing of contact state models. Adv. Robotics Thomas Debus, Pierre E. Dupont, Robert D. Howe
2005	—	`conf`	Passive Markers for Ultrasound Tracking of Surgical Instruments. MICCAI (2) Jeffrey A. Stoll, Pierre E. Dupont
2005	A*	`conf`	Trajectory Optimization for Dynamic Needle Insertion. ICRA Matt Heverly, Pierre E. Dupont, John K. Triedman
2004	J	`jnl`	Contact State Estimation Using Multiple Model Estimation and Hidden Markov Models. Int. J. Robotics Res. Thomas Debus, Pierre E. Dupont, Robert D. Howe
2004	A*	`conf`	Distinguishability and Identifiability of Contact States. ICRA Thomas Debus, Pierre E. Dupont
2004	A*	`conf`	Kinematic Error Correction for Minimally Invasive Surgical Robots. ICRA Ryan A. Beasley, Robert D. Howe, Pierre E. Dupont
2003	J	`jnl`	Port placement planning in robot-assisted coronary artery bypass. IEEE Trans. Robotics Autom. Jeremy W. Cannon, Jeffrey A. Stoll, Shaun Selha, Pierre E. Dupont, Robert D. Howe, David F. Torchiana
2002	—	`conf`	Contact State Estimation using Multiple Model Estimation and Hidden Markov Models. ISER Thomas Debus, Pierre E. Dupont, Robert D. Howe
2002	A*	`conf`	Multi-Channel Vibrotactile Display for Teleoperated Assembly. ICRA Thomas Debus, Tae-Jeong Jang, Pierre E. Dupont, Robert D. Howe
2002	J	`jnl`	Single state elastoplastic friction models. IEEE Trans. Autom. Control. Pierre E. Dupont, Vincent Hayward, Brian Armstrong, Friedhelm Altpeter
2001	A	`conf`	Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting. MICCAI Shaun Selha, Pierre E. Dupont, Robert D. Howe, David F. Torchiana
2000	A*	`conf`	Automatic Identification of Local Geometric Properties During Teleoperation. ICRA Thomas Debus, Pierre E. Dupont, Robert D. Howe
2000	—	`conf`	Cooperative Human and Machine Perception in Teleoperated Assembly. ISER Thomas Debus, Jeffrey A. Stoll, Robert D. Howe, Pierre E. Dupont
2000	C	`conf`	Elasto-plastic friction model: contact compliance and stiction. ACC Pierre E. Dupont, Brian Armstrong, Vincent Hayward
1999	J	`jnl`	Automatic Identification of Environment Haptic Properties. Presence Teleoperators Virtual Environ. Pierre E. Dupont, Timothy M. Schulteis, Paul A. Millman, Robert D. Howe
1999	A*	`conf`	Automatic Property Identification via Parameterized Constraints. ICRA Thomas Debus, Pierre E. Dupont, Robert D. Howe
1997	A*	`conf`	Experimental identification of kinematic constraints. ICRA Pierre E. Dupont, Timothy M. Schulteis, Robert D. Howe
1997	J	`jnl`	Stability of frictional contact in constrained rigid-body dynamics. IEEE Trans. Robotics Autom. Pierre E. Dupont, Serge P. Yamajako
1996	A*	`conf`	Stability of rigid-body dynamics with sliding frictional contacts. ICRA Pierre E. Dupont, Serge P. Yamajako
1994	J	`jnl`	A survey of models, analysis tools and compensation methods for the control of machines with friction. Autom. Brian Armstrong-Hélouvry, Pierre E. Dupont, Carlos Canudas de Wit
1994	J	`jnl`	Avoiding stick-slip through PD control. IEEE Trans. Autom. Control. Pierre E. Dupont
1994	A*	`conf`	Jamming and Wedging in Constrained Rigid-Body Dynamics. ICRA Pierre E. Dupont, Serge P. Yamajako
1993	J	`jnl`	The Effect of Friction on the Forward Dynamics Problem. Int. J. Robotics Res. Pierre E. Dupont
1992	A*	`conf`	The effect of Coulomb friction on the existence and uniqueness of the forward dynamics problem. ICRA Pierre E. Dupont
1991	A*	`conf`	Avoiding stick-slip in position and force control through feedback. ICRA Pierre E. Dupont
1990	A*	`conf`	Friction modeling in dynamic robot simulation. ICRA Pierre E. Dupont