- Telemanipulator and Telepresence Technologies VIII Conference, Proceedings of the SPIE Vol. 4570, Newton, MA, 28 October 2001.
- This paper presents the design and testing of a multi-channel vibrotactile display. It is composed of a cylindrical handle
- 390 Thomas Debus, Tae-Jeong Jang, Pierre Dupont, and Robert Howe Multi-Channel Vibrotactile Display for Teleoperated Assembly
- IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 47, NO. 5, MAY 2002 787 the use of Kautz models, which seem to have large potential in many
- Advanced Robotics, Vol. 19, No. 5, pp. 545566 (2005) VSP and Robotics Society of Japan 2005.
- Thomas J. Debus Pierre E. Dupont
- AUTOMATIC IDENTIFICATION OF ENVIRONMENT HAPTIC PROPERTIES1
- Proceedings of the 1597 IEES International Conference on Robotics and Automation
- Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting
- Image Guided Surgical Interventions Surgeons have traditionally performed procedures to treat diseases by
- Abstract--Achieving superior outcomes through the use of robots in medical applications requires an integrated approach
- 688 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 17, NO. 3, MAY 2009 Discrete-Time Elasto-Plastic Friction Estimation
- 934 IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, VOL. 57, NO. 4, APRIL 2010 Mechanics of Dynamic Needle Insertion
- Abstract--Replacing open-heart surgical procedures with beating-heart interventions substantially decreases the trauma
- Abstract--Concentric tube robots are a novel continuum robot technology that is well suited to minimally invasive
- EXISTENCE AND UNIQUENESS OF RIGID-BODY DYNAMICS WITH COULOMB FRICTION
- Tubular Structure Enhancement for Surgical Instrument Detection in 3D Ultrasound
- Kinematic Error Correction for Minimally Invasive Surgical Robots
- Abstract: This paper presents results on a teleoperator expert assistant a system that in cooperation with a human operator estimates properties of remote
- Journal of Sound and
- Abstract--Prior papers have introduced steerable needles composed of precurved concentric tubes. The curvature and
- Submitted to IEEE ICRA '00. Abstract--During teleoperation, a human operator often re-
- 912 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 19, NO. 5, OCTOBER 2003 Short Papers_______________________________________________________________________________
- Contact State Estimation using Multiple Model Estimation and Hidden Markov Models
- IEEE TRANSACTIONS ON ROBOTICS, VOL. 26, NO. 2, APRIL 2010 209 Design and Control of Concentric-Tube Robots
- Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound
- Electromechanical emulation of active vibratory Wenyuan Chena...
- GPU Based Real-time Instrument Tracking with Three Dimensional Ultrasound
- Abstract -An important component of machine perception is the estimation of contact states during task execution. This paper
- Submitted to IEEE ICRA '99. Abstract--During teleoperation, the automatic identification
- Fast Needle Insertion to Minimize Tissue Deformation and Damage Mohsen Mahvash and Pierre E. Dupont
- 16th International Congress on Acoustics and 135th Meeting Acoustical Society of America, Seattle, 20-26 June 1998. AN ERROR MEASURE FOR THE SHOCK TESTING OF SCALE MODELS
- Journal of Sound and Vibration (1998) 215(3), 499509 Article No. sv981661
- Proceedings of DETC'97 1997 ASME Design Engineering Technical Conferences
- Journal of Sound and Vibration (1997) 202(2), 203218 SEMI-ACTIVE CONTROL OF FRICTION
- Graduate Student, e-mail: pengs@grip.cis.upenn.edu
- 334 IEEE TRANSACTIONS ON ROBOTICS, VOL. 27, NO. 2, APRIL 2011 Stiffness Control of Surgical
- Haptic Identification of Remote Environment Properties Robert D. Howe
- Proceedings of the 69th Shock and Vibration Symposium, St. Paul, MN, 12-16 October 1998.
- Proc. 1994 IEEE Int. Conf. on Robotics and Automation, San Diego, May 1994. 1 Jamming and Wedging in Constrained Rigid-body Dynamics
- Imaging Artifacts of Medical Instruments in Ultrasound-Guided Interventions
- Trajectory Optimization for Dynamic Needle Insertion* Matt Heverly and Pierre Dupont John Triedman, MD
- Shock and Vibration Symposium, St. Paul, MN, 12-16 October 1998. Model Reduction Techniques for Shock Loaded Equipment Emulators
- GPU based real-time instrument tracking with three-dimensional ultrasound q
- J. Duncan and G. Gerig (Eds.): MICCAI 2005, LNCS 3750, pp. 41 48, 2005. Springer-Verlag Berlin Heidelberg 2005
- doi:10.1016/j.ultrasmedbio.2006.03.001 Original Contribution
- Proceedings of the 1993 American Control Conference, San Francisco, CA, June 1993, pp. 1910-1914. 1910 Friction Modeling and Control in Boundary Lubrication
- Abstract--A novel approach to constructing robots is based on concentrically combining pre-curved elastic tubes. By
- Abstract--We propose a novel systematic approach to optimizing the design of concentric tube robots for
- Proceedings of DETC'99 1999 ASME Design Engineering Technical Conferences
- Real-time 3D Ultrasound-based Servoing of a Surgical Jeffrey Stoll1
- Abstract--Concentric tube robots are a subset of continuum robots constructed by combining pre-curved elastic tubes. As
- Dexterity optimization by port placement in robot-assisted minimally invasive surgery
- ANALYSIS OF FRICTIONAL CONTACT MODELS FOR DYNAMIC Peter R. Krausy, Vijay Kumary, and Pierre Dupontz
- Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment
- Three-dimensional echo-guided beating heart surgery without cardiopulmonary bypass: Atrial septal defect
- Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, October 9-15, 2006, pp. 2850-2856. A Steerable Needle Technology Using
- Force Control for Grasping Soft Tissue Jeffrey Stoll and Pierre Dupont
- Proceedings of the ASME Dynamic Systems and Control Division, presented at the ASME IMECE, Atlanta, GA, Nov 1996, DSC-Vol. 58, pp. 451-458. AUTOMATIC IDENTIFICATION OF REMOTE ENVIRONMENTS
- Proc. 1992 IEEE Int. Conf. on Robotics and Automation, Nice, France, May 1992, pp. 1442-1447. 1442 The E ect of Coulomb Friction on the Existence and Uniqueness
- Abstract--Concentric tube robots are a novel class of continuum robots that are constructed by combining pre-
- Bilateral Teleoperation of Flexible Surgical Robots Mohsen Mahvash and Pierre Dupont
- Abstract--A recent approach to steerable needle design is based on combining pre-curved tubes concentrically. By
- To appear in Journal of the Acoustical Society of America, Vol. 112, No. 2, August 2005. Realization of Mechanical Systems from Second-order Models
- Journal of Sound and
- Multichannel vibrotactile display for sensory substitution during teleoperation
- Detection of Curved Robots using 3D Ultrasound Hongliang Ren, PhD; Nikolay V. Vasilyev, MD; and Pierre E. Dupont, PhD, Fellow, IEEE
- Abstract--This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures.
- IN-HAPTICS: Interactive Navigation using Haptics Richard D. Walker IV
