Pierre E. Dupont

ORCID

Publication Activity (10 Years)

Years Active: 1990-2024
Publications (10 Years): 27

Top Venues

Publications

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 (2024)
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)
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 (2024)
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)
Karl Price, Joseph Peine, Margherita Mencattelli, Yash Chitalia, David Pu, Thomas Looi, Scellig 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)
Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont
Magnetic Ball Chain Robots for Endoluminal Interventions. ICRA (2023)
Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont
Magnetic Ball Chain Robots for Endoluminal Interventions. CoRR (2023)
Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont
Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots. ISMR (2023)
Yash Chitalia, Abdulhamit Donder, Pierre E. Dupont
Modeling Tendon-actuated Concentric Tube Robots. ISMR (2023)
Pierre E. Dupont, Nabil Simaan, Howie Choset, D. Caleb Rucker
Continuum Robots for Medical Interventions. Proc. IEEE 110 (7) (2022)
Bradley J. Nelson, Pierre E. Dupont, Dario Floreano, Ken Goldberg, Hongri Gu, Neil Jacobstein, Cecilia Laschi, Hod Lipson
. Sci. Robotics 7 (71) (2022)
Jiaole Wang, Joseph Peine, Pierre E. Dupont
Eccentric Tube Robots as Multiarmed Steerable Sheaths. IEEE Trans. Robotics 38 (1) (2022)
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)
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) (2020)
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)
Jiaole Wang, Junhyoung Ha, Pierre E. Dupont
Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. ICRA (2019)
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) (2019)
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)
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
. Sci. Robotics 3 (14) (2018)
Hongliang Ren, Banani Anuraj, Pierre E. Dupont
Varying ultrasound power level to distinguish surgical instruments and tissue. Medical Biol. Eng. Comput. 56 (3) (2018)
Junhyoung Ha, Pierre E. Dupont
Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. IEEE Robotics Autom. Lett. 2 (1) (2017)
Junhyoung Ha, Pierre E. Dupont
Incorporating tube-to-tube clearances in the kinematics of concentric tube robots. ICRA (2017)
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) (2017)
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)
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)
Georgios Fagogenis, Christos Bergeles, Pierre E. Dupont
Adaptive nonparametric kinematic modeling of concentric tube robots. IROS (2016)
Junhyoung Ha, Frank C. Park, Pierre E. Dupont
Elastic Stability of Concentric Tube Robots Subject to External Loads. IEEE Trans. Biomed. Eng. 63 (6) (2016)
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) (2015)
Ouajdi Felfoul, Aaron T. Becker, Christos Bergeles, Pierre E. Dupont
Achieving Commutation Control of an MRI-Powered Robot Actuator. IEEE Trans. Robotics 31 (2) (2015)
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) (2015)
Aaron T. Becker, Ouajdi Felfoul, Pierre E. Dupont
Toward tissue penetration by MRI-powered millirobots using a self-assembled Gauss gun. ICRA (2015)
Alina Eqtami, Pierre E. Dupont
Stabilizing the relative position of millirobots inside an MRI scanner considering magnetic interaction forces. IROS (2015)
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) (2015)
Chunwoo Kim, Seok Chang Ryu, Pierre E. Dupont
Real-time adaptive kinematic model estimation of concentric tube robots. IROS (2015)
Seok Chang Ryu, Pierre E. Dupont
FBG-based shape sensing tubes for continuum robots. ICRA (2014)
Beobkyoon Kim, Junhyoung Ha, Frank C. Park, Pierre E. Dupont
Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robots. ICRA (2014)
Junhyoung Ha, Frank Chongwoo Park, Pierre E. Dupont
Achieving elastic stability of concentric tube robots through optimization of tube precurvature. IROS (2014)
Alina Eqtami, Ouajdi Felfoul, Pierre E. Dupont
MRI-powered closed-loop control for multiple magnetic capsules. IROS (2014)
Aaron T. Becker, Ouajdi Felfoul, Pierre E. Dupont
Simultaneously powering and controlling many actuators with a clinical MRI scanner. IROS (2014)
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)
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) (2013)
Christos Bergeles, Panagiotis Vartholomeos, Lei Qin, Pierre E. Dupont
Closed-loop commutation control of an MRI-powered robot actuator. ICRA (2013)
Christos Bergeles, Pierre E. Dupont
Planning stable paths for concentric tube robots. IROS (2013)
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)
Panagiotis Vartholomeos, M. Reza Akhavan-Sharif, Pierre E. Dupont
Motion planning for multiple millimeter-scale magnetic capsules in a fluid environment. ICRA (2012)
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)
Christos Bergeles, Lei Qin, Panagiotis Vartholomeos, Pierre E. Dupont
Tracking and position control of an MRI-powered needle-insertion robot. EMBC (2012)
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) (2012)
Hongliang Ren, Pierre E. Dupont
Tubular Enhanced Geodesic Active Contours for continuum robot detection using 3D ultrasound. ICRA (2012)
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)
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) (2012)
Genevieve Laing, Pierre E. Dupont
Beating-heart mitral valve chordal replacement. EMBC (2011)
Tomer Anor, Joseph R. Madsen, Pierre E. Dupont
Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example. ICRA (2011)
Mohsen Mahvash, Pierre E. Dupont
Stiffness Control of Surgical Continuum Manipulators. IEEE Trans. Robotics 27 (2) (2011)
Hongliang Ren, Nikolay V. Vasilyev, Pierre E. Dupont
Detection of curved robots using 3D ultrasound. IROS (2011)
Jesse Lock, Pierre E. Dupont
Friction modeling in concentric tube robots. ICRA (2011)
Hongliang Ren, Pierre E. Dupont
Tubular structure enhancement for surgical instrument detection in 3D ultrasound. EMBC (2011)
Panagiotis Vartholomeos, Lei Qin, Pierre E. Dupont
MRI-powered actuators for robotic interventions. IROS (2011)
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)
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)
Jesse Lock, Genevieve Laing, Mohsen Mahvash, Pierre E. Dupont
Quasistatic modeling of concentric tube robots with external loads. IROS (2010)
Mohsen Mahvash, Pierre E. Dupont
Stiffness control of a continuum manipulator in contact with a soft environment. IROS (2010)
Pierre E. Dupont, Jesse Lock, Brandon Itkowitz, Evan J. Butler
Design and Control of Concentric-Tube Robots. IEEE Trans. Robotics 26 (2) (2010)
Mohsen Mahvash, Pierre E. Dupont
Mechanics of Dynamic Needle Insertion into a Biological Material. IEEE Trans. Biomed. Eng. 57 (4) (2010)
Richard D. Walker, Sean B. Andersson, Calin Belta, Pierre E. Dupont
IN-HAPTICS: Interactive navigation using haptics. HAPTICS (2010)
Pierre E. Dupont, Jesse Lock, Brandon Itkowitz
Real-time position control of concentric tube robots. ICRA (2010)
Mohsen Mahvash, Pierre E. Dupont
Fast needle insertion to minimize tissue deformation and damage. ICRA (2009)
Pierre E. Dupont, Jesse Lock, Evan J. Butler
Torsional kinematic model for concentric tube robots. ICRA (2009)
Vincent Hayward, Brian Armstrong, Friedhelm Altpeter, Pierre E. Dupont
Discrete-Time Elasto-Plastic Friction Estimation. IEEE Trans. Control. Syst. Technol. 17 (3) (2009)
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)
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) (2007)
Patrick Sears, Pierre E. Dupont
Inverse Kinematics of Concentric Tube Steerable Needles. ICRA (2007)
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)
Patrick Sears, Pierre E. Dupont
A Steerable Needle Technology Using Curved Concentric Tubes. IROS (2006)
Jeffrey A. Stoll, Paul M. Novotny, Robert D. Howe, Pierre E. Dupont
Real-time 3D Ultrasound-based Servoing of a Surgical Instrument. ICRA (2006)
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)
Thomas Debus, Pierre E. Dupont, Robert D. Howe
Distinguishability and identifiability testing of contact state models. Adv. Robotics 19 (5) (2005)
Jeffrey A. Stoll, Pierre E. Dupont
Passive Markers for Ultrasound Tracking of Surgical Instruments. MICCAI (2) (2005)
Matt Heverly, Pierre E. Dupont, John K. Triedman
Trajectory Optimization for Dynamic Needle Insertion. ICRA (2005)
Thomas Debus, Pierre E. Dupont
Distinguishability and Identifiability of Contact States. ICRA (2004)
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) (2004)
Ryan A. Beasley, Robert D. Howe, Pierre E. Dupont
Kinematic Error Correction for Minimally Invasive Surgical Robots. ICRA (2004)
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) (2003)
Thomas Debus, Pierre E. Dupont, Robert D. Howe
Contact State Estimation using Multiple Model Estimation and Hidden Markov Models. ISER (2002)
Thomas Debus, Tae-Jeong Jang, Pierre E. Dupont, Robert D. Howe
Multi-Channel Vibrotactile Display for Teleoperated Assembly. ICRA (2002)
Pierre E. Dupont, Vincent Hayward, Brian Armstrong, Friedhelm Altpeter
Single state elastoplastic friction models. IEEE Trans. Autom. Control. 47 (5) (2002)
Shaun Selha, Pierre E. Dupont, Robert D. Howe, David F. Torchiana
Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting. MICCAI (2001)
Pierre E. Dupont, Brian Armstrong, Vincent Hayward
Elasto-plastic friction model: contact compliance and stiction. ACC (2000)
Thomas Debus, Jeffrey A. Stoll, Robert D. Howe, Pierre E. Dupont
Cooperative Human and Machine Perception in Teleoperated Assembly. ISER (2000)
Thomas Debus, Pierre E. Dupont, Robert D. Howe
Automatic Identification of Local Geometric Properties During Teleoperation. ICRA (2000)
Thomas Debus, Pierre E. Dupont, Robert D. Howe
Automatic Property Identification via Parameterized Constraints. ICRA (1999)
Pierre E. Dupont, Timothy M. Schulteis, Paul A. Millman, Robert D. Howe
Automatic Identification of Environment Haptic Properties. Presence Teleoperators Virtual Environ. 8 (4) (1999)
Pierre E. Dupont, Serge P. Yamajako
Stability of frictional contact in constrained rigid-body dynamics. IEEE Trans. Robotics Autom. 13 (2) (1997)
Pierre E. Dupont, Timothy M. Schulteis, Robert D. Howe
Experimental identification of kinematic constraints. ICRA (1997)
Pierre E. Dupont, Serge P. Yamajako
Stability of rigid-body dynamics with sliding frictional contacts. ICRA (1996)
Pierre E. Dupont, Serge P. Yamajako
Jamming and Wedging in Constrained Rigid-Body Dynamics. ICRA (1994)
Pierre E. Dupont
Avoiding stick-slip through PD control. IEEE Trans. Autom. Control. 39 (5) (1994)
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) (1994)
Pierre E. Dupont
The Effect of Friction on the Forward Dynamics Problem. Int. J. Robotics Res. 12 (2) (1993)
Pierre E. Dupont
The effect of Coulomb friction on the existence and uniqueness of the forward dynamics problem. ICRA (1992)

Pierre E. Dupont.css-eqlu8i{font-size:small;padding-left:4px;}

Publication Activity (10 Years)

Top Topics

Top Venues

Pierre E. Dupont