| Cameron Riviere,
Associate Research Professor, The Robotics Institute
Associate Research Professor (by courtesy), Dept. of Biomedical Engineering
Director, Surgical Mechatronics Laboratory
Carnegie Mellon University
Adjunct Associate Professor, Dept. of Rehabilitation Science & Technology
University of Pittsburgh
cam.riviere (at) cs.cmu.edu
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Dr. Riviere received the
Ph.D. in Mechanical Engineering from The Johns Hopkins University in
1995, and joined the Robotics Institute the same year. He received
second place in the 1995 Whitaker Student Paper Competition of the IEEE
Engineering in Medicine and Biology Society. Since 1997 he has also
been an Adjunct Assistant Professor in the Department of Rehabilitation
Science and Technology at the University of Pittsburgh.
I am interested in control systems, robotic devices, signal processing, learning algorithms, and high-precision interfaces for biomedical applications, including surgery and rehabilitation. I seek to develop intelligent tools that:
Most of my projects involve one or more of the following areas.
Robotic and mechatronic devices for microsurgery and minimally invasive surgery. One such project is "Micron," a fully hand-held intelligent microsurgical instrument with active compensation of the surgeon's hand tremor. I have also recently begun a project in robotic instrumentation for minimally invasive heart surgery.
Filtering methods for tremor and non-tremulous error. Distinguishing between desired and undesired motion in user interfaces often requires nonlinear filtering. I develop techniques such as adaptive filters and neural-network-based methods for online estimation of both tremor and non-tremulous types of erroneous motion.
High-precision instrumentation to track microsurgical tools. Peformance validation for microsurgical tools is not a trivial task, since movements as small as a few microns are significant. My research involves the need for precision tracking instrumentation in order to establish the performance baseline of unassisted surgeons, provide raw data for further filter development, and validate the performance of microsurgical devices. Using one such instrument I have acquired what are believed to be the world's first recordings of physiological hand tremor during actual microsurgery.
official RI webpage for downloadable publications)
W. T. Latt, U-X. Tan, A. Georgiou, A. E. Sidarta, C. N. Riviere, and W. T. Ang, “A micro motion sensing system for micromanipulation tasks,” Sens. Actuators A Phys., 173(1):254-266, 2012.
N. A. Patronik, T. Ota, M. A. Zenati, and C. N. Riviere. Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion. Int. J. Med. Robot., in press.
R. A. MacLachlan, B. C. Becker, J. Cuevas Tabarés, G. W. Podnar, L. A. Lobes, Jr., and C. N. Riviere. Micron: an actively stabilized handheld tool for microsurgery. IEEE Trans. Robotics, 28(1):195-212, 2012.
W. T. Latt, U-X. Tan, C. N. Riviere, and W. T. Ang. Transfer function compensation in gyroscope-free inertial measurement units for accurate angular motion sensing. IEEE Sensors Journal, in press.
R. A. MacLachlan and C. N. Riviere. Power voltage-current convertor using quasi-complementary MOSFET current mirrors. Electron. Lett., 47(21):1173-1175, 2011.
W. T. Latt, U-X. Tan, C. N. Riviere, and W. T. Ang. Placement of accelerometers for high sensing resolution in micromanipulation. Sens. Actuators A Phys., 167:304-316, 2011.
J. A. Engh, D. Kondziolka, and C. N. Riviere. Percutaneous intracerebral navigation by duty-cycled spinning of flexible bevel-tipped needles. Neurosurgery, 67(4):1117-1123, 2010.
B. C. Becker, R. A. MacLachlan, L. A. Lobes, Jr., and C. N. Riviere. Semiautomated intraocular laser surgery using handheld instruments. Lasers Surg. Med., 42:264-273, 2010.
W. T. Latt, U.-X. Tan, C. Y. Shee, C. N. Riviere, and W. T. Ang. Compact sensing design of a hand-held active tremor compensation instrument. IEEE Sens. J., 9(12):1864-1871, 2009.
N. A. Patronik, T. Ota, M. A. Zenati, and C. N. Riviere. A miniature mobile robot for navigation and positioning on the beating heart. IEEE Trans. Robot., 25(5):1109-1124, 2009.
U-X. Tan, W. T. Latt, C. Y. Shee, C. N. Riviere, and W. T. Ang. Feedforward controller of ill-conditioned hysteresis using singularity-free Prandtl-Ishlinskii model. IEEE/ASME Trans. Mechatron., 14(5):598-605, 2009.
U-X. Tan, W. T. Latt, F. Widjaja, C. Y. Shee, C. N. Riviere, W. T. Ang. Tracking control of hysteretic piezoelectric actuator using adaptive rate-dependent controller. Sens. Actuators A Phys., 150(1): 116-123, 2009.
R. A. MacLachlan and C. N. Riviere. High-speed microscale optical tracking using digital frequency-domain multiplexing. IEEE Trans. Instrum. Meas., 58(6):1991-2001, 2009.
T. Ota, N. A. Patronik, D. Schwartzman, C. N. Riviere, and M. A. Zenati. Minimally invasive epicardial injection using a semi-autonomous robotic device. Circulation, 118(14 Suppl):S115-S120, 2008.
U. X. Tan, K. C. Veluvolu, W. T. Latt, C. Y. Shee, C. N. Riviere, and W. T. Ang. Estimating displacement of periodic motion with inertial sensors. IEEE Sens. J., 8(8):1385-1388, 2008.
W. T. Ang, P. K. Khosla, and C. N. Riviere. Feedforward controller with inverse rate-dependent model for piezoelectric actuators in trajectory-tracking applications. IEEE/ASME Transactions on Mechatronics 12(2):134-142, 2007.
W. T. Ang, P. K. Khosla, and C. N. Riviere, Nonlinear regression model of a low-g MEMS accelerometer. IEEE Sensors Journal 7(1):81-88, 2007.
C. N. Riviere, J. Gangloff, and M. de Mathelin. Robotic compensation of biological motion to enhance surgical accuracy. Proceedings of the IEEE 94(9):1705-1716, 2006.
T. Ota, N. Patronik, C. Riviere, and M. Zenati. Percutaneous subxiphoid access to the epicardium using a miniature crawling robotic device. Innov. Technol. Tech. Cardiothorac. Vasc. Surg. 1(5):227-231, 2006.
N. A. Patronik, M. A. Zenati, and C. N. Riviere. Preliminary evaluation of a mobile robotic device for navigation and intervention on the beating heart,” Computer Aided Surgery 10(4):225-232, 2005.
C. N. Riviere, N. A. Patronik, and M. A. Zenati. A prototype epicardial crawling device for intrapericardial intervention on the beating heart. Heart Surgery Forum 7(6):E639-E643, 2004.
C. N. Riviere, W. T. Ang, and P. K. Khosla. Toward active tremor canceling in handheld microsurgical instruments. IEEE Transactions on Robotics and Automation 19(5):793-800, 2003.
G. Bonanomi, K. Rebello, K. Lebouitz, C. Riviere, E. Di Martino, D. Vorp, and M. A. Zenati. Microelectromechanical systems for endoscopic cardiac surgery. Journal of Thoracic and Cardiovascular Surgery 126(3):851-852, 2003.
R. H. Taylor, G. Fichtinger, P. Jensen, and C. N. Riviere. Medical robotics and computer-integrated surgery: information-driven systems for 21st century operating rooms. Journal of the Japanese Society for Computer-Assisted Surgery 2(2):47-53, 2000.
C. N. Riviere, R. S. Rader, and N. V. Thakor. Adaptive canceling of physiological tremor for improved precision in microsurgery. IEEE Transactions on Biomedical Engineering,45(7):839-846, July 1998.
C. N. Riviere, S. G. Reich, and N. V. Thakor. Adaptive Fourier modeling for quantification of tremor. Journal of Neuroscience Methods,74(1):77-87, 1997.
C. N. Riviere and N. V. Thakor. Modeling and canceling tremor in human-machine interfaces. IEEE Engineering in Medicine and Biology Magazine, 15(3):29-36, May/June 1996.
C. N. Riviere and N. V. Thakor. Effects of age and disability on tracking tasks with a computer mouse: accuracy and linearity. Journal of Rehabilitation Research and Development,33(1):6-15, February 1996.
B. C. Becker, S. Voros, R. A. MacLachlan, G. D. Hager, and C. N. Riviere. Visual guidance of an active handheld microsurgical tool. In. J. Rosen, B. Hannaford, and R. M. Satava, eds., Surgical Robotics: Systems, Applications, and Visions, New York: Springer, 2011, pp. 355-368.
N. A. Patronik, T. Ota, M. A. Zenati, and C. N. Riviere. Accurate positioning for intervention on the beating heart using a crawling robot. In. J. Rosen, B. Hannaford, and R. M. Satava, eds., Surgical Robotics: Systems, Applications, and Visions, New York: Springer, 2011, pp. 105-121.
U-X. Tan, W. T. Ang, C. Riviere, W. T. Latt, and C. Y. Shee. Modeling and control of piezoelectric actuators for active physiological tremor compensation," in N. Sarkar, ed., Human-Robot Interaction, Vienna: I-Tech Education and Publishing, 2007, pp. 369-394.