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Publications, Medical Instrumentation Lab

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Modeling of Needle Steering via Duty-Cycled Spinning
  D. Minhas, J.A. Engh, MD, M.M. Fenske, and C. Riviere
  Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 2756-2759. [Abstract]
  Download: pdf [283 KB] copyrighted

• Positioning Accuracy of Neurosurgeons
  R. Sandoval Garcia, R. MacLachlan, M. Oh, and C. Riviere
  Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 206-209. [Abstract]
  Download: pdf [287 KB] copyrighted

• Test of Tracing Performance with an Active Handheld Micromanipulator
  D. Choi, R. Sandoval Garcia, R. MacLachlan, L. Ho, L. Lobes, and C. Riviere
  Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 3638-3641. [Abstract]
  Download: pdf [292 KB] copyrighted

• Toward Filtering of Athetoid Motion with Neural Networks
  J.J. Vázquez, K.C. Olds, S. Sibenaller, D. Ding, and C. Riviere
  Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 1434-1436. [Abstract]
  Download: pdf [99 KB] copyrighted

• Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications
  W. Ang, P. Khosla, and C. Riviere
  IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, April, 2007, pp. 134-142. [Abstract]
  Download: pdf [368 KB] copyrighted

• Nonlinear Regression Model of a Low-g MEMS Accelerometer
  W. Ang, P. Khosla, and C. Riviere
  IEEE Sensors Journal, Vol. 7, No. 1, January, 2007, pp. 81-88. [Abstract]
  Download: pdf [703 KB] copyrighted

• Optical Tracking for Performance Testing of Microsurgical Instruments
  R. MacLachlan and C. Riviere
  tech. report CMU-RI-TR-07-01, Robotics Institute, Carnegie Mellon University, January, 2007. [Abstract]
  Download: pdf [294 KB] copyrighted

• Percutaneous Subxiphoid Access to the Epicardium Using a Miniature Crawling Robotic Device
  T. Ota, N. Patronik, C. Riviere, and M.A. Zenati
  Innovations, Vol. 1, No. 5, October, 2006, pp. 227-231. [Abstract]
  Download: pdf [660 KB] copyrighted

• Improved Traction for a Mobile Robot Traveling on the Heart
  N. Patronik, T. Ota, M.A. Zenati, and C. Riviere
  28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2006, pp. 339 - 342. [Abstract]
  Download: pdf [272 KB] copyrighted

• Toward Effective Needle Steering in Brain Tissue
  J.A. Engh, MD, G. Podnar, D. Kondziolka, and C. Riviere
  28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS '06), August, 2006, pp. 559 - 562. [Abstract]
  Download: pdf [445 KB] copyrighted

• Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery
  F. Razjouyan, N. Patronik, M.A. Zenati, and C. Riviere
  Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, April, 2006, pp. 97 - 98. [Abstract]
  Download: pdf [240 KB] copyrighted

• Flexible Needle Steering System for Percutaneous Access to Deep Zones of the Brain
  J.A. Engh, MD, G. Podnar, S. Khoo, and C. Riviere
  Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, April, 2006, pp. 103 - 104. [Abstract]
  Download: pdf [283 KB] copyrighted

• Performance Envelope and Physiological Tremor in Microsurgery
  D. Ortega Ibanez, F. Perez Baquerin, D. Choi, and C. Riviere
  Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, April, 2006, pp. 121 - 122. [Abstract]
  Download: pdf [167 KB] copyrighted

• Flexible Needle Steering System for Percutaneous Access to Deep Zones of the Brain
  J.A. Engh, MD, S. Khoo, G. Podnar, and C. Riviere
  tech. report, Robotics Institute, Carnegie Mellon University, 2006.

• A Miniature Cable-Driven Robot for Crawling on the Heart
  N. Patronik, M.A. Zenati, and C. Riviere
  Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2005, pp. 5771 - 5774. [Abstract]
  Download: pdf [330 KB] copyrighted

• Flexure-based Manipulator for Active Handheld Microsurgical Instrument
  D. Choi and C. Riviere
  Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2005, pp. 2325 - 2328. [Abstract]
  Download: pdf [488 KB] copyrighted

• Fuzzy Calibration of Magnetometer in Presence of Surgical Microscope
  C. Benjavitvilai and C. Riviere
  27th Annual International Conference of the Engineering in Medicine and Biology Society, September, 2005, pp. 5047 - 5049. [Abstract]
  Download: pdf [245 KB] copyrighted

• Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator
  J.G. Avedillo, D. Choi, and C. Riviere
  Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (EMBS 2005), September, 2005, pp. 5775 - 5777. [Abstract]
  Download: pdf [882 KB] copyrighted

• Preliminary Evaluation of a Mobile Robotic Device for Navigation and Intervention on the Beating Heart
  N. Patronik, M.A. Zenati, and C. Riviere
  Computer Aided Surgery, Vol. 10, No. 4, July, 2005, pp. 225 - 232. [Abstract]
  Download: pdf [663 KB] copyrighted

• The HeartLander: A Novel Epicardial Crawling Robot for Myocardial Injections
  N. Patronik, C. Riviere, S.E. Qarra, and M.A. Zenati
  Proceedings of the 19th International Congress of Computer Assisted Radiology and Surgery, Elsevier, Vol. 1281C, June, 2005, pp. 735-739. [Abstract]
  Download: pdf [242 KB] copyrighted

• Development and Preliminary Testing of a Mobile Robot for Cardiac Intervention
  N. Patronik
  master's thesis, tech. report CMU-RI-TR-05-08, Robotics Institute, Carnegie Mellon University, February, 2005. [Abstract]
  Download: pdf [651 KB] copyrighted

• Kalman filtering for real-time orientation tracking of handheld microsurgical instrument
  W. Ang, P. Khosla, and C. Riviere
  Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), Vol. 3, October, 2004, pp. 2574 - 2580.
  Download: pdf [769 KB] copyrighted

• Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions
  N. Patronik, M.A. Zenati, and C. Riviere
  Proceedings of the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Springer, Vol. LNCS 3117, September, 2004, pp. 9 - 16. [Abstract]
  Download: pdf [196 KB] copyrighted

• A Prototype Epicardial Crawling Device for Intrapericardial Intervention on the Beating heart
  C. Riviere, N. Patronik, and M.A. Zenati
  The Heart Surgery Forum, Forum Multimedia Publishing, LLC, Vol. 7, No. 6, July, 2004, pp. E639 - E643. [Abstract]
  Download: pdf [299 KB] copyrighted

• Active Tremor Compensation in Handheld Instrument for Microsurgery
  W. Ang
  doctoral dissertation, tech. report CMU-RI-TR-04-28, Robotics Institute, Carnegie Mellon University, May, 2004. [Abstract]
  Download: pdf [2008 KB] copyrighted

• Development of a Tethered Epicardial Crawler for Minimally Invasive Cardiac Therapies
  N. Patronik, M.A. Zenati, and C. Riviere
  IEEE 30th Annual Northeast Bioengineering Conference, IEEE, April, 2004, pp. 239-240. [Abstract]
  Download: pdf [246 KB] copyrighted

• Physical model of a MEMS accelerometer for low-g motion tracking applications
  W. Ang, S. Khoo, P. Khosla, and C. Riviere
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 2, April, 2004, pp. 1345 - 1351. [Abstract]
  Download: pdf [556 KB] copyrighted

• Active tremor compensation in microsurgery
  W. Ang, P. Khosla, and C. Riviere
  Proceedings of 26th Annual International Conference of the Engineering in Medicine and Biology Society, Vol. 4, 2004, pp. 2738 - 2741. [Abstract]
  Download: pdf [322 KB] copyrighted

• Applied force during vitreoretinal microsurgery with handheld instruments
  A. Jagtap and C. Riviere
  Proceedings of the 26th Annual International Conference of the Engineering in Medicine and Biology Society, 2004, pp. 2771 - 2773. [Abstract]
  Download: pdf [988 KB] copyrighted

• Static and dynamic accuracy of vitreoretinal surgeons
  F. Peral-Gutierrez, A.L. Liao, and C. Riviere
  Proceedings of the 26th Annual International Conference of the Engineering in Medicine and Biology Society, Vol. 4, 2004, pp. 2734 - 2737. [Abstract]
  Download: pdf [1471 KB] copyrighted

• Toward Active Tremor Canceling in Handheld Microsurgical Instruments
  C. Riviere, W. Ang, and P. Khosla
  IEEE Transactions on Robotics and Automation, Vol. 15, No. 5, October, 2003, pp. 793-800. [Abstract]
  Download: pdf [767 KB] copyrighted

• Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-held Microsurgical Instrument
  W. Ang, P. Khosla, and C. Riviere
  IEEE International Conference on Robotics and Automation, IEEE, September, 2003, pp. 1781-1786. [Abstract]
  Download: pdf [424 KB] copyrighted

• Rate-dependent inverse hysteresis feedforward controller for microsurgical tool
  F. Alija-Garmón, W. Ang, P. Khosla, and C. Riviere
  25th Annual Conference IEEE Engineering in Medicine and Biology Society, September, 2003, pp. 3415 - 3418. [Abstract]
  Download: pdf [373 KB] copyrighted

• Tracking rotation and translation of laser microsurgical instruments
  R.M. Ortiz and C. Riviere
  Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 4, September, 2003, pp. 3411 - 3414. [Abstract]
  Download: pdf [236 KB] copyrighted

• Modeling Rate-dependent Hysteresis in Piezoelectric Actuator
  W. Ang, C. Riviere, and P. Khosla
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 1975 - 1980. [Abstract]
  Download: pdf [388 KB] copyrighted

• Assistive Human-Machine Interfaces via Artificial Neural Netwoks
  W. Ang, C. Riviere, and P. Khosla
  Proc. of the 3rd International Symposium on Robotics and Automation, September, 2002, pp. 477-480. [Abstract]
  Download: pdf [270 KB] copyrighted

• Physiological tremor amplitude during vitreoretinal microsurgery
  S.P.N. Singh and C. Riviere
  Proceedings of the IEEE 28th Annual Northeast Bioengineering Conference, IEEE, 445 Hoes Lane, Piscataway, NJ 08855-1331, April, 2002, pp. 171-172. [Abstract]
  Download: pdf [337 KB] copyrighted

• An intelligent hand-held microsurgical instrument for improved accuracy
  W. Ang, P. Khosla, and C. Riviere
  Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3450-3453. [Abstract]
  Download: pdf [496 KB] copyrighted

• Design and implementation of active error canceling in hand-held microsurgical instrument
  W. Ang, C. Riviere, and P. Khosla
  Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Vol. 2, October, 2001, pp. 1106-1111. [Abstract]
  Download: pdf [463 KB] copyrighted

• Neural network methods for error canceling in human-machine manipulation
  W. Ang and C. Riviere
  Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3462-3465. [Abstract]
  Download: pdf [484 KB] copyrighted

• Precision measurement for microsurgical instrument evaluation
  L. Hotraphinyo and C. Riviere
  Proceedings 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3454-3457. [Abstract]
  Download: pdf [538 KB] copyrighted

• Predicting respiratory motion for active canceling during percutaneous needle insertion
  C. Riviere, A. Thakral, I.I. Iordachita, G. Mitroi, and D. Stoianovici
  Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3477-3480. [Abstract]
  Download: pdf [565 KB] copyrighted

• Three-dimensional accuracy assessment of eye surgeons
  L. Hotraphinyo and C. Riviere
  Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3458-3461. [Abstract]
  Download: pdf [437 KB] copyrighted

• An Active Hand-held Instrument for Enhanced Microsurgical Accuracy
  W. Ang, C. Riviere, and P. Khosla
  Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention, Springer, October, 2000, pp. 878-886. [Abstract]
  Download: pdf [260 KB] copyrighted

• A Study of Instrument Motion in Vitreoretinal Microsurgery
  C. Riviere and P. Jensen
  Proceedings of the 22nd International Conference of the IEEE Engineering in Medicine and Biology Society, July, 2000. [Abstract]
  Download: pdf [22 KB] copyrighted

• Intraoperative tremor monitoring for vitreoretinal microsurgery
  M. Gomez-Blanco, C. Riviere, and P. Khosla
  Proc. Medicine Meets Virtual Reality 8, 2000.

• Sensing Hand Tremor in a Vitreoretinal Microsurgical Instrument
  M. Gomez-Blanco, C. Riviere, and P. Khosla
  tech. report CMU-RI-TR-99-39, Robotics Institute, Carnegie Mellon University, December, 1999. [Abstract]
  Download: pdf [172 KB] copyrighted

• Intraoperative instrument motion sensing for microsurgery
  M. Gomez-Blanco, C. Riviere, and P. Khosla
  Proceedings of the 20th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, October, 1999, pp. 864. [Abstract]
  Download: pdf [63 KB] copyrighted

• Microscale Tracking of Surgical Instrument Motion
  C. Riviere and P. Khosla
  Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention, Lecture Notes In Computer Science, Vol. 1679, September, 1999, pp. 1080 - 1087.

• Adaptive canceling of physiological tremor for improved precision in microsurgery
  C. Riviere, R.S. Rader, and N.V. Thakor
  IEEE Transactions on Biomedical Engineering, Vol. 45, No. 7, July, 1998, pp. 839 - 846. [Abstract]
  Download: pdf [193 KB] copyrighted

• Error recognition for rehabilitation and microsurgery
  C. Riviere and P. Khosla
  Proc. Sixth ACM International Multimedia Conference: Workshop on Face and Gesture Recognition and its Applications, 1998.

• Active handheld instrument for error compensation in microsurgery
  C. Riviere and P. Khosla
  Intelligent Systems and Advanced Manufacturing: Technical Conference on Microrobotics and Microsystem Fabrication, October, 1997, pp. 86-95.
  Download: pdf [107 KB], ps.gz [78 KB] copyrighted

• Characteristics of hand motion of eye surgeons
  C. Riviere, R.S. Rader, and P. Khosla
  19th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 4, October, 1997, pp. 1690 - 1693. [Abstract]
  Download: pdf [98 KB], ps.gz [53 KB] copyrighted

• Augmenting the human-machine interface: improving manual accuracy
  C. Riviere and P. Khosla
  IEEE International Conference on Robotics and Automation, Vol. 4, April, 1997, pp. 3546 - 3550. [Abstract]
  Download: pdf [25 KB], ps.gz [36 KB] copyrighted

• Adaptive Fourier modeling for quantification of tremor
  C. Riviere, S.G. Reich, and N.V. Thakor
  Journal of Neuroscience Methods, Vol. 74, No. 1, 1997, pp. 77-87.

• Accuracy in positioning of handheld instruments
  C. Riviere and P. Khosla
  18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Bridging Disciplines for Biomedicine, Vol. 1, October, 1996, pp. 212 - 213. [Abstract]
  Download: pdf [146 KB] copyrighted

• On-line canceling of pathological tremor for computer interface
  D.S. Hsu, C. Riviere, and N.V. Thakor
  Proceedings of the 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, October, 1996, pp. 521 - 522. [Abstract]
  Download: pdf [184 KB] copyrighted

• Modeling and canceling tremor in human-machine interfaces
  C. Riviere and N.V. Thakor
  IEEE Engineering in Medicine and Biology Magazine, Vol. 15, No. 3, June, 1996, pp. 29 - 36. [Abstract]
  Download: pdf [1240 KB] copyrighted

• Effects of age and disability on tracking tasks with a computer mouse: accuracy and linearity
  C. Riviere and N.V. Thakor
  Journal of Rehabilitation Research and Development, Vol. 33, No. 1, February, 1996, pp. 6-15.

• Adaptive real-time canceling of physiological tremor for microsurgery
  C. Riviere, R.S. Rader, and N.V. Thakor
  Proceedings of the Second International Symposium on Medical Robotics and Computer Assisted Surgery, November, 1995, pp. 89-96.

• Adaptive human-machine interface for persons with tremor
  C. Riviere and N.V. Thakor
  Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, September, 1995, pp. 1193 - 1194. [Abstract]
  Download: pdf [211 KB] copyrighted

• Suppressing pathological tremor during dextrous teleoperation
  C. Riviere and N.V. Thakor
  Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, September, 1995, pp. 1195 - 1196. [Abstract]
  Download: pdf [18 KB] copyrighted

• Assistive computer interface for pen input by persons with tremor
  C. Riviere and N.V. Thakor
  Proceedings of the RESNA 1995 Annual Conference, June, 1995, pp. 440-442.

• Linearity of human commands for telerobotics
  C. Riviere and N.V. Thakor
  Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, November, 1994, pp. 1039 - 1040. [Abstract]
  Download: pdf [126 KB] copyrighted

• Teleoperation of a dextrous robotic hand using vibrotactile feedback
  I.Z. Amanat, C. Riviere, and N.V. Thakor
  Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, November, 1994, pp. 1059 - 1060. [Abstract]
  Download: pdf [133 KB] copyrighted

• Accuracy of upper-extremity motion by healthy and disabled subjects
  C. Riviere, H.F. Rizer, and N.V. Thakor
  Proceedings of the RESNA 1994 Annual Conference, June, 1994, pp. 170-172.

• Vibrotactile feedback for dextrous teleoperation
  I.Z. Amanat, C. Riviere, and N.V. Thakor
  Proceedings of the RESNA 1994 Annual Conference, June, 1994, pp. 460-462.

• Accuracy-based bandwidth of human upper-extremity motion
  C. Riviere and N.V. Thakor
  Proceedings of the 13th Southern Biomedical Engineering Conference, April, 1994, pp. 530-533.

• Vibrotactile feedback for a teleoperated dextrous hand
  I.Z. Amanat, C. Riviere, and N.V. Thakor
  Proceedings of the 13th Southern Biomedical Engineering Conference, April, 1994, pp. 526-529.

• A finite element model of the Hybrid III ribcage
  C. Riviere
  Proceedings of the Eighteenth International Workshop on Human Subjects for Biomechanical Research, 1990, pp. 55-59.