Book Chapters
- 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 A.
Lazinica, ed., Human-Robot
Interaction, Vienna: Advanced Robotic Systems, 2007, in press.
Journal Articles
- 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.
Conference Papers
- J. J.
Vázquez López, S. Sibenaller, D. Ding, and C. Riviere,
“Toward filtering of athetoid motion with neural networks,” Proc. 28th
Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Lyon, France, 2007, pp.
1434-1436.
- R. Sandoval, R.
A. MacLachlan, M. Oh, and C. Riviere, “Positioning accuracy of
neurosurgeons,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc.,
Lyon, France, 2007, pp. 206-209.
- D. Minhas, J.
Engh, M. Fenske, and C. Riviere, “Modeling of needle steering via
duty-cycled spinning,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med.
Biol. Soc., Lyon, France, 2007, pp. 2756-2759.
- D. Y. Choi, R.
Sandoval, R. A. MacLachlan, L. Ho, L. A. Lobes, and C. Riviere, “Test
of tracing performance with an active handheld micromanipulator,” Proc.
28th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Lyon, France, 2007,
pp. 3638-3641.
- J. Engh, G.
Podnar, D. Kondziolka, and C. Riviere, “Toward effective needle
steering in brain tissue,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med.
Biol. Soc., New York City, 2006, pp. 559-562.
- R. Cernat, C.
Matei, L. Olteanu, C. Riviere, and D. Dumitraş, “
Acousto-optic compensation of tremor for use in a handheld laser
microsurgical instrument,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med.
Biol. Soc., New York City, 2006, pp. 3862-3864.
- N. Patronik, T.
Ota, M. Zenati, and C. Riviere, “ Improved traction
for a mobile robot traveling on the heart, Proc. 28th Annu. Intl. Conf.
IEEE Eng. Med. Biol. Soc., New York City, 2006, pp. 339-342.
- H. Tummala, N.
Patronik, and C. Riviere, “Design, implementation, and testing of the
heartlander force (HLF) prototype,” ASME Summer Bioeng. Conf., 2006, 2
pp.
- J. A. Engh, S.
Y. Khoo, G. Podnar, and C. N. Riviere, “Flexible needle steering system
for percutaneous access to deep zones of the brain,” Proc. 32nd IEEE
Northeast Bioeng. Conf., 2006, pp. 103-104.
- S. Seshamani,
C. Riviere, J. Handa, L. Lobes, G. Hager, “Visual measurement of
microsurgical motion with application to robotic augmentation,” Proc.
32nd IEEE Northeast Bioeng. Conf., 2006, pp. 39-40.
- F. Razjouyan,
N. A. Patronik, M. A. Zenati, and C. N. Riviere, “Enhancing the
locomotion of an in vivo robot for cardiac surgery,” Proc. 32nd IEEE
Northeast Bioeng. Conf., 2006, pp. 97-98. (Winner, Best Student Paper Award)
- Patronik NA,
Riviere CN, El
Qarra S., Zenati MA. “The HeartLander: a novel epicardial crawling
robot for
myocardial injections”. Proc. 19th Int. Congr. Comput. Asst.
Radiol.
Surg., Elsevier. 2005; 1281C: 735-739.
- N. A. Patronik,
M. A. Zenati,
and C. N. Riviere, “A cable-driven miniature robot for crawling on the
heart,”
27th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Shanghai, China,
Sept. 1-4,
2005.
- J.
García Avedillo, D.
Y. Choi,
and C. N. Riviere, “Inverse kinematic model of flexure-based
microsurgical
manipulator,” 27th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc.,
Shanghai,
China, Sept. 1-4, 2005.
- C.
Benjavitvilai and C. N.
Riviere, “Fuzzy calibration of magnetometer in presence of surgical
microscope,” 27th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc.,
Shanghai, China,
Sept. 1-4, 2005.
- D. Y. Choi and
C. N. Riviere,
“Flexure-based manipulator for active handheld microsurgical
instrument,” 27th
Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Shanghai, China, Sept.
1-4, 2005. (First Place in Student
Design Competition).
- W. T. Ang, P. K.
Khosla, and C. N. Riviere, “Kalman
filtering for real-time orientation tracking of handheld microsurgical
instrument,” Proc. IEEE/RSJ Intl. Conf. Intell. Robots Syst. (IROS),
Sept.
28-Oct. 2, 2004, vol. 3, pp. 2574-2580.
- W. T. Ang, P. K.
Khosla, and C. N. Riviere, “Active
tremor compensation in microsurgery,” Proc. 26th Annu. Intl.
Conf.
IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp. 2738-2741.
- A. D. Jagtap and C.
N. Riviere, “Applied force during
vitreoretinal microsurgery with handheld instruments,” Proc. 26th
Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp.
2771-2773.
- F. Peral-Gutierrez,
A. L. Liao, and C. N. Riviere,
“Static and dynamic accuracy of vitreoretinal surgeons,” Proc. 26th
Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp.
2734-2737.
- N. A. Patronik, M.
A. Zenati, and C. N. Riviere,
“Crawling on the heart: a mobile robotic
device for minimally invasive cardiac interventions,” 7th
Intl.
Conf. Med. Image Comput. and Computer-Assisted Intervention (MICCAI),
2004, Lect.
Notes Comput. Sci., pp. 9-16.
- W. T. Ang, S. Y.
Khoo, P. K. Khosla, and C. N. Riviere,
“Physical model of a dual-axis MEMS accelerometer for low-g motion
tracking
applications,” Proc. IEEE Intl. Conf. Robot. Autom., New Orleans, May
2004,
vol. 2, pp. 1345-1351.
- N. A. Patronik, M.
A. Zenati, and C. N. Riviere,
“Development of a robotic crawler for minimally invasive cardiac
therapies,”
Proc. 30th IEEE Northeast Bioeng. Conf., Springfield, Mass., Apr.
17-18, 2004,
pp. 239-240 (2nd
Place, Student Paper Competition).
- W. T. Ang, P. K.
Khosla, and C. N. Riviere, “Modeling
rate-dependent hysteresis in piezoelectric actuators,” Proc. IEEE/RSJ
Intl.
Conf. Intelligent Robots and Systems, Oct. 2003, pp. 1975-1980.
- F. Alija
Garmón, W. T. Ang, P. K. Khosla, and C. N.
Riviere, “Rate-dependent inverse hysteresis feedforward controller for
microsurgical tool,” Proc. 25th Annu. Conf. IEEE Eng. Med. Biol. Soc.,
Cancun,
Mex., Sept. 17-21, 2003, pp. 3415-3418.
- R. Ortiz and C. N.
Riviere, “Tracking rotation and
translation of laser microsurgical instruments,” Proc. 25th Annu. Conf.
IEEE
Eng. Med. Biol. Soc., Cancun, Mex., Sept. 17-21, 2003, pp. 3411-3414.
- W. T. Ang, P. K.
Khosla, and C. N. Riviere, “Design of
all-accelerometer inertial measurement unit for tremor sensing in
handheld
microsurgical instrument,” Proc. IEEE Intl. Conf. Robot. Autom.,
Taipei,
Taiwan, Sept. 14-19, 2003, pp. 1781-1786.
- W. T. Ang and C. N.
Riviere, “Assistive human-machine
interfaces via artificial neural networks,” Proc. 3rd Intl.
Symp.
Robotics and Automation, Toluca, Mexico, Sept. 2002, pp. 477-480.
- S. P. N. Singh and
C. N. Riviere, “Physiological tremor
amplitude during retinal microsurgery,” Proc. 28th IEEE
Northeast
Bioeng. Conf., Philadelphia, April 20-21, 2002, pp. 171-172.
- W. T. Ang, C. N.
Riviere, and P. K. Khosla, “Design and
implementation of active error canceling in a hand-held microsurgical
instrument,” Proc. IEEE/RSJ Intl. Conf. Intell. Robots and Systems,
Hawaii,
Oct. 29-Nov. 3, 2001, pp.1106-1111.
- L. Hotraphinyo and
C. N. Riviere, “Precision measurement
for microsurgical instrument evaluation,” Proc. 22nd Annu.
Conf.
IEEE Eng. Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp. 3454-3457
(Finalist,
Student Paper Competition).
- W. T. Ang and C. N.
Riviere, “Neural network methods for error
canceling
in human-machine manipulation,” Proc. 22nd Annu. Conf. IEEE
Eng.
Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp. 3462-3465.
- L. Hotraphinyo and
C. N. Riviere, “Three-dimensional
accuracy assessment of eye surgeons,” Proc. 22nd Annu. Conf.
IEEE
Eng. Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp. 3458-3461.
- W. T. Ang, C. N.
Riviere, and P. K. Khosla, “An
intelligent hand-held microsurgical instrument for improved accuracy,”
Proc. 22nd
Annu. Conf. IEEE Eng. Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp.
3450-3453.
- C. N. Riviere, A.
Thakral, I. I.
Iordachita, G. Mitroi, and D. Stoianovici, “Predicting respiratory
motion for active
canceling during percutaneous needle insertion,” Proc. 22nd
Annu.
Conf. IEEE Eng. Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp.
3477-3480.
- W. T. Ang, C. N. Riviere, and P. K. Khosla, “An
active hand-held instrument for enhanced microsurgical accuracy,”
Proc.
3rd Intl. Conf. Medical Image Computing and Computer-Assisted
Intervention,
Pittsburgh, Oct. 11-14, 2000, pp. 878-886.
- C. N. Riviere and P. S. Jensen, “A
study of instrument motion in retinal microsurgery,” Proc. 21st
Annu.
Conf. IEEE Eng. Med. Biol. Soc., Chicago, Jul. 23-28, 2000.
- M. A. Gomez-Blanco, C. N. Riviere and P. K.
Khosla,
“Intraoperative
tremor
monitoring for vitreoretinal microsurgery,” Proc. Medicine Meets
Virtual
Reality 8, Newport Bch., Ca., Jan. 27-30, 2000, pp. 99-101.
- M. A. Gomez-Blanco, C. N. Riviere, and P. K.
Khosla. Intraoperative
instrument
motion sensing for microsurgery. Proceedings of the 20th Annual
Conference
of the IEEE Engineering in Medicine and Biology Society, 13-16 Oct.
1999.
- C. N. Riviere and P. K. Khosla. Microscale
measurement of
surgical
instrument
motion. Proc. 2nd Intl. Conf. on Medical Image Computing and
Computer-Assisted
Intervention, Cambridge, England, 19-22 Sept. 1999, pp. 1080-1087.
- C. N. Riviere and P. K. Khosla. 3-D
position measurement for
microsurgical
evaluation and simulation. Proc. Medicine Meets Virtual Reality
7, San
Francisco, Jan. 20-23, 1999, pp. 285-289.
- C. N. Riviere and P. K. Khosla. Error
recognition for
rehabilitation
and
microsurgery. Proceedings of the Sixth ACM International
Multimedia
Conference:
Workshop on Face and Gesture Recognition and Its Applications, Bristol,
England, 12 September 1998 (invited).
- C. N. Riviere, R. S. Rader, and P. K.
Khosla. Characteristics of
hand
motion of eye surgeons. Proceedings of the 19th
Annual Conference of the IEEE Engineering
in Medicine and Biology Society, Chicago, 30 October-2 November
1997.
[PDF;
98K]
- C. N. Riviere and P. K. Khosla. Active
handheld instrument for
error
compensation
in microsurgery. Proceedings of Intelligent Systems and Advanced
Manufacturing:
Technical Conference on Microrobotics and Microsystem Fabrication,
Pittsburgh,
Pa., 16-17 October 1997, pp. 86-95. [PDF;
107K]
- C. N. Riviere and P. K. Khosla. Augmenting
the human-machine
interface:
improving manual accuracy. Proceedings of the IEEE
International Conference on Robotics and Automation, Albuquerque, 20-25
April 1997. [PDF;
26K]
- C. N. Riviere and P. K. Khosla. Accuracy in
positioning of
handheld
instruments. Proceedings of the 18th
Annual Conference of the IEEE Engineering
in Medicine and Biology Society, Amsterdam, 31 October-3 November
1996.
- D. S. Hsu, C. N. Riviere, and N. V. Thakor.
On-line canceling of
pathological
tremor for computer interface. Proceedings of the 18th
Annual Conference of the IEEE Engineering
in Medicine and Biology Society, Amsterdam, 31 October-3 November
1996.
- C. N. Riviere, R. S. Rader, and N. V.
Thakor. Adaptive
real-time canceling of physiological tremor for microsurgery.
Proceedings
of the Second International Symposium on Medical Robotics and Computer
Assisted Surgery , Baltimore, 5-7 November, pp. 89-96, 1995.
- C. N. Riviere and N. V. Thakor. Adaptive
human-machine interface for persons with tremor. Proceedings
of
the 17th
Annual Conference of the IEEE Engineering
in Medicine and Biology Society, Montréal, 20-23 September,
pp. 1193-1194, 1995. (Second
Place, Student Paper Competition)
- C. N. Riviere and N. V. Thakor. Suppressing
pathological tremor during dextrous teleoperation.
Proceedings of
the 17th Annual
Conference
of the IEEE Engineering
in Medicine and Biology Society, Montréal, 20-23 September,
pp. 1195-1196, 1995.
- C. N. Riviere and N. V. Thakor. Assistive
computer interface for
pen
input
by persons with tremor. Proceedings of the RESNA 1995 Annual
Conference,
Vancouver, BC, 9-14 June, pp. 440-442, 1995.
- C. N. Riviere and N. V. Thakor. Linearity
of human commands for
telerobotics. Proceedings of the 16th Annual Conference of the IEEEEngineering
in Medicine and Biology Society, Baltimore, 3-6 November, vol. 2,
pp.1039-1040,
1994.
- I. Z. Amanat, C. N. Riviere, and N. V.
Thakor. Teleoperation of
a
dextrous
robotics hand using vibrotactile feedback. Proceedings of the
16th
Annual
Conference of the IEEE Engineering
in Medicine and Biology Society, Baltimore, 3-6 November, vol. 2,
pp.
1059-1060, 1994.
- C. N. Riviere, H. F. Rizer, and N. V.
Thakor. Accuracy of
upper-extremity
motion by healthy and disabled subjects. Proceedings of the RESNA
1994
Annual Conference, Nashville, TN, 17-22 June, pp. 170-172, 1994.
- I. Z. Amanat, C. N. Riviere, and N. V.
Thakor. Vibrotactile
feedback
for
dextrous teleoperation. Proceedings of the RESNA 1994 Annual
Conference,
Nashville, TN, 17-22 June, pp. 460-462, 1994.
- C. N. Riviere and N. V. Thakor.
Accuracy-based bandwidth of
human
upper-extremity
motion. Proceedings of the 13th Southern Biomedical Engineering
Conference,
Washington, DC, 16-17 April, pp. 530-533, 1994.
- I. Z. Amanat, C. N. Riviere, and N. V.
Thakor. Vibrotactile
feedback
for
a teleoperated dextrous hand. Proceedings of the 13th Southern
Biomedical
Engineering Conference, Washington, DC, 16-17 April, pp. 526-529, 1994.
- C. N. Riviere. A finite element model of
the Hybrid III
ribcage. Proceedings
of the Eighteenth International Workshop on Human Subjects for
Biomechanical
Research, Orlando, FL, pp. 55-59, 1990.
Technical Reports
- R. A. MacLachlan, C. N. Riviere.
Optical tracking for performance testing of microsurgical
instruments. Tech. report CMU-RI-TR-07-01, Robotics Institute,
Carnegie Mellon University, 2007.
- M. Gomez Blanco, C. Riviere, and P. Khosla.
Sensing
hand tremor in a vitreoretinal microsurgical instrument. Tech.
report
CMU-RI-TR-99-39, Robotics Institute, Carnegie Mellon University, 1999.