Information

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. 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
  2. Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment. IEEE Trans Med Robot Bionics. 2024 Nov; 6(4):1322-1333. View Abstract
  3. Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. Rep U S. 2023 Oct; 2023:8461-8466. View Abstract
  4. Using robotics to move a neurosurgeon's hands to the tip of their endoscope. Sci Robot. 2023 09 20; 8(82):eadg6042. View Abstract
  5. 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
  6. Magnetic Ball Chain Robots for Endoluminal Interventions. IEEE Int Conf Robot Autom. 2023 May-Jun; 2023:4717-4723. View Abstract
  7. Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots. Hamlyn Symp Med Robot. 2023 Jun; 2023:27-28. View Abstract
  8. Modeling Tendon-actuated Concentric Tube Robots. Int Symp Med Robot. 2023 Apr; 2023. View Abstract
  9. Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots. Int Symp Med Robot. 2023 Apr; 2023. View Abstract
  10. 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
  11. 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
  12. What we look for at Science Robotics. Sci Robot. 2022 10 26; 7(71):eade5834. View Abstract
  13. Continuum Robots for Medical Interventions. Proc IEEE Inst Electr Electron Eng. 2022 Jul; 110(7):847-870. View Abstract
  14. A Soft Robotic Balloon Endoscope for Airway Procedures. Soft Robot. 2022 10; 9(5):1014-1029. View Abstract
  15. A decade retrospective of medical robotics research from 2010 to 2020. Sci Robot. 2021 Nov 10; 6(60):eabi8017. View Abstract
  16. Eccentric Tube Robots as Multiarmed Steerable Sheaths. IEEE Trans Robot. 2022 Feb; 38(1):477-490. View Abstract
  17. In Vivo Molding of Airway Stents. Adv Funct Mater. 2021 May 17; 31(20). View Abstract
  18. Response to comments on preclinical evaluation of a pediatric airway stent for tracheobronchomalacia. J Thorac Cardiovasc Surg. 2022 02; 163(2):e109. View Abstract
  19. Preclinical evaluation of a pediatric airway stent for tracheobronchomalacia. J Thorac Cardiovasc Surg. 2020 Mar 15. View Abstract
  20. Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. IEEE Robot Autom Mag. 2019 May; 2019:9834-9840. View Abstract
  21. Autonomous Robotic Intracardiac Catheter Navigation Using Haptic Vision. Sci Robot. 2019 04 24; 4(29). View Abstract
  22. Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal. IEEE Trans Biomed Eng. 2020 01; 67(1):177-184. View Abstract
  23. 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
  24. Minimally Invasive Bilateral Anterior Cingulotomy via Open Minicraniotomy Using a Novel Multiport Cisternoscope: A Cadaveric Demonstration. Oper Neurosurg (Hagerstown). 2019 02 01; 16(2):217-225. View Abstract
  25. 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
  26. Medical Robotics. Ann Biomed Eng. 2018 Oct; 46(10):1433-1436. View Abstract
  27. The grand challenges of Science Robotics. Sci Robot. 2018 01 31; 3(14). View Abstract
  28. In vivo tissue regeneration with robotic implants. Sci Robot. 2018 01 10; 3(14). View Abstract
  29. 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
  30. Cardioscopically Guided Beating Heart Surgery: Paravalvular Leak Repair. Ann Thorac Surg. 2017 Sep; 104(3):1074-1079. View Abstract
  31. Varying ultrasound power level to distinguish surgical instruments and tissue. Med Biol Eng Comput. 2018 Mar; 56(3):453-467. View Abstract
  32. Medical robotics-Regulatory, ethical, and legal considerations for increasing levels of autonomy. Sci Robot. 2017 Mar 15; 2(4). View Abstract
  33. 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
  34. Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots. Rep U S. 2016 Oct; 2016:4324-4329. View Abstract
  35. Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots. IEEE Trans Robot. 2017 Feb; 33(1):22-37. View Abstract
  36. 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
  37. Simultaneous steering and imaging of magnetic particles using MRI toward delivery of therapeutics. Sci Rep. 2016 Sep 26; 6:33567. View Abstract
  38. Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. IEEE Robot Autom Lett. 2017 Jan; 2(1):298-304. View Abstract
  39. A multiport MR-compatible neuroendoscope: spanning the gap between rigid and flexible scopes. Neurosurg Focus. 2016 Sep; 41(3):E13. View Abstract
  40. 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
  41. Biocompatible Pressure Sensing Skins for Minimally Invasive Surgical Instruments. IEEE Sens J. 2016 Mar; 16(5):1294-1303. View Abstract
  42. Cardioscopic Tool-delivery Instrument for Beating-heart Surgery. IEEE ASME Trans Mechatron. 2016 Feb; 21(1):584-590. View Abstract
  43. Elastic Stability of Concentric Tube Robots Subject to External Loads. IEEE Trans Biomed Eng. 2016 06; 63(6):1116-28. View Abstract
  44. Real-time Adaptive Kinematic Model Estimation of Concentric Tube Robots. Rep U S. 2015 Sep-Oct; 2015:3214-3219. View Abstract
  45. Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints. IEEE Trans Robot. 2015 Feb 03; 31(1):67-84. View Abstract
  46. Untethered magnetic millirobot for targeted drug delivery. Biomed Microdevices. 2015; 17(3):9962. View Abstract
  47. Novel pressure-sensing skin for detecting impending tissue damage during neuroendoscopy. J Neurosurg Pediatr. 2014 Jan; 13(1):114-21. View Abstract
  48. 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
  49. Simultaneous Soft Sensing of Tissue Contact Angle and Force for Millimeter-scale Medical Robots. IEEE Int Conf Robot Autom. 2013. View Abstract
  50. Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools. Int J Rob Res. 2012 Aug 01; 31(9):1081-1093. View Abstract
  51. Robotics and imaging in congenital heart surgery. Future Cardiol. 2012 Mar; 8(2):285-96. View Abstract
  52. 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
  53. Metal MEMS Tools for Beating-heart Tissue Removal. IEEE Int Conf Robot Autom. 2012. View Abstract
  54. Tubular Enhanced Geodesic Active Contours for Continuum Robot Detection using 3D Ultrasound. IEEE Int Conf Robot Autom. 2012. View Abstract
  55. Robotic Neuro-Endoscope with Concentric Tube Augmentation. Rep U S. 2012. View Abstract
  56. 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
  57. Detection of Curved Robots using 3D Ultrasound. Rep U S. 2011 Sep 25; 2011:2083-2089. View Abstract
  58. MRI-powered Actuators for Robotic Interventions. Rep U S. 2011 Sep 25; 4508-4515. View Abstract
  59. 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
  60. Metal MEMS Tools for Beating-heart Tissue Approximation. IEEE Int Conf Robot Autom. 2011 May 09; 2011:411-416. View Abstract
  61. 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
  62. Stiffness Control of Surgical Continuum Manipulators. IEEE Trans Robot. 2011 Apr; 27(2). View Abstract
  63. Friction Modeling in Concentric Tube Robots. IEEE Int Conf Robot Autom. 2011; 1139-1146. View Abstract
  64. Beating-heart mitral valve chordal replacement. Annu Int Conf IEEE Eng Med Biol Soc. 2011; 2011:2476-9. View Abstract
  65. Tubular structure enhancement for surgical instrument detection in 3D ultrasound. Annu Int Conf IEEE Eng Med Biol Soc. 2011; 2011:7203-6. View Abstract
  66. Quasistatic Modeling of Concentric Tube Robots with External Loads. Rep U S. 2010 Dec 03; 2010:2325-2332. View Abstract
  67. Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment. Rep U S. 2010 Dec 03; 2010:863-870. View Abstract
  68. Real-time Position Control of Concentric Tube Robots. IEEE Int Conf Robot Autom. 2010 May 03; 2010:562-568. View Abstract
  69. Design and Control of Concentric-Tube Robots. IEEE Trans Robot. 2010 Apr 01; 26(2):209-225. View Abstract
  70. Mechanics of dynamic needle insertion into a biological material. IEEE Trans Biomed Eng. 2010 Apr; 57(4):934-43. View Abstract
  71. Image guided surgical interventions. Curr Probl Surg. 2009 Sep; 46(9):730-66. View Abstract
  72. In brief. Curr Probl Surg. 2009 Sep; 46(9):723-7. View Abstract
  73. In Brief. Curr Probl Surg. 2009 Sep 01; 46(9):723-727. View Abstract
  74. Fast Needle Insertion to Minimize Tissue Deformation and Damage. IEEE Int Conf Robot Autom. 2009 Jul 06; 2009:3097-3102. View Abstract
  75. 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
  76. Torsional Kinematic Model for Concentric Tube Robots. IEEE Int Conf Robot Autom. 2009 May 12; 2009:2964-2971. View Abstract
  77. Imaging artifacts of medical instruments in ultrasound-guided interventions. J Ultrasound Med. 2007 Oct; 26(10):1303-22. View Abstract
  78. GPU based real-time instrument tracking with three-dimensional ultrasound. Med Image Anal. 2007 Oct; 11(5):458-64. View Abstract
  79. Inverse Kinematics of Concentric Tube Steerable Needles. IEEE Int Conf Robot Autom. 2007; 1887-1892. View Abstract
  80. 3D ultrasound in robotic surgery: performance evaluation with stereo displays. Int J Med Robot. 2006 Sep; 2(3):279-85. View Abstract
  81. Producing diffuse ultrasound reflections from medical instruments using a quadratic residue diffuser. Ultrasound Med Biol. 2006 May; 32(5):721-7. View Abstract
  82. GPU based real-time instrument tracking with three dimensional ultrasound. Med Image Comput Comput Assist Interv. 2006; 9(Pt 1):58-65. View Abstract
  83. Stereo display of 3D ultrasound images for surgical robot guidance. Conf Proc IEEE Eng Med Biol Soc. 2006; 2006:1509-12. View Abstract
  84. 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
  85. Passive markers for ultrasound tracking of surgical instruments. Med Image Comput Comput Assist Interv. 2005; 8(Pt 2):41-8. View Abstract
  86. 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
  87. Port Placement Planning in Robot-Assisted Coronary Artery Bypass. IEEE Trans Rob Autom. 2003 Oct; 19(5):912-917. View Abstract
  88. Application of robotics in congenital cardiac surgery. Semin Thorac Cardiovasc Surg Pediatr Card Surg Annu. 2003; 6:72-83. View Abstract
  89. Real-time three-dimensional ultrasound for guiding surgical tasks. Comput Aided Surg. 2003; 8(2):82-90. View Abstract
  90. An iterative maximum-likelihood polychromatic algorithm for CT. IEEE Trans Med Imaging. 2001 Oct; 20(10):999-1008. View Abstract
  91. 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
  92. 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
  93. Iterative reconstruction for helical CT: a simulation study. Phys Med Biol. 1998 Apr; 43(4):729-37. View Abstract

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