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Micron: Intelligent Microsurgical Instruments
Head: Cameron Riviere
Contact: Cameron Riviere
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Medical Robotics Technology Center (MRTC)
Associated lab(s) / group(s):
 Surgical Mechatronics Laboratory
Project Homepage
This page last updated - September 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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