/Surgical Mechatronics Laboratory

Surgical Mechatronics Laboratory

Portrait of Surgical Mechatronics Laboratory
Lab Head: Cameron Riviere
Mailing Address

Research in the Surgical Mechatronics Laboratory aims to develop intelligent tools that improve performance in microsurgery and minimally invasive surgery while at the same time leaving the surgeon in full control of the procedure and benefiting from his expertise and dexterity. The goal is for the surgeon to notice the work he is doing, not the tool he is using.

The improvements in performance that are sought generally involve improved positioning accuracy and improved minimally-invasive access. A major area of interest in the lab is compensation of biological motion (heartbeat, respiration, tremor) for improved accuracy.

Current projects include active handheld tools to cancel the surgeon’s hand tremor during microsurgery (Micron), novel instrumentation for minimally invasive heart surgery (HeartLander), and an innovative technique for steering of flexible needles for neurosurgery using duty-cycled rotation. A microsurgical workstation incorporating active tremor canceling and advanced intraoperative visualization techniques is also under development.

Other work in the laboratory, in collaboration with the Department of Rehabilitation Science and Technology at the University of Pittsburgh, involves command input filtering in assistive computer interfaces for users with movement disorders such as pathological tremor or cerebral palsy.

Displaying 108 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
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
Organ-Mounted Robots for Minimally Invasive Beating-Heart Surgery
Nathan Wood

PhD Thesis, Tech. Report, CMU-RI-TR-15-30, Robotics Institute, Carnegie Mellon University, January, 2016
Handheld Micromanipulator for Robot-Assisted Microsurgery
Sungwook Yang

PhD Thesis, Tech. Report, CMU-RI-TR-15-11, Robotics Institute, Carnegie Mellon University, May, 2015
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
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
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
A Miniature Mobile Robot for Precise and Stable Access to the Beating Heart
Nicholas Patronik

PhD Thesis, Tech. Report, CMU-RI-TR-08-13, Robotics Institute, Carnegie Mellon University, May, 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
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
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, February, 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
Active Tremor Compensation in Handheld Instrument for Microsurgery
Wei-Tech Ang

PhD Thesis, Tech. Report, CMU-RI-TR-04-28, Robotics Institute, Carnegie Mellon University, May, 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

Lab Staff

2017-09-13T10:48:49+00:00