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Surgical Mechatronics Laboratory
Head: Cameron Riviere
Contact: Cameron Riviere
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
NSH A406/ / A410
(412) 268 5905
Associated center(s) / consortia:
 Medical Robotics Technology Center (MRTC)
This page last updated - December 2011.
Publications
  • Micron: an actively stabilized handheld tool for microsurgery

    Robert MacLachlan, Brian Becker, Jaime Cuevas Tabares, Gregg Podnar, Louis Lobes, and Cameron Riviere
    IEEE Transactions on Robotics, Vol. 28, No. 1, March, 2012, pp. 195-212.
    Details | pdf (2MB) | Copyrighted

  • State estimation and feedforward tremor suppression for a handheld micromanipulator with a Kalman filter

    Brian Becker, Robert MacLachlan, and Cameron Riviere
    Proc. IEEE International Conference on Intelligent Robots and Systems, October, 2011, pp. 5160-5165.
    Details | pdf (606KB) | Copyrighted

  • Percutaneous intracerebral navigation by duty-cycled spinning of flexible bevel-tipped needles

    Johnathan A. Engh, Davneet Minhas, Douglas Kondziolka, and Cameron Riviere
    Neurosurgery, Vol. 67, No. 4, October, 2011, pp. 1117-1123.
    Details

  • A study ex vivo of the effect of epicardial fat on the HeartLander robotic crawler

    Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
    5th European IFMBE Conference, IFMBE Proceedings 37, October, 2011, pp. 227-230.
    Details | pdf (345KB) | Copyrighted

  • Fourier modeling of porcine heartbeat and respiration in vivo for synchronization of HeartLander robot locomotion

    Nathan Wood, Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
    33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2011, pp. 7041-7044.
    Details | pdf (1MB) | Copyrighted

  • Handheld micromanipulation with vision-based virtual fixtures

    Brian Becker, Robert MacLachlan, Gregory Hager, and Cameron Riviere
    Proc. IEEE International Conference on Robotics and Automation, May, 2011, pp. 4127-4132.
    Details | pdf (819KB) | Copyrighted

  • Improved synchronization of HeartLander locomotion with physiological cycles

    Diego Moral del Agua, Nathan Wood, and Cameron Riviere
    Proc. 37th Annual IEEE Northeast Bioengineering Conference, May, 2011.
    Details | pdf (240KB) | Copyrighted

  • Power voltage-current converter using quasi-complementary MOSFET current mirrors

    Robert MacLachlan and Cameron Riviere
    Electronics Letters, Vol. 47, No. 21, October, 2011, pp. 1173 - 1175 .
    Details

  • Retinal vessel cannulation with an image-guided handheld robot

    Brian Becker, Sandrine Voros, Louis A. Lobes Jr., James T. Handa, Gregory D. Hager, and Cameron Riviere
    Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2010, pp. 5420-5423.
    Details | pdf (1MB) | Copyrighted

  • Needle steering system using duty-cycled rotation for percutaneous kidney access

    Nathan Wood, Khaled Shahrour, Michael C. Ost, and Cameron Riviere
    Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2010, pp. 5432-5435.
    Details | pdf (117KB) | Copyrighted

  • Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot

    Brina Goyette, Brian Becker, Marco A. Zenati, and Cameron Riviere
    Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2010, pp. 2275-2278.
    Details | pdf (497KB) | Copyrighted

  • Cell micromanipulation with an active handheld micromanipulator

    Jaime Cuevas Tabares, Robert MacLachlan, Charles A. Ettensohn, and Cameron Riviere
    Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2010, pp. 4363-4366.
    Details | pdf (437KB) | Copyrighted

  • Application of the HeartLander crawling robot for injection of a thermally sensitive anti-remodeling agent for myocardial infarction therapy

    Michael P. Chapman, Jose L. Lopez Gonzalez, Brina Goyette, Kazuro L. Fujimoto, Zuwei Ma, William R. Wagner, Marco A. Zenati, and Cameron Riviere
    Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2010, pp. 5428-5431.
    Details | pdf (1MB) | Copyrighted

  • Algorithms for target prediction for computer users with athetosis

    Sergio Peral Rodriguez, Dan Ding, and Cameron Riviere
    Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2010, pp. 491-494.
    Details | pdf (294KB) | Copyrighted

  • Semiautomated intraocular laser surgery using handheld instruments

    Brian Becker, Robert MacLachlan, and Cameron Riviere
    Lasers in Surgery and Medicine, Vol. 42, March, 2010, pp. 264-273.
    Details

  • Reducing operating time of a crawling robot for epicardial surgery

    Brina Goyette and Cameron Riviere
    Proceedings of the 36th Annual IEEE Northeast Bioengineering Conference, March, 2010.
    Details | pdf (251KB) | Copyrighted

  • Testing of neurosurgical needle steering via duty-cycled spinning in brain tissue in vitro

    Davneet Minhas, Johnathan A. Engh, and Cameron Riviere
    Proc. 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2009, pp. 258-261.
    Details | pdf (605KB) | Copyrighted

  • Active guidance for laser retinal surgery with a handheld instrument

    Brian Becker, Cristina Robles Valdivieso, Joydeep Biswas, Louis Lobes, and Cameron Riviere
    Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2009 (EMBC 2009)., October, 2009, pp. 5587-5590.
    Details | pdf (823KB) | Copyrighted

  • High-Speed Microscale Optical Tracking Using Digital Frequency-Domain Multiplexing

    Robert MacLachlan and Cameron Riviere
    IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, Vol. 58, No. 6, July, 2009, pp. 1991 - 2001.
    Details | pdf (536KB) | Copyrighted

  • Active Guidance of a Handheld Micromanipulator using Visual Servoing

    Brian Becker, Sandrine Voros, Robert MacLachlan, Gregory Hager, and Cameron Riviere
    2009 IEEE International Conference on Robotics and Automation, May, 2009, pp. 339 - 344.
    Details | pdf (1MB) | Copyrighted

  • Tracking control of hysteretic piezoelectric actuator using adaptive rate-dependent controller

    U-Xuan Tan, Win Tun Latt, Ferdinan Widjaja, Cheng Yap Shee, Cameron Riviere, and Wei-Tech Ang
    Sensors and Actuators A: Physical, Vol. 150, March, 2009, pp. 116-123.
    Details

  • Compact sensing design of a handheld active tremor compensation instrument

    Win Tun Latt, U-Xuan Tan, Cheng Yap Shee, Cameron Riviere, and Wei-Tech Ang
    IEEE Sensors Journal, Vol. 9, No. 12, December, 2009, pp. 1864-1871.
    Details | pdf (1MB) | Copyrighted

  • Feedforward controller of ill-conditioned hysteresis using singularity-free Prandtl-Ishlinskii model

    U-Xuan Tan, Win Tun Latt, Cheng Yap Shee, Cameron Riviere, and Wei-Tech Ang
    IEEE/ASME Transactions on Mechatronics, Vol. 14, No. 5, October, 2009, pp. 598-605.
    Details | pdf (763KB) | Copyrighted

  • A miniature mobile robot for navigation and positioning on the beating heart

    Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati, and Cameron Riviere
    IEEE Transactions on Robotics, Vol. 25, No. 5, October, 2009, pp. 1109-1124.
    Details | pdf (1MB) | Copyrighted

  • Minimally invasive epicardial injections using a novel semiautonomous robotic device

    Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere, and Marco A. Zenati
    Circulation, Vol. 118, No. suppl 1, October, 2008, pp. S115-S120.
    Details | pdf (668KB) | Copyrighted

  • Estimating displacement of periodic motion with inertial sensors

    U-Xuan Tan, Kalyana C. Veluvolu, Win Tun Latt, Cheng Yap Shee, Cameron Riviere, and Wei-Tech Ang
    IEEE Sensors Journal, Vol. 8, No. 8, August, 2008, pp. 1385-1388.
    Details | pdf (649KB) | Copyrighted

  • Autoregressive Modeling of Physiological Tremor under Microsurgical Conditions

    Brian Becker, Harsha Tummala, and Cameron Riviere
    30th Annual International IEEE EMBS Conference, August, 2008, pp. 1948-1951.
    Details | pdf (1MB) | Copyrighted

  • Target prediction for icon clicking by athetoid persons

    K. C. Olds, S. Sibenaller, Rory Cooper, Dan Ding, and Cameron Riviere
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2008, pp. 2043-2048.
    Details | pdf (241KB) | Copyrighted

  • Adaptive rate-dependent feedforward controller for hysteretic piezoelectric actuator

    U-Xuan Tan, Ferdinan Widjaja, Win Tun Latt, K. C. Veluvolu, C. Y. Shee, Cameron Riviere, and Wei-Tech Ang
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2008, pp. 787-792.
    Details | pdf (352KB) | Copyrighted

  • A Miniature Mobile Robot for Precise and Stable Access to the Beating Heart

    Nicholas Patronik
    doctoral dissertation, tech. report CMU-RI-TR-08-13, Robotics Institute, Carnegie Mellon University, May, 2008
    Details | pdf (6MB) | Copyrighted

  • A Mobile Robot Driven by Miniature Onboard Motors for Cardiac Intervention

    Peter David Allen, Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
    Proceedings of the 34th Annual Northeast Bioengineering Conference, May, 2008, pp. 9 - 10.
    Details | pdf (120KB) | Copyrighted

  • Accurate positioning for intervention on the beating heart using a crawling robot

    Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati, and Cameron Riviere
    Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), October, 2008, pp. 250-257.
    Details | pdf (1MB) | Copyrighted

  • Toward Filtering of Athetoid Motion with Neural Networks

    Juan J. V?quez, Kevin C. Olds, Sara Sibenaller, Dan Ding, and Cameron Riviere
    Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 1434-1436.
    Details | pdf (99KB) | Copyrighted

  • Test of Tracing Performance with an Active Handheld Micromanipulator

    David Choi, Roberto Sandoval Garcia, Robert MacLachlan, Lawrence Ho, Louis Lobes, and Cameron Riviere
    Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 3638-3641.
    Details | pdf (293KB) | Copyrighted

  • Positioning Accuracy of Neurosurgeons

    Roberto Sandoval Garcia, Robert MacLachlan, Michael Oh, and Cameron Riviere
    Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 206-209.
    Details | pdf (288KB) | Copyrighted

  • Modeling of Needle Steering via Duty-Cycled Spinning

    Davneet Minhas, Johnathan A. Engh, Michele Marie Fenske, and Cameron Riviere
    Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 2756-2759.
    Details | pdf (283KB) | Copyrighted

  • Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications

    Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere
    IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, May, 2007, pp. 134-142.
    Details | pdf (368KB) | Copyrighted

  • Subxiphoid epicardial pacing lead implantation using a miniature crawling robotic device

    Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere, and Marco A. Zenati
    Journal of Surgical Research, Vol. 137, No. 2, March, 2007, pp. 242-243.
    Details

  • Optical Tracking for Performance Testing of Microsurgical Instruments

    Robert MacLachlan and Cameron Riviere
    tech. report CMU-RI-TR-07-01, Robotics Institute, Carnegie Mellon University, January, 2007
    Details | pdf (294KB) | Copyrighted

  • Nonlinear Regression Model of a Low-g MEMS Accelerometer

    Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere
    IEEE Sensors Journal, Vol. 7, No. 1, January, 2007, pp. 81-88.
    Details | pdf (704KB) | Copyrighted

  • Improved Traction for a Mobile Robot Traveling on the Heart

    Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati, and Cameron Riviere
    28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), October, 2006, pp. 339 - 342.
    Details | pdf (273KB) | Copyrighted

  • Toward Effective Needle Steering in Brain Tissue

    Johnathan A. Engh, Gregg Podnar, D. Kondziolka, and Cameron Riviere
    28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS '06), August, 2006, pp. 559 - 562.
    Details | pdf (445KB) | Copyrighted

  • Performance Envelope and Physiological Tremor in Microsurgery

    David Ortega Ibanez, Fernando Perez Baquerin, David Choi, and Cameron Riviere
    Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, May, 2006, pp. 121 - 122.
    Details | pdf (167KB) | Copyrighted

  • Flexible Needle Steering System for Percutaneous Access to Deep Zones of the Brain

    Johnathan A. Engh, Gregg Podnar, Si Yi Khoo, and Cameron Riviere
    Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, May, 2006, pp. 103 - 104.
    Details | pdf (283KB) | Copyrighted

  • Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery

    F. Razjouyan, Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
    Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, May, 2006, pp. 97 - 98.
    Details | pdf (240KB) | Copyrighted

  • Percutaneous Subxiphoid Access to the Epicardium Using a Miniature Crawling Robotic Device

    Takeyoshi Ota, Nicholas Patronik, Cameron Riviere, and Marco A. Zenati
    Innovations, Vol. 1, No. 5, October, 2006, pp. 227-231.
    Details | pdf (661KB) | Copyrighted

  • Flexible Needle Steering System for Percutaneous Access to Deep Zones of the Brain

    Johnathan A. Engh, Si Yi Khoo, Gregg Podnar, and Cameron Riviere
    tech. report , Robotics Institute, Carnegie Mellon University, 2006
    Details

  • Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator

    J.G. Avedillo, David Choi, and Cameron Riviere
    Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (EMBS 2005), October, 2005, pp. 5775 - 5777.
    Details | pdf (882KB) | Copyrighted

  • Fuzzy Calibration of Magnetometer in Presence of Surgical Microscope

    Chanikarn Benjavitvilai and Cameron Riviere
    27th Annual International Conference of the Engineering in Medicine and Biology Society, October, 2005, pp. 5047 - 5049.
    Details | pdf (245KB) | Copyrighted

  • Flexure-based Manipulator for Active Handheld Microsurgical Instrument

    David Choi and Cameron Riviere
    Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), October, 2005, pp. 2325 - 2328.
    Details | pdf (489KB) | Copyrighted

  • A Miniature Cable-Driven Robot for Crawling on the Heart

    Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
    Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), October, 2005, pp. 5771 - 5774.
    Details | pdf (331KB) | Copyrighted

  • Preliminary Evaluation of a Mobile Robotic Device for Navigation and Intervention on the Beating Heart

    Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
    Computer Aided Surgery, Vol. 10, No. 4, July, 2005, pp. 225 - 232.
    Details | pdf (663KB) | Copyrighted

  • The HeartLander: A Novel Epicardial Crawling Robot for Myocardial Injections

    Nicholas Patronik, Cameron Riviere, Suad El Qarra, and Marco A. Zenati
    Proceedings of the 19th International Congress of Computer Assisted Radiology and Surgery, July, 2005, pp. 735-739.
    Details | pdf (243KB) | Copyrighted

  • Development and Preliminary Testing of a Mobile Robot for Cardiac Intervention

    Nicholas Patronik
    master's thesis, tech. report CMU-RI-TR-05-08, Robotics Institute, Carnegie Mellon University, March, 2005
    Details | pdf (651KB) | Copyrighted

  • Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions

    Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
    Proceedings of the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), October, 2004, pp. 9 - 16.
    Details | pdf (196KB) | Copyrighted

  • A Prototype Epicardial Crawling Device for Intrapericardial Intervention on the Beating heart

    Cameron Riviere, Nicholas Patronik, and Marco A. Zenati
    The Heart Surgery Forum, July, 2004, pp. E639 - E643.
    Details | pdf (300KB) | Copyrighted

  • Active Tremor Compensation in Handheld Instrument for Microsurgery

    Wei-Tech Ang
    doctoral dissertation, tech. report CMU-RI-TR-04-28, Robotics Institute, Carnegie Mellon University, May, 2004
    Details | pdf (2MB) | Copyrighted

  • Physical model of a MEMS accelerometer for low-g motion tracking applications

    Wei-Tech Ang, Si Yi Khoo, Pradeep Khosla, and Cameron Riviere
    Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004, pp. 1345 - 1351.
    Details | pdf (556KB) | Copyrighted

  • Development of a Tethered Epicardial Crawler for Minimally Invasive Cardiac Therapies

    Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
    IEEE 30th Annual Northeast Bioengineering Conference, May, 2004, pp. 239-240.
    Details | pdf (247KB) | Copyrighted

  • Kalman filtering for real-time orientation tracking of handheld microsurgical instrument

    Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere
    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), October, 2004, pp. 2574 - 2580.
    Details | pdf (769KB) | Copyrighted

  • Static and dynamic accuracy of vitreoretinal surgeons

    F. Peral-Gutierrez, Anna L. Liao, and Cameron Riviere
    Proceedings of the 26th Annual International Conference of the Engineering in Medicine and Biology Society, 2004, pp. 2734 - 2737.
    Details | pdf (1MB) | Copyrighted

  • Applied force during vitreoretinal microsurgery with handheld instruments

    Anirudha Jagtap and Cameron Riviere
    Proceedings of the 26th Annual International Conference of the Engineering in Medicine and Biology Society, 2004, pp. 2771 - 2773.
    Details | pdf (988KB) | Copyrighted

  • Active tremor compensation in microsurgery

    Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere
    Proceedings of 26th Annual International Conference of the Engineering in Medicine and Biology Society, 2004, pp. 2738 - 2741.
    Details | pdf (322KB) | Copyrighted

  • Tracking rotation and translation of laser microsurgical instruments

    Rafael Mario Ortiz and Cameron Riviere
    Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2003, pp. 3411 - 3414.
    Details | pdf (237KB) | Copyrighted

  • Rate-dependent inverse hysteresis feedforward controller for microsurgical tool

    Francisoco Alija-Garm?, Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere
    25th Annual Conference IEEE Engineering in Medicine and Biology Society, October, 2003, pp. 3415 - 3418.
    Details | pdf (374KB) | Copyrighted

  • Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-held Microsurgical Instrument

    Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere
    IEEE International Conference on Robotics and Automation, October, 2003, pp. 1781-1786.
    Details | pdf (424KB) | Copyrighted

  • Microelectromechanical systems for endoscopic cardiac surgery

    Gianluca Bonanomi, Keith Rebello, Kyle Lebouitz, Cameron Riviere, Elena di Martino, David Vorp, and Marco A. Zenati
    Journal of Thoracic and Cardiovascular Surgery, Vol. 126, No. 3, March, 2003, pp. 851-852.
    Details | pdf (131KB) | Copyrighted

  • Toward Active Tremor Canceling in Handheld Microsurgical Instruments

    Cameron Riviere, Wei-Tech Ang, and Pradeep Khosla
    IEEE Transactions on Robotics and Automation, Vol. 15, No. 5, October, 2003, pp. 793-800.
    Details | pdf (767KB) | Copyrighted

  • Modeling Rate-dependent Hysteresis in Piezoelectric Actuator

    Wei-Tech Ang, Cameron Riviere, and Pradeep Khosla
    Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 1975 - 1980.
    Details | pdf (389KB) | Copyrighted

  • Assistive Human-Machine Interfaces via Artificial Neural Netwoks

    Wei-Tech Ang, Cameron Riviere, and Pradeep Khosla
    Proc. of the 3rd International Symposium on Robotics and Automation, October, 2002, pp. 477-480.
    Details | pdf (271KB) | Copyrighted

  • Physiological tremor amplitude during vitreoretinal microsurgery

    S.P.N. Singh and Cameron Riviere
    Proceedings of the IEEE 28th Annual Northeast Bioengineering Conference, May, 2002, pp. 171-172.
    Details | pdf (337KB) | Copyrighted

  • Three-dimensional accuracy assessment of eye surgeons

    Lee Hotraphinyo and Cameron Riviere
    Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3458-3461.
    Details | pdf (438KB) | Copyrighted

  • Predicting respiratory motion for active canceling during percutaneous needle insertion

    Cameron 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.
    Details | pdf (565KB) | Copyrighted

  • Precision measurement for microsurgical instrument evaluation

    Lee Hotraphinyo and Cameron Riviere
    Proceedings 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3454-3457.
    Details | pdf (539KB) | Copyrighted

  • Neural network methods for error canceling in human-machine manipulation

    Wei-Tech Ang and Cameron Riviere
    Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3462-3465.
    Details | pdf (484KB) | Copyrighted

  • Design and implementation of active error canceling in hand-held microsurgical instrument

    Wei-Tech Ang, Cameron Riviere, and Pradeep Khosla
    Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, October, 2001, pp. 1106-1111.
    Details | pdf (463KB) | Copyrighted

  • An intelligent hand-held microsurgical instrument for improved accuracy

    Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere
    Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3450-3453.
    Details | pdf (497KB) | Copyrighted

  • A Study of Instrument Motion in Vitreoretinal Microsurgery

    Cameron Riviere and Patrick Jensen
    Proceedings of the 22nd International Conference of the IEEE Engineering in Medicine and Biology Society, July, 2000.
    Details | pdf (22KB) | Copyrighted

  • An Active Hand-held Instrument for Enhanced Microsurgical Accuracy

    Wei-Tech Ang, Cameron Riviere, and Pradeep Khosla
    Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention, October, 2000, pp. 878-886.
    Details | pdf (260KB) | Copyrighted

  • Intraoperative tremor monitoring for vitreoretinal microsurgery

    Mario Gomez-Blanco, Cameron Riviere, and Pradeep Khosla
    Proc. Medicine Meets Virtual Reality 8, , 2000
    Details

  • Microscale Tracking of Surgical Instrument Motion

    Cameron Riviere and Pradeep Khosla
    Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention, Lecture Notes In Computer Science, October, 1999, pp. 1080 - 1087.
    Details

  • Sensing Hand Tremor in a Vitreoretinal Microsurgical Instrument

    Mario Gomez-Blanco, Cameron Riviere, and Pradeep Khosla
    tech. report CMU-RI-TR-99-39, Robotics Institute, Carnegie Mellon University, December, 1999
    Details | pdf (173KB) | Copyrighted

  • Intraoperative instrument motion sensing for microsurgery

    Mario Gomez-Blanco, Cameron Riviere, and Pradeep Khosla
    Proceedings of the 20th Annual Conference of the IEEE Engineering in Medicine and Biology Society, October, 1999, pp. 864.
    Details | pdf (63KB) | Copyrighted

  • Adaptive canceling of physiological tremor for improved precision in microsurgery

    Cameron Riviere, R. S. Rader, and N. V. Thakor
    IEEE Transactions on Biomedical Engineering, Vol. 45, No. 7, July, 1998, pp. 839 - 846.
    Details | pdf (193KB) | Copyrighted

  • Error recognition for rehabilitation and microsurgery

    Cameron Riviere and Pradeep Khosla
    Proc. Sixth ACM International Multimedia Conference: Workshop on Face and Gesture Recognition and its Applications, 1998.
    Details

  • Augmenting the human-machine interface: improving manual accuracy

    Cameron Riviere and Pradeep Khosla
    IEEE International Conference on Robotics and Automation, May, 1997, pp. 3546 - 3550.
    Details | pdf (26KB) | Copyrighted

  • Characteristics of hand motion of eye surgeons

    Cameron Riviere, R. Scott Rader, and Pradeep Khosla
    19th Annual Conference of the IEEE Engineering in Medicine and Biology Society, October, 1997, pp. 1690 - 1693.
    Details | pdf (98KB) | Copyrighted

  • Active handheld instrument for error compensation in microsurgery

    Cameron Riviere and Pradeep Khosla
    Intelligent Systems and Advanced Manufacturing: Technical Conference on Microrobotics and Microsystem Fabrication, October, 1997, pp. 86-95.
    Details | pdf (107KB) | Copyrighted

  • Adaptive Fourier modeling for quantification of tremor

    Cameron Riviere, S.G. Reich, and N.V. Thakor
    Journal of Neuroscience Methods, Vol. 74, No. 1, 1997, pp. 77-87.
    Details

  • Modeling and canceling tremor in human-machine interfaces

    Cameron Riviere and N.V. Thakor
    IEEE Engineering in Medicine and Biology Magazine, Vol. 15, No. 3, July, 1996, pp. 29 - 36.
    Details | pdf (1MB) | Copyrighted

  • Effects of age and disability on tracking tasks with a computer mouse: accuracy and linearity

    Cameron Riviere and N. V. Thakor
    Journal of Rehabilitation Research and Development, Vol. 33, No. 1, March, 1996, pp. 6-15.
    Details

  • On-line canceling of pathological tremor for computer interface

    D. S. Hsu, Cameron Riviere, and N. V. Thakor
    Proceedings of the 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, October, 1996, pp. 521 - 522.
    Details | pdf (185KB) | Copyrighted

  • Accuracy in positioning of handheld instruments

    Cameron Riviere and Pradeep Khosla
    18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Bridging Disciplines for Biomedicine, October, 1996, pp. 212 - 213.
    Details | pdf (147KB) | Copyrighted

  • Suppressing pathological tremor during dextrous teleoperation

    Cameron Riviere and N. V. Thakor
    Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, October, 1995, pp. 1195 - 1196.
    Details | pdf (18KB) | Copyrighted

  • Adaptive human-machine interface for persons with tremor

    Cameron Riviere and N. V. Thakor
    Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, October, 1995, pp. 1193 - 1194.
    Details | pdf (212KB) | Copyrighted

  • Assistive computer interface for pen input by persons with tremor

    Cameron Riviere and N. V. Thakor
    Proceedings of the RESNA 1995 Annual Conference, July, 1995, pp. 440-442.
    Details

  • Adaptive real-time canceling of physiological tremor for microsurgery

    Cameron Riviere, R. S. Rader, and N. V. Thakor
    Proceedings of the Second International Symposium on Medical Robotics and Computer Assisted Surgery, December, 1995, pp. 89-96.
    Details

  • Vibrotactile feedback for dextrous teleoperation

    I. Z. Amanat, Cameron Riviere, and N. V. Thakor
    Proceedings of the RESNA 1994 Annual Conference, July, 1994, pp. 460-462.
    Details

  • Accuracy of upper-extremity motion by healthy and disabled subjects

    Cameron Riviere, H. F. Rizer, and N. V. Thakor
    Proceedings of the RESNA 1994 Annual Conference, July, 1994, pp. 170-172.
    Details

  • Vibrotactile feedback for a teleoperated dextrous hand

    I. Z. Amanat, Cameron Riviere, and N. V. Thakor
    Proceedings of the 13th Southern Biomedical Engineering Conference, May, 1994, pp. 526-529.
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  • Accuracy-based bandwidth of human upper-extremity motion

    Cameron Riviere and N. V. Thakor
    Proceedings of the 13th Southern Biomedical Engineering Conference, May, 1994, pp. 530-533.
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  • Teleoperation of a dextrous robotic hand using vibrotactile feedback

    I.Z. Amanat, Cameron Riviere, and N.V. Thakor
    Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, December, 1994, pp. 1059 - 1060.
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  • Linearity of human commands for telerobotics

    Cameron Riviere and N. V. Thakor
    Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, December, 1994, pp. 1039 - 1040.
    Details | pdf (127KB) | Copyrighted

  • A finite element model of the Hybrid III ribcage

    Cameron Riviere
    Proceedings of the Eighteenth International Workshop on Human Subjects for Biomechanical Research, 1990, pp. 55-59.
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