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Related Research Units

Cardiac Surgery Research

Research Overview

Pierre Dupont's group develops new technologies for performing image-guided minimally invasive surgery. The research is interdisciplinary, drawing from many branches of engineering. Specific topics of interest include the design and control of novel medical robots and instruments, modeling tool-tissue interaction, the development of multi-probe or multi-modal imaging techniques for surgical guidance; and the teleoperation or automation of instrument motion. The goal of his research is to create technology that enables minimally invasive interventions for procedures that are currently performed as open surgery. This approach minimizes the collateral trauma and risks of surgical interventions and, consequently, facilitates earlier intervention in the disease process. 

Research Background

Pierre Dupont received a PhD in mechanical engineering from Rensselaer Polytechnic Institute. He was a postdoctoral fellow in the School of Engineering and Applied Sciences at Harvard University. He subsequently joined the College of Engineering at Boston University where he was a professor in the Departments of Mechanical Engineering and Biomedical Engineering before moving his group from BU to Boston Children's Hospital.

Publications

  1. Stabilizing telerobotic endobronchial imaging and interventions in breathing lungs with a helical brace. Sci Robot. 2026 09 23; 11(118):eaed1960. View Abstract
  2. A non-Euclidean movement model to quantify landscape connectivity with open spatial capture-recapture models. Ecology. 2026 Sep; 107(9):e70480. View Abstract
  3. Predictors of extinction risk in large tropical forest mammals: From global to local. Sci Adv. 2026 Jul 17; 12(29):eaeb7543. View Abstract
  4. Toward autonomous robotic-assisted and microrobotic surgery. Sci Adv. 2026 Jul 03; 12(27):eaec4197. View Abstract
  5. A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons. IEEE Trans Med Robot Bionics. 2026 Aug; 8(3):1059-1071. View Abstract
  6. Robotic Closure of the Left Atrial Appendage. Hamlyn Symp Med Robot. 2026 Jun; 18:151-152. View Abstract
  7. Using Robotics to Improve Transcatheter Edge-to-Edge Repair of the Mitral Valve. IEEE Robot Autom Lett. 2026 Jul; 11(7):8463-8470. View Abstract
  8. Closed-loop Control of Steerable Balloon Endoscopes for Robot-assisted Transcatheter Intracardiac Procedures. IEEE Robot Autom Lett. 2026 Apr; 11(4):4211-4218. View Abstract
  9. Few-Shot Magnet Localization Using Sim-to-Real Transfer Learning. IEEE Robot Autom Lett. 2025 Dec; 10(12):12660-12667. View Abstract
  10. Map of death: spatially explicit mortality of the grey wolf. Proc Biol Sci. 2025 08; 292(2053):20250948. View Abstract
  11. Medical robots learn to be autonomous. Sci Robot. 2025 07 30; 10(104):eadz8291. View Abstract
  12. The grand challenges of learning medical robot autonomy. Sci Robot. 2025 07 30; 10(104):eadz8279. View Abstract
  13. A comparison of laser, electrosurgical, and mechanical transcatheter traversal of calcified aortic valve leaflets. JTCVS Struct Endovasc. 2025 Jun; 6. View Abstract
  14. Comparison of Classical, Neural Network and Hybrid Models for Hysteretic Single-tendon Catheter Kinematics. IEEE Robot Autom Lett. 2025 Jan; 10(1):96-103. View Abstract
  15. Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment. IEEE Trans Med Robot Bionics. 2024 Nov; 6(4):1322-1333. View Abstract
  16. Lung volume recruitment and airway clearance for children at home in France. Respir Med. 2024 09; 231:107726. View Abstract
  17. Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. Rep U S. 2023 Oct; 2023:8461-8466. View Abstract
  18. Using robotics to move a neurosurgeon's hands to the tip of their endoscope. Sci Robot. 2023 09 20; 8(82):eadg6042. View Abstract
  19. Corrigendum to "Robotic Instruments Inside the MRI Bore: Key Concepts and Evolving Paradigms in Imaging-Enhanced Cranial Neurosurgery" [World Neurosurgery 176 (2023) 127-139/20021]. World Neurosurg. 2023 Nov; 179:99. View Abstract
  20. A multidisciplinary approach to estimating wolf population size for long-term conservation. Conserv Biol. 2023 12; 37(6):e14132. View Abstract
  21. Magnetic Ball Chain Robots for Endoluminal Interventions. IEEE Int Conf Robot Autom. 2023 May-Jun; 2023:4717-4723. View Abstract
  22. Occurrence dynamics of mammals in protected tropical forests respond to human presence and activities. Nat Ecol Evol. 2023 07; 7(7):1092-1103. View Abstract
  23. Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots. Hamlyn Symp Med Robot. 2023 Jun; 2023:27-28. View Abstract
  24. Modeling Tendon-actuated Concentric Tube Robots. Int Symp Med Robot. 2023 Apr; 2023. View Abstract
  25. Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots. Int Symp Med Robot. 2023 Apr; 2023. View Abstract
  26. A novel ex vivo tracheobronchomalacia model for airway stent testing and in vivo model refinement. J Thorac Cardiovasc Surg. 2023 09; 166(3):679-687.e1. View Abstract
  27. Spatial variation in red deer density in a transboundary forest ecosystem. Sci Rep. 2023 03 20; 13(1):4561. View Abstract
  28. Robotic Instruments Inside the MRI Bore: Key Concepts and Evolving Paradigms in Imaging-enhanced Cranial Neurosurgery. World Neurosurg. 2023 08; 176:127-139. View Abstract
  29. Estimating spatially variable and density-dependent survival using open-population spatial capture-recapture models. Ecology. 2023 02; 104(2):e3934. View Abstract
  30. A flexible and efficient Bayesian implementation of point process models for spatial capture-recapture data. Ecology. 2023 01; 104(1):e3887. View Abstract
  31. What we look for at Science Robotics. Sci Robot. 2022 10 26; 7(71):eade5834. View Abstract
  32. Continuum Robots for Medical Interventions. Proc IEEE Inst Electr Electron Eng. 2022 Jul; 110(7):847-870. View Abstract
  33. A Soft Robotic Balloon Endoscope for Airway Procedures. Soft Robot. 2022 10; 9(5):1014-1029. View Abstract
  34. A decade retrospective of medical robotics research from 2010 to 2020. Sci Robot. 2021 Nov 10; 6(60):eabi8017. View Abstract
  35. Eccentric Tube Robots as Multiarmed Steerable Sheaths. IEEE Trans Robot. 2022 Feb; 38(1):477-490. View Abstract
  36. In Vivo Molding of Airway Stents. Adv Funct Mater. 2021 May 17; 31(20). View Abstract
  37. Estimating and forecasting spatial population dynamics of apex predators using transnational genetic monitoring. Proc Natl Acad Sci U S A. 2020 12 01; 117(48):30531-30538. View Abstract
  38. The impact of cancer and chemotherapy during pregnancy on child neurodevelopment: A multimodal neuroimaging analysis. EClinicalMedicine. 2020 Nov; 28:100598. View Abstract
  39. Response to comments on preclinical evaluation of a pediatric airway stent for tracheobronchomalacia. J Thorac Cardiovasc Surg. 2022 02; 163(2):e109. View Abstract
  40. Preclinical evaluation of a pediatric airway stent for tracheobronchomalacia. J Thorac Cardiovasc Surg. 2020 Mar 15. View Abstract
  41. Identifying gene-specific subgroups: an alternative to biclustering. BMC Bioinformatics. 2019 Dec 03; 20(1):625. View Abstract
  42. Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. IEEE Robot Autom Mag. 2019 May; 2019:9834-9840. View Abstract
  43. Autonomous Robotic Intracardiac Catheter Navigation Using Haptic Vision. Sci Robot. 2019 04 24; 4(29). View Abstract
  44. Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal. IEEE Trans Biomed Eng. 2020 01; 67(1):177-184. View Abstract
  45. Optically-guided instrument for transapical beating-heart delivery of artificial mitral chordae tendineae. J Thorac Cardiovasc Surg. 2019 11; 158(5):1332-1340. View Abstract
  46. Minimally Invasive Bilateral Anterior Cingulotomy via Open Minicraniotomy Using a Novel Multiport Cisternoscope: A Cadaveric Demonstration. Oper Neurosurg. 2019 02 01; 16(2):217-225. View Abstract
  47. Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics. IEEE Trans Robot. 2019 Apr; 35(2):353-370. View Abstract
  48. Medical Robotics. Ann Biomed Eng. 2018 Oct; 46(10):1433-1436. View Abstract
  49. The grand challenges of Science Robotics. Sci Robot. 2018 01 31; 3(14). View Abstract
  50. In vivo tissue regeneration with robotic implants. Sci Robot. 2018 01 10; 3(14). View Abstract
  51. A low-cost bioprosthetic semilunar valve for research, disease modelling and surgical training applications. Interact Cardiovasc Thorac Surg. 2017 11 01; 25(5):785-792. View Abstract
  52. Cardioscopically Guided Beating Heart Surgery: Paravalvular Leak Repair. Ann Thorac Surg. 2017 Sep; 104(3):1074-1079. View Abstract
  53. Varying ultrasound power level to distinguish surgical instruments and tissue. Med Biol Eng Comput. 2018 Mar; 56(3):453-467. View Abstract
  54. Medical robotics-Regulatory, ethical, and legal considerations for increasing levels of autonomy. Sci Robot. 2017 Mar 15; 2(4). View Abstract
  55. Toward On-line Parameter Estimation of Concentric Tube Robots Using a Mechanics-based Kinematic Model. Rep U S. 2016 Oct; 2016:2400-2405. View Abstract
  56. Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots. Rep U S. 2016 Oct; 2016:4324-4329. View Abstract
  57. Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots. IEEE Trans Robot. 2017 Feb; 33(1):22-37. View Abstract
  58. TCT-246 Cardioscopy-Guided Repair of Aortic Paravalvular Leak in Porcine Beating Heart Model. J Am Coll Cardiol. 2016 Nov 01; 68(18S):B100. View Abstract
  59. Coordinative task difficulty and behavioural errors are associated with increased long-range beta band synchronization. Neuroimage. 2017 02 01; 146:883-893. View Abstract
  60. Simultaneous steering and imaging of magnetic particles using MRI toward delivery of therapeutics. Sci Rep. 2016 Sep 26; 6:33567. View Abstract
  61. Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. IEEE Robot Autom Lett. 2017 Jan; 2(1):298-304. View Abstract
  62. A multiport MR-compatible neuroendoscope: spanning the gap between rigid and flexible scopes. Neurosurg Focus. 2016 Sep; 41(3):E13. View Abstract
  63. When will a Robot Outperform a Handheld Instrument? - A Case Study in Beating-Heart Paravalvular Leak Closure. Hamlyn Symp Med Robot. 2016 06; 2016:11-12. View Abstract
  64. Biocompatible Pressure Sensing Skins for Minimally Invasive Surgical Instruments. IEEE Sens J. 2016 Mar; 16(5):1294-1303. View Abstract
  65. Cardioscopic Tool-delivery Instrument for Beating-heart Surgery. IEEE ASME Trans Mechatron. 2016 Feb; 21(1):584-590. View Abstract
  66. Elastic Stability of Concentric Tube Robots Subject to External Loads. IEEE Trans Biomed Eng. 2016 06; 63(6):1116-28. View Abstract
  67. Real-time Adaptive Kinematic Model Estimation of Concentric Tube Robots. Rep U S. 2015 Sep-Oct; 2015:3214-3219. View Abstract
  68. Clinical Parameters vs Cytokine Profiles as Predictive Markers of IgE-Mediated Allergy in Young Children. PLoS One. 2015; 10(7):e0132753. View Abstract
  69. Heterogeneity of synovial molecular patterns in patients with arthritis. PLoS One. 2015; 10(4):e0122104. View Abstract
  70. Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints. IEEE Trans Robot. 2015 Feb 03; 31(1):67-84. View Abstract
  71. Untethered magnetic millirobot for targeted drug delivery. Biomed Microdevices. 2015; 17(3):9962. View Abstract
  72. Tissue removal inside the beating heart using a robotically delivered metal MEMS tool. Int J Rob Res. 2015 Feb; 34(2):236-247. View Abstract
  73. A generic cycling hypoxia-derived prognostic gene signature: application to breast cancer profiling. Oncotarget. 2014 Aug 30; 5(16):6947-63. View Abstract
  74. Novel pressure-sensing skin for detecting impending tissue damage during neuroendoscopy. J Neurosurg Pediatr. 2014 Jan; 13(1):114-21. View Abstract
  75. Percutaneous steerable robotic tool delivery platform and metal microelectromechanical systems device for tissue manipulation and approximation: closure of patent foramen ovale in an animal model. Circ Cardiovasc Interv. 2013 Aug; 6(4):468-75. View Abstract
  76. Simultaneous Soft Sensing of Tissue Contact Angle and Force for Millimeter-scale Medical Robots. IEEE Int Conf Robot Autom. 2013. View Abstract
  77. Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools. Int J Rob Res. 2012 Aug 01; 31(9):1081-1093. View Abstract
  78. Phase II study of everolimus in patients with locally advanced or metastatic transitional cell carcinoma of the urothelial tract: clinical activity, molecular response, and biomarkers. Ann Oncol. 2012 Oct; 23(10):2663-2670. View Abstract
  79. Robotics and imaging in congenital heart surgery. Future Cardiol. 2012 Mar; 8(2):285-96. View Abstract
  80. Tracking and position control of an MRI-powered needle-insertion robot. Annu Int Conf IEEE Eng Med Biol Soc. 2012; 2012:928-31. View Abstract
  81. Metal MEMS Tools for Beating-heart Tissue Removal. IEEE Int Conf Robot Autom. 2012. View Abstract
  82. Tubular Enhanced Geodesic Active Contours for Continuum Robot Detection using 3D Ultrasound. IEEE Int Conf Robot Autom. 2012. View Abstract
  83. Robotic Neuro-Endoscope with Concentric Tube Augmentation. Rep U S. 2012. View Abstract
  84. Passive markers for tracking surgical instruments in real-time 3-D ultrasound imaging. IEEE Trans Med Imaging. 2012 Mar; 31(3):563-75. View Abstract
  85. Detection of Curved Robots using 3D Ultrasound. Rep U S. 2011 Sep 25; 2011:2083-2089. View Abstract
  86. MRI-powered Actuators for Robotic Interventions. Rep U S. 2011 Sep 25; 4508-4515. View Abstract
  87. Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints. IEEE Int Conf Robot Autom. 2011 May 09; 2011:398-403. View Abstract
  88. Metal MEMS Tools for Beating-heart Tissue Approximation. IEEE Int Conf Robot Autom. 2011 May 09; 2011:411-416. View Abstract
  89. Algorithms for Design of Continuum Robots Using the Concentric Tubes Approach: A Neurosurgical Example. IEEE Int Conf Robot Autom. 2011 May 09; 667-673. View Abstract
  90. Stiffness Control of Surgical Continuum Manipulators. IEEE Trans Robot. 2011 Apr; 27(2). View Abstract
  91. Friction Modeling in Concentric Tube Robots. IEEE Int Conf Robot Autom. 2011; 1139-1146. View Abstract
  92. Beating-heart mitral valve chordal replacement. Annu Int Conf IEEE Eng Med Biol Soc. 2011; 2011:2476-9. View Abstract
  93. Tubular structure enhancement for surgical instrument detection in 3D ultrasound. Annu Int Conf IEEE Eng Med Biol Soc. 2011; 2011:7203-6. View Abstract
  94. Quasistatic Modeling of Concentric Tube Robots with External Loads. Rep U S. 2010 Dec 03; 2010:2325-2332. View Abstract
  95. Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment. Rep U S. 2010 Dec 03; 2010:863-870. View Abstract
  96. Real-time Position Control of Concentric Tube Robots. IEEE Int Conf Robot Autom. 2010 May 03; 2010:562-568. View Abstract
  97. Design and Control of Concentric-Tube Robots. IEEE Trans Robot. 2010 Apr 01; 26(2):209-225. View Abstract
  98. Mechanics of dynamic needle insertion into a biological material. IEEE Trans Biomed Eng. 2010 Apr; 57(4):934-43. View Abstract
  99. Image guided surgical interventions. Curr Probl Surg. 2009 Sep; 46(9):730-66. View Abstract
  100. In brief. Curr Probl Surg. 2009 Sep; 46(9):723-7. View Abstract
  101. In Brief. Curr Probl Surg. 2009 Sep 01; 46(9):723-727. View Abstract
  102. Fast Needle Insertion to Minimize Tissue Deformation and Damage. IEEE Int Conf Robot Autom. 2009 Jul 06; 2009:3097-3102. View Abstract
  103. Removing muscle and eye artifacts using blind source separation techniques in ictal EEG source imaging. Clin Neurophysiol. 2009 Jul; 120(7):1262-72. View Abstract
  104. Torsional Kinematic Model for Concentric Tube Robots. IEEE Int Conf Robot Autom. 2009 May 12; 2009:2964-2971. View Abstract
  105. Imaging artifacts of medical instruments in ultrasound-guided interventions. J Ultrasound Med. 2007 Oct; 26(10):1303-22. View Abstract
  106. GPU based real-time instrument tracking with three-dimensional ultrasound. Med Image Anal. 2007 Oct; 11(5):458-64. View Abstract
  107. Inverse Kinematics of Concentric Tube Steerable Needles. IEEE Int Conf Robot Autom. 2007; 1887-1892. View Abstract
  108. 3D ultrasound in robotic surgery: performance evaluation with stereo displays. Int J Med Robot. 2006 Sep; 2(3):279-85. View Abstract
  109. Producing diffuse ultrasound reflections from medical instruments using a quadratic residue diffuser. Ultrasound Med Biol. 2006 May; 32(5):721-7. View Abstract
  110. GPU based real-time instrument tracking with three dimensional ultrasound. Med Image Comput Comput Assist Interv. 2006; 9(Pt 1):58-65. View Abstract
  111. Stereo display of 3D ultrasound images for surgical robot guidance. Conf Proc IEEE Eng Med Biol Soc. 2006; 2006:1509-12. View Abstract
  112. Three-dimensional echo-guided beating heart surgery without cardiopulmonary bypass: atrial septal defect closure in a swine model. J Thorac Cardiovasc Surg. 2005 Nov; 130(5):1348-57. View Abstract
  113. Passive markers for ultrasound tracking of surgical instruments. Med Image Comput Comput Assist Interv. 2005; 8(Pt 2):41-8. View Abstract
  114. Three-dimensional echocardiography-guided beating-heart surgery without cardiopulmonary bypass: a feasibility study. J Thorac Cardiovasc Surg. 2004 Oct; 128(4):579-87. View Abstract
  115. Port Placement Planning in Robot-Assisted Coronary Artery Bypass. IEEE Trans Rob Autom. 2003 Oct; 19(5):912-917. View Abstract
  116. Application of robotics in congenital cardiac surgery. Semin Thorac Cardiovasc Surg Pediatr Card Surg Annu. 2003; 6:72-83. View Abstract
  117. Real-time three-dimensional ultrasound for guiding surgical tasks. Comput Aided Surg. 2003; 8(2):82-90. View Abstract
  118. An iterative maximum-likelihood polychromatic algorithm for CT. IEEE Trans Med Imaging. 2001 Oct; 20(10):999-1008. View Abstract
  119. Maximum-likelihood expectation-maximization reconstruction of sinograms with arbitrary noise distribution using NEC-transformations. IEEE Trans Med Imaging. 2001 May; 20(5):365-75. View Abstract
  120. Simultaneous maximum a posteriori reconstruction of attenuation and activity distributions from emission sinograms. IEEE Trans Med Imaging. 1999 May; 18(5):393-403. View Abstract
  121. Iterative reconstruction for helical CT: a simulation study. Phys Med Biol. 1998 Apr; 43(4):729-37. View Abstract

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