/Cameron Riviere

Cameron Riviere

Portrait of Cameron Riviere
Research Professor
Office: 3107 Newell-Simon Hall
Phone: (412) 268-3083
Personal Homepage
Administrative Assistant: Stephanie Matvey
Lab: Surgical Mechatronics Laboratory

Mailing Address

Most of my research is in the area of surgical robotics. Specifically, I have an interest in developing robotic systems and interfaces for microsurgery and minimally invasive surgery that enhance the performance of the surgeon while also being “minimally obtrusive:” small, inexpensive, and easy to use, with minimal disturbance of the workflow in the operating room.

Many of my projects deal with compensation of involuntary physiological motion for enhanced accuracy in surgery, using both active and passive approaches. One example of such a system is “Micron,” an active handheld micromanipulator which estimates the hand tremor of the surgeon and deflects its own tip with an equal but opposite motion to provide smooth control for specialties such as retinal microsurgery. This work has involved not only development of the robotic system, but also considerable effort in quantitative modeling of human tremor.

Another example is “HeartLander,” a miniature crawling robot that passively compensates for heartbeat and respiratory motion by adhering to the surface of the heart using suction, while also crawling to specified targets on the heart and performing a variety of types of surgical intervention.

My research involves building whole systems; thus, work in my lab includes modeling and simulation, mechanical design, electrical design, signal processing, control systems, fabrication and assembly, and testing with human users.

As an outgrowth of the tremor modeling research, I also do research in filtering of input signals to provide assistive computer interfaces for persons with movement disorders including athetoid cerebral palsy and a variety of types of pathological tremor, in order to enable improved control of devices such as personal computers and powered wheelchairs.

Displaying 129 Publications
Organ-mounted robot localization via function approximation
Nathan A. Wood, David Schwartzman, Michael J. Passineau, M. Scott Halbreiner, Robert J. Moraca, Marco A. Zenati and Cameron N. Riviere

Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, pp. e1971, November, 2018
Beating-Heart Registration for Organ-Mounted Robots
Nathan A. Wood, David Schwartzman, Michael J. Passineau, Robert J. Moraca, Marco A. Zenati and Cameron N. Riviere

Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 14, No. 4, pp. e1905, March, 2018
EyeSLAM: Real-time localization and mapping of retinal vessels during intraocular microsurgery
Daniel Braun, Sungwook Yang, Joseph N. Martel, Cameron N. Riviere and Brian C. Becker

Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 14, No. 1, pp. e1848, February, 2018
Toward Safer Neurosurgery with an Active Handheld Instrument
Francesca Prudente, Sara Moccia, Alessandro Perin, Raymond F. Sekula, Leonardo S. de Mattos, Jeffrey R. Balzer, Wendy Fellows-Mayle, Elena De Momi and Cameron N. Riviere

Conference Paper, Proceedings of the Hamlyn Symposium on Medical Robotics, pp. 15-16, June, 2017
Defect-Detection Technologies for Low-Observability Aircraft Skin Coatings
Mel Siegel and Cameron Riviere

Tech. Report, CMU-RI-TR-17-31, Robotics Institute, Carnegie Mellon University, May, 2017
Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot
Shohin Mukherjee, Sungwook Yang, Robert A. MacLachlan, Louis A. Lobes Jr., Joseph N. Martel and Cameron Riviere

Conference Paper, IEEE International Conference on Robotics and Automation 2017, May, 2017
Techniques for epicardial mapping and ablation with a miniature robotic walker
Dwight A. Meglan, Wener Lv, Richard J. Cohen and Cameron N. Riviere

Journal Article, Robotic Surgery Research and Reviews, Vol. 4, pp. 25-31, March, 2017
Physiological motion modeling for organ-mounted robots
Nathan A. Wood, David Schwartzman, Marco A. Zenati and Cameron N. Riviere

Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 13, No. 4, pp. e1805, February, 2017
Techniques for Avoidance of Coronary Vasculature during Epicardial Needle Insertions with a Miniature Robotic Walker
Dwight A. Meglan, Bryan P. Bergeron, Ryan S. Bardsley, John M. Galeotti and Cameron N. Riviere

Conference Paper, in Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering (ICMRE 2017), pp. 1 - 5, February, 2017
Toward Improved Electromagnetic Tracking for Handheld Robotics
Robert A. MacLachlan, Ralph L. Hollis, Joseph N. Martel, Louis A. Lobes Jr., and Cameron N. Riviere

Conference Paper, Proceedings of International Conference on Mechatronics and Robotics Engineering, pp. 75-80, February, 2017
Electromagnetic Tracker for Active Handheld Robotic Systems
Robert A. MacLachlan, Nicholas Parody, Shohin Mukherjee, Ralph Hollis and Cameron Riviere

Conference Paper, IEEE Sensors 2016, October, 2016
Design of a Coupled Thermoresponsive Hydrogel and Robotic System for Postinfarct Biomaterial Injection Therapy
Yang Zhu, Nathan A. Wood, Kevin Fok, Tomo Yoshizumi, Daewoo Park, Hongbin Jiang, David S. Schwartzman, Marco A. Zenati, Takafumi Uchibori, William R. Wagner and Cameron N. Riviere

Journal Article, Annals of Thoracic Surgery, Vol. 102, No. 3, pp. 780-786, September, 2016
Velocity-Limiting Control of an Active Handheld Micromanipulator
Shohin Mukherjee, Robert MacLachlan and Cameron Riviere

Journal Article, Journal of Medical Devices, Vol. 10, No. 3, pp. 030944, August, 2016
Parallel force/position control of an epicardial parallel wire robot
Adam D. Costanza, Macauley S. Breault, Nathan A. Wood, Michael J. Passineau, Robert J. Moraca and Cameron N. Riviere

Journal Article, IEEE Robotics and Automation Letters, Vol. 1, No. 2, pp. 1186-1191, July, 2016
Hybrid position/force control of an active handheld micromanipulator for membrane peeling
Trent S. Wells, Sungwook Yang, Robert A. MacLachlan, Louis A. Lobes Jr., Joseph N. Martel and Cameron N. Riviere

Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 12, No. 1, pp. 85-95, March, 2016
Comparative evaluation of handheld robot-aided intraocular laser surgery
Sungwook Yang, Robert A. MacLachlan, Joseph N. Martel, Louis A. Lobes Jr. and Cameron N. Riviere

Journal Article, IEEE Transactions on Robotics, Vol. 32, No. 1, pp. 246-251, February, 2016
Improving Target Acquisition for Computer Users With Athetosis
Dan Ding, Sergio Peral Rodriguez, Rory A. Cooper and Cameron N. Riviere

Journal Article, Assistive Technology, Vol. 27, pp. 52-58, December, 2015
Handheld Automated Microsurgical Instrumentation for Intraocular Laser Surgery
Sungwook Yang, Louis A. Lobes, Jr., Joseph N. Martel and Cameron N. Riviere

Journal Article, Lasers in Surgery and Medicine, Vol. 47, No. 8, pp. 658-668, October, 2015
Force-based puncture detection and active position holding for assisted retinal vein cannulation
Berk Gonenc, Nhat Tran, Cameron N. Riviere, Peter Gehlbach, Russell H. Taylor and Iulian Iordachita

Conference Paper, Proceedings of the IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 322-327, September, 2015
Robot Assisted Stapedotomy ex vivo with an Active Handheld Instrument
Tobia Vendrametto, Jacob S. McAfee, Barry E. Hirsch, Cameron N. Riviere, Giancarlo Ferrigno and Elena De Momi

Conference Paper, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 4879-4882, August, 2015
Toward hybrid force/position control for the Cerberus epicardial robot
Macauley S. Breault, Adam D. Costanza, Nathan A. Wood, Michael J. Passineau and Cameron N. Riviere

Conference Paper, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 7776-7779, August, 2015
Auto-calibration for a planar epicardial wire robot
Macauley S. Breault, Adam D. Costanza, Nathan A. Wood, Michael J. Passineau and Cameron N. Riviere

Conference Paper, Proceedings of the IEEE Northeast Bioengineering Conference, April, 2015
Manipulator design and operation of a six-degree-of-freedom handheld tremor-cancelling microsurgical instrument
Sungwook Yang, Robert MacLachlan and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 2, pp. 761-772, April, 2015
Vision-Based Control of a Handheld Surgical Micromanipulator with Virtual Fixtures
Brian Becker, Robert MacLachlan, Louis A. Lobes Jr., Gregory Hager and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics, Vol. 29, No. 3, pp. 674-683, February, 2013
Transfer Function Compensation in Gyroscope-free Inertial Measurement Units for Accurate Angular Motion Sensing
W. T. Latt, U-X. Tan, Cameron N. Riviere and Wei Tech Ang

Journal Article, IEEE Sensors Journal, Vol. 12, No. 5, pp. 1207-1208, May, 2012
Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion
Nicholas A. Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

Journal Article, Carnegie Mellon University, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 8, No. 1, pp. 97-106, March, 2012
Micron: an actively stabilized handheld tool for microsurgery
Robert MacLachlan, Brian Becker, Jaime Cuevas Tabares, Gregg Podnar, Louis Lobes and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics, Vol. 28, No. 1, pp. 195-212, February, 2012
A micro motion sensing system for micromanipulation tasks
Win Tun Latt, U-Xuan Tan, Andreas Georgiou, Ananda Ekaputera Sidarta, Cameron Riviere and Wei-Tech Ang

Journal Article, Carnegie Mellon University, Sensors and Actuators A: Physical, Vol. 173, pp. 254-266, January, 2012
Power voltage-current converter using quasi-complementary MOSFET current mirrors
Robert MacLachlan and Cameron Riviere

Journal Article, Carnegie Mellon University, Electronics Letters, Vol. 47, No. 21, pp. 1173 - 1175, October, 2011
A study ex vivo of the effect of epicardial fat on the HeartLander robotic crawler
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, 5th European IFMBE Conference, IFMBE Proceedings 37, pp. 227-230, September, 2011
Percutaneous intracerebral navigation by duty-cycled spinning of flexible bevel-tipped needles
Johnathan A. Engh, Davneet Minhas, Douglas Kondziolka and Cameron Riviere

Journal Article, Carnegie Mellon University, Neurosurgery, Vol. 67, No. 4, pp. 1117-1123, September, 2011
State estimation and feedforward tremor suppression for a handheld micromanipulator with a Kalman filter
Brian Becker, Robert MacLachlan and Cameron Riviere

Conference Paper, Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 5160-5165, September, 2011
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

Conference Paper, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 7041-7044, August, 2011
Placement of accelerometers for high sensing resolution in micromanipulation
Win Tun Latt, U-Xuan Tan, Cameron N. Riviere and Wei Tech Ang

Journal Article, Sensors and Actuators A: Physical, Vol. 167, No. 2, pp. 304-316, June, 2011
Handheld micromanipulation with vision-based virtual fixtures
Brian Becker, Robert MacLachlan, Gregory Hager and Cameron Riviere

Conference Paper, Proc. IEEE International Conference on Robotics and Automation, pp. 4127-4132, May, 2011
Improved synchronization of HeartLander locomotion with physiological cycles
Diego Moral del Agua, Nathan Wood and Cameron Riviere

Conference Paper, Proc. 37th Annual IEEE Northeast Bioengineering Conference, April, 2011
Algorithms for target prediction for computer users with athetosis
Sergio Peral Rodriguez, Dan Ding and Cameron Riviere

Conference Paper, Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 491-494, September, 2010
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

Conference Paper, Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5428-5431, September, 2010
Cell micromanipulation with an active handheld micromanipulator
Jaime Cuevas Tabares, Robert MacLachlan, Charles A. Ettensohn and Cameron Riviere

Conference Paper, Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 4363-4366, September, 2010
Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot
Brina Goyette, Brian Becker, Marco A. Zenati and Cameron Riviere

Conference Paper, Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 2275-2278, September, 2010
Needle steering system using duty-cycled rotation for percutaneous kidney access
Nathan Wood, Khaled Shahrour, Michael C. Ost and Cameron Riviere

Conference Paper, Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5432-5435, September, 2010
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

Conference Paper, Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5420-5423, September, 2010
Reducing operating time of a crawling robot for epicardial surgery
Brina Goyette and Cameron Riviere

Conference Paper, Proceedings of the 36th Annual IEEE Northeast Bioengineering Conference, March, 2010
Semiautomated intraocular laser surgery using handheld instruments
Brian Becker, Robert MacLachlan and Cameron Riviere

Journal Article, Carnegie Mellon University, Lasers in Surgery and Medicine, Vol. 42, pp. 264-273, March, 2010
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

Journal Article, Carnegie Mellon University, IEEE Sensors Journal, Vol. 9, No. 12, pp. 1864-1871, December, 2009
A miniature mobile robot for navigation and positioning on the beating heart
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics, Vol. 25, No. 5, pp. 1109-1124, October, 2009
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

Journal Article, Carnegie Mellon University, IEEE/ASME Transactions on Mechatronics, Vol. 14, No. 5, pp. 598-605, October, 2009
Active guidance for laser retinal surgery with a handheld instrument
Brian Becker, Cristina Robles Valdivieso, Joydeep Biswas, Louis Lobes and Cameron Riviere

Conference Paper, Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2009 (EMBC 2009)., pp. 5587-5590, September, 2009
Testing of neurosurgical needle steering via duty-cycled spinning in brain tissue in vitro
Davneet Minhas, Johnathan A. Engh and Cameron Riviere

Conference Paper, Proc. 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 258-261, September, 2009
High-Speed Microscale Optical Tracking Using Digital Frequency-Domain Multiplexing
Robert MacLachlan and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, Vol. 58, No. 6, pp. 1991 - 2001, June, 2009
Active Guidance of a Handheld Micromanipulator using Visual Servoing
Brian Becker, Sandrine Voros, Robert MacLachlan, Gregory Hager and Cameron Riviere

Conference Paper, 2009 IEEE International Conference on Robotics and Automation, pp. 339 - 344, May, 2009
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

Journal Article, Carnegie Mellon University, Sensors and Actuators A: Physical, Vol. 150, pp. 116-123, March, 2009
Accurate positioning for intervention on the beating heart using a crawling robot
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 250-257, October, 2008
Minimally invasive epicardial injections using a novel semiautonomous robotic device
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere and Marco A. Zenati

Journal Article, Carnegie Mellon University, Circulation, Vol. 118, No. suppl 1, pp. S115-S120, September, 2008
Autoregressive Modeling of Physiological Tremor under Microsurgical Conditions
Brian Becker, Harsha Tummala and Cameron Riviere

Conference Paper, 30th Annual International IEEE EMBS Conference, pp. 1948-1951, August, 2008
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

Journal Article, Carnegie Mellon University, IEEE Sensors Journal, Vol. 8, No. 8, pp. 1385-1388, August, 2008
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

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 787-792, May, 2008
Target prediction for icon clicking by athetoid persons
K. C. Olds, S. Sibenaller, Rory Cooper, Dan Ding and Cameron Riviere

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2043-2048, May, 2008
A Mobile Robot Driven by Miniature Onboard Motors for Cardiac Intervention
Peter David Allen, Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the 34th Annual Northeast Bioengineering Conference, April, 2008
Modeling of Needle Steering via Duty-Cycled Spinning
Davneet Minhas, Johnathan A. Engh, Michele Marie Fenske and Cameron Riviere

Conference Paper, Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 2756-2759, August, 2007
Positioning Accuracy of Neurosurgeons
Roberto Sandoval Garcia, Robert MacLachlan, Michael Oh and Cameron Riviere

Conference Paper, Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 206-209, August, 2007
Test of Tracing Performance with an Active Handheld Micromanipulator
David Choi, Roberto Sandoval Garcia, Robert MacLachlan, Lawrence Ho, Louis Lobes and Cameron Riviere

Conference Paper, Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 3638-3641, August, 2007
Toward Filtering of Athetoid Motion with Neural Networks
Juan J. Vazquez Lopez, Kevin C. Olds, Sara Sibenaller, Dan Ding and Cameron Riviere

Conference Paper, Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 1434-1436, August, 2007
Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, pp. 134-142, April, 2007
Subxiphoid epicardial pacing lead implantation using a miniature crawling robotic device
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere and Marco A. Zenati

Journal Article, Carnegie Mellon University, Journal of Surgical Research, Vol. 137, No. 2, pp. 242-243, February, 2007
Nonlinear Regression Model of a Low-g MEMS Accelerometer
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE Sensors Journal, Vol. 7, No. 1, pp. 81-88, January, 2007
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
Percutaneous Subxiphoid Access to the Epicardium Using a Miniature Crawling Robotic Device
Takeyoshi Ota, Nicholas Patronik, Cameron Riviere and Marco A. Zenati

Journal Article, Carnegie Mellon University, Innovations, Vol. 1, No. 5, pp. 227-231, October, 2006
Improved Traction for a Mobile Robot Traveling on the Heart
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

Conference Paper, 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 339 - 342, September, 2006
Robotic Compensation of Biological Motion to Enhance Surgical Accuracy
Cameron N. Riviere, Jacques Gangloff and Michel de Mathelin

Journal Article, Proceedings of the IEEE, Vol. 94, No. 9, pp. 1705-1716, September, 2006
Toward Effective Needle Steering in Brain Tissue
Johnathan A. Engh, Gregg Podnar, D. Kondziolka and Cameron Riviere

Conference Paper, 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS '06), pp. 559 - 562, August, 2006
Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery
F. Razjouyan, Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, pp. 97 - 98, April, 2006
Flexible Needle Steering System for Percutaneous Access to Deep Zones of the Brain
Johnathan A. Engh, Gregg Podnar, Si Yi Khoo and Cameron Riviere

Conference Paper, Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, pp. 103 - 104, April, 2006
Performance Envelope and Physiological Tremor in Microsurgery
David Ortega Ibanez, Fernando Perez Baquerin, David Choi and Cameron Riviere

Conference Paper, Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, pp. 121 - 122, April, 2006
A Miniature Cable-Driven Robot for Crawling on the Heart
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 5771 - 5774, September, 2005
Flexure-based Manipulator for Active Handheld Microsurgical Instrument
David Choi and Cameron Riviere

Conference Paper, Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 5085 - 5088, September, 2005
Fuzzy Calibration of Magnetometer in Presence of Surgical Microscope
Chanikarn Benjavitvilai and Cameron Riviere

Conference Paper, 27th Annual International Conference of the Engineering in Medicine and Biology Society, pp. 5047 - 5049, September, 2005
Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator
J.G. Avedillo, David Choi and Cameron Riviere

Conference Paper, Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (EMBS 2005), pp. 5775 - 5777, September, 2005
Preliminary Evaluation of a Mobile Robotic Device for Navigation and Intervention on the Beating Heart
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Journal Article, Carnegie Mellon University, Computer Aided Surgery, Vol. 10, No. 4, pp. 225 - 232, July, 2005
The HeartLander: A Novel Epicardial Crawling Robot for Myocardial Injections
Nicholas Patronik, Cameron Riviere, Suad El Qarra and Marco A. Zenati

Conference Paper, Proceedings of the 19th International Congress of Computer Assisted Radiology and Surgery, Vol. 1281C, pp. 735-739, June, 2005
Kalman filtering for real-time orientation tracking of handheld microsurgical instrument
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Conference Paper, Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), Vol. 3, pp. 2574 - 2580, October, 2004
Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Vol. LNCS 3117, September, 2004
A Prototype Epicardial Crawling Device for Intrapericardial Intervention on the Beating heart
Cameron Riviere, Nicholas Patronik and Marco A. Zenati

Conference Paper, The Heart Surgery Forum, Vol. 7, No. 6, July, 2004
Development of a Tethered Epicardial Crawler for Minimally Invasive Cardiac Therapies
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, IEEE 30th Annual Northeast Bioengineering Conference, pp. 239-240, April, 2004
Physical model of a MEMS accelerometer for low-g motion tracking applications
Wei-Tech Ang, Si Yi Khoo, Pradeep Khosla and Cameron Riviere

Conference Paper, Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 2, pp. 1345 - 1351, April, 2004
Active tremor compensation in microsurgery
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Conference Paper, Proceedings of 26th Annual International Conference of the Engineering in Medicine and Biology Society, Vol. 4, pp. 2738 - 2741, January, 2004
Applied force during vitreoretinal microsurgery with handheld instruments
Anirudha Jagtap and Cameron Riviere

Conference Paper, Proceedings of the 26th Annual International Conference of the Engineering in Medicine and Biology Society, pp. 2771 - 2773, January, 2004
Static and dynamic accuracy of vitreoretinal surgeons
F. Peral-Gutierrez, Anna L. Liao and Cameron Riviere

Conference Paper, Proceedings of the 26th Annual International Conference of the Engineering in Medicine and Biology Society, Vol. 4, pp. 2734 - 2737, January, 2004
Toward Active Tremor Canceling in Handheld Microsurgical Instruments
Cameron Riviere, Wei-Tech Ang and Pradeep Khosla

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics and Automation, Vol. 15, No. 5, pp. 793-800, October, 2003
Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-held Microsurgical Instrument
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 1781-1786, September, 2003
Rate-dependent inverse hysteresis feedforward controller for microsurgical tool
Francisco Alija-Garmon, Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Conference Paper, 25th Annual Conference IEEE Engineering in Medicine and Biology Society, pp. 3415 - 3418, September, 2003
Tracking rotation and translation of laser microsurgical instruments
Rafael Mario Ortiz and Cameron Riviere

Conference Paper, Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 4, pp. 3411 - 3414, September, 2003
Microelectromechanical systems for endoscopic cardiac surgery
Gianluca Bonanomi, Keith Rebello, Kyle Lebouitz, Cameron Riviere, Elena di Martino, David Vorp and Marco A. Zenati

Journal Article, Carnegie Mellon University, Journal of Thoracic and Cardiovascular Surgery, Vol. 126, No. 3, pp. 851-852, March, 2003
Modeling Rate-dependent Hysteresis in Piezoelectric Actuator
Wei-Tech Ang, Cameron Riviere and Pradeep Khosla

Conference Paper, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1975 - 1980, January, 2003
Assistive Human-Machine Interfaces via Artificial Neural Netwoks
Wei-Tech Ang, Cameron Riviere and Pradeep Khosla

Conference Paper, Proc. of the 3rd International Symposium on Robotics and Automation, pp. 477-480, September, 2002
Physiological tremor amplitude during vitreoretinal microsurgery
S.P.N. Singh and Cameron Riviere

Conference Paper, Proceedings of the IEEE 28th Annual Northeast Bioengineering Conference, pp. 171-172, April, 2002
An intelligent hand-held microsurgical instrument for improved accuracy
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Conference Paper, Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3450-3453, October, 2001
Design and implementation of active error canceling in hand-held microsurgical instrument
Wei-Tech Ang, Cameron Riviere and Pradeep Khosla

Conference Paper, Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Vol. 2, pp. 1106-1111, October, 2001
Neural network methods for error canceling in human-machine manipulation
Wei-Tech Ang and Cameron Riviere

Conference Paper, Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3462-3465, October, 2001
Precision measurement for microsurgical instrument evaluation
Lee Hotraphinyo and Cameron Riviere

Conference Paper, Proceedings 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3454-3457, October, 2001
Predicting respiratory motion for active canceling during percutaneous needle insertion
Cameron Riviere, A. Thakral, I. I. Iordachita, G. Mitroi and D. Stoianovici

Conference Paper, Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3477-3480, October, 2001
Three-dimensional accuracy assessment of eye surgeons
Lee Hotraphinyo and Cameron Riviere

Conference Paper, Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3458-3461, October, 2001
An Active Hand-held Instrument for Enhanced Microsurgical Accuracy
Wei-Tech Ang, Cameron Riviere and Pradeep Khosla

Conference Paper, Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 878-886, October, 2000
A Study of Instrument Motion in Vitreoretinal Microsurgery
Cameron Riviere and Patrick Jensen

Conference Paper, Proceedings of the 22nd International Conference of the IEEE Engineering in Medicine and Biology Society, July, 2000
Intraoperative tremor monitoring for vitreoretinal microsurgery
Mario Gomez-Blanco, Cameron Riviere and Pradeep Khosla

Journal Article, Proc. Medicine Meets Virtual Reality 8, January, 2000
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
Intraoperative instrument motion sensing for microsurgery
Mario Gomez-Blanco, Cameron Riviere and Pradeep Khosla

Conference Paper, Proceedings of the 20th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, October, 1999
Microscale Tracking of Surgical Instrument Motion
Cameron Riviere and Pradeep Khosla

Conference Paper, Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention, Lecture Notes In Computer Science, Vol. 1679, pp. 1080 - 1087, September, 1999
Adaptive canceling of physiological tremor for improved precision in microsurgery
Cameron Riviere, R. S. Rader and N. V. Thakor

Journal Article, IEEE Transactions on Biomedical Engineering, Vol. 45, No. 7, pp. 839 - 846, July, 1998
Error recognition for rehabilitation and microsurgery
Cameron Riviere and Pradeep Khosla

Conference Paper, Proc. Sixth ACM International Multimedia Conference: Workshop on Face and Gesture Recognition and its Applications, January, 1998
Active handheld instrument for error compensation in microsurgery
Cameron Riviere and Pradeep Khosla

Conference Paper, Intelligent Systems and Advanced Manufacturing: Technical Conference on Microrobotics and Microsystem Fabrication, pp. 86-95, October, 1997
Characteristics of hand motion of eye surgeons
Cameron Riviere, R. Scott Rader and Pradeep Khosla

Conference Paper, 19th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 4, pp. 1690 - 1693, October, 1997
Augmenting the human-machine interface: improving manual accuracy
Cameron Riviere and Pradeep Khosla

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3546 - 3550, April, 1997
Adaptive Fourier modeling for quantification of tremor
Cameron Riviere, S.G. Reich and N.V. Thakor

Journal Article, Journal of Neuroscience Methods, Vol. 74, No. 1, pp. 77-87, January, 1997
Accuracy in positioning of handheld instruments
Cameron Riviere and Pradeep Khosla

Conference Paper, 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Bridging Disciplines for Biomedicine, Vol. 1, pp. 212 - 213, October, 1996
On-line canceling of pathological tremor for computer interface
D. S. Hsu, Cameron Riviere and N. V. Thakor

Conference Paper, Proceedings of the 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 521 - 522, October, 1996
Modeling and canceling tremor in human-machine interfaces
Cameron Riviere and N.V. Thakor

Journal Article, IEEE Engineering in Medicine and Biology Magazine, Vol. 15, No. 3, pp. 29 - 36, June, 1996
Effects of age and disability on tracking tasks with a computer mouse: accuracy and linearity
Cameron Riviere and N. V. Thakor

Journal Article, Journal of Rehabilitation Research and Development, Vol. 33, No. 1, February, 1996
Adaptive real-time canceling of physiological tremor for microsurgery
Cameron Riviere, R. S. Rader and N. V. Thakor

Conference Paper, Proceedings of the Second International Symposium on Medical Robotics and Computer Assisted Surgery, pp. 89-96, November, 1995
Adaptive human-machine interface for persons with tremor
Cameron Riviere and N. V. Thakor

Conference Paper, Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 1193 - 1194, September, 1995
Suppressing pathological tremor during dextrous teleoperation
Cameron Riviere and N. V. Thakor

Conference Paper, Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 1195 - 1196, September, 1995
Assistive computer interface for pen input by persons with tremor
Cameron Riviere and N. V. Thakor

Conference Paper, Proceedings of the RESNA 1995 Annual Conference, pp. 440-442, June, 1995
Linearity of human commands for telerobotics
Cameron Riviere and N. V. Thakor

Conference Paper, Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 1039 - 1040, November, 1994
Teleoperation of a dextrous robotic hand using vibrotactile feedback
I.Z. Amanat, Cameron Riviere and N.V. Thakor

Conference Paper, Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 1059 - 1060, November, 1994
Accuracy of upper-extremity motion by healthy and disabled subjects
Cameron Riviere, H. F. Rizer and N. V. Thakor

Conference Paper, Proceedings of the RESNA 1994 Annual Conference, pp. 170-172, June, 1994
Vibrotactile feedback for dextrous teleoperation
I. Z. Amanat, Cameron Riviere and N. V. Thakor

Conference Paper, Proceedings of the RESNA 1994 Annual Conference, pp. 460-462, June, 1994
Accuracy-based bandwidth of human upper-extremity motion
Cameron Riviere and N. V. Thakor

Conference Paper, Proceedings of the 13th Southern Biomedical Engineering Conference, pp. 530-533, April, 1994
Vibrotactile feedback for a teleoperated dextrous hand
I. Z. Amanat, Cameron Riviere and N. V. Thakor

Conference Paper, Proceedings of the 13th Southern Biomedical Engineering Conference, pp. 526-529, April, 1994
A finite element model of the Hybrid III ribcage
Cameron Riviere

Conference Paper, Proceedings of the Eighteenth International Workshop on Human Subjects for Biomechanical Research, pp. 55-59, January, 1990

Past RI PhD Students

Current Affiliates

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