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Researcher | 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. 

Researcher | 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.

Researcher | 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 Comparison of Classical, Neural Network and Hybrid Models for Hysteretic Single-tendon Catheter Kinematics. Abstract

  2. Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment. IEEE Trans Med Robot Bionics. 2024 Nov; 6(4):1322-1333. View Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment. Abstract

  3. Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. Rep U S. 2023 Oct; 2023:8461-8466. View Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. 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 Using robotics to move a neurosurgeon's hands to the tip of their endoscope. 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 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]. Abstract

  6. Magnetic Ball Chain Robots for Endoluminal Interventions. IEEE Int Conf Robot Autom. 2023 May-Jun; 2023:4717-4723. View Magnetic Ball Chain Robots for Endoluminal Interventions. Abstract

  7. Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots. Hamlyn Symp Med Robot. 2023 Jun; 2023:27-28. View Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots. Abstract

  8. Modeling Tendon-actuated Concentric Tube Robots. Int Symp Med Robot. 2023 Apr; 2023. View Modeling Tendon-actuated Concentric Tube Robots. Abstract

  9. Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots. Int Symp Med Robot. 2023 Apr; 2023. View Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots. 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 A novel ex vivo tracheobronchomalacia model for airway stent testing and in vivo model refinement. 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 Robotic Instruments Inside the MRI Bore: Key Concepts and Evolving Paradigms in Imaging-enhanced Cranial Neurosurgery. Abstract

  12. What we look for at Science Robotics. Sci Robot. 2022 10 26; 7(71):eade5834. View What we look for at Science Robotics. Abstract

  13. Continuum Robots for Medical Interventions. Proc IEEE Inst Electr Electron Eng. 2022 Jul; 110(7):847-870. View Continuum Robots for Medical Interventions. Abstract

  14. A Soft Robotic Balloon Endoscope for Airway Procedures. Soft Robot. 2022 10; 9(5):1014-1029. View A Soft Robotic Balloon Endoscope for Airway Procedures. Abstract

  15. A decade retrospective of medical robotics research from 2010 to 2020. Sci Robot. 2021 Nov 10; 6(60):eabi8017. View A decade retrospective of medical robotics research from 2010 to 2020. Abstract

  16. Eccentric Tube Robots as Multiarmed Steerable Sheaths. IEEE Trans Robot. 2022 Feb; 38(1):477-490. View Eccentric Tube Robots as Multiarmed Steerable Sheaths. Abstract

  17. In Vivo Molding of Airway Stents. Adv Funct Mater. 2021 May 17; 31(20). View In Vivo Molding of Airway Stents. 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 Response to comments on preclinical evaluation of a pediatric airway stent for tracheobronchomalacia. Abstract

  19. Preclinical evaluation of a pediatric airway stent for tracheobronchomalacia. J Thorac Cardiovasc Surg. 2020 Mar 15. View Preclinical evaluation of a pediatric airway stent for tracheobronchomalacia. Abstract

  20. Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. IEEE Robot Autom Mag. 2019 May; 2019:9834-9840. View Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. Abstract

  21. Autonomous Robotic Intracardiac Catheter Navigation Using Haptic Vision. Sci Robot. 2019 04 24; 4(29). View Autonomous Robotic Intracardiac Catheter Navigation Using Haptic Vision. Abstract

  22. Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal. IEEE Trans Biomed Eng. 2020 01; 67(1):177-184. View Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal. 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 Optically-guided instrument for transapical beating-heart delivery of artificial mitral chordae tendineae. 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 Minimally Invasive Bilateral Anterior Cingulotomy via Open Minicraniotomy Using a Novel Multiport Cisternoscope: A Cadaveric Demonstration. 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 Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics. Abstract

  26. Medical Robotics. Ann Biomed Eng. 2018 Oct; 46(10):1433-1436. View Medical Robotics. Abstract

  27. The grand challenges of Science Robotics. Sci Robot. 2018 01 31; 3(14). View The grand challenges of Science Robotics. Abstract

  28. In vivo tissue regeneration with robotic implants. Sci Robot. 2018 01 10; 3(14). View In vivo tissue regeneration with robotic implants. 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 A low-cost bioprosthetic semilunar valve for research, disease modelling and surgical training applications. Abstract

  30. Cardioscopically Guided Beating Heart Surgery: Paravalvular Leak Repair. Ann Thorac Surg. 2017 Sep; 104(3):1074-1079. View Cardioscopically Guided Beating Heart Surgery: Paravalvular Leak Repair. Abstract

  31. Varying ultrasound power level to distinguish surgical instruments and tissue. Med Biol Eng Comput. 2018 Mar; 56(3):453-467. View Varying ultrasound power level to distinguish surgical instruments and tissue. Abstract

  32. Medical robotics-Regulatory, ethical, and legal considerations for increasing levels of autonomy. Sci Robot. 2017 Mar 15; 2(4). View Medical robotics-Regulatory, ethical, and legal considerations for increasing levels of autonomy. 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 Toward On-line Parameter Estimation of Concentric Tube Robots Using a Mechanics-based Kinematic Model. Abstract

  34. Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots. Rep U S. 2016 Oct; 2016:4324-4329. View Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots. Abstract

  35. Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots. IEEE Trans Robot. 2017 Feb; 33(1):22-37. View Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots. 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 TCT-246 Cardioscopy-Guided Repair of Aortic Paravalvular Leak in Porcine Beating Heart Model. Abstract

  37. Simultaneous steering and imaging of magnetic particles using MRI toward delivery of therapeutics. Sci Rep. 2016 Sep 26; 6:33567. View Simultaneous steering and imaging of magnetic particles using MRI toward delivery of therapeutics. Abstract

  38. Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. IEEE Robot Autom Lett. 2017 Jan; 2(1):298-304. View Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. Abstract

  39. A multiport MR-compatible neuroendoscope: spanning the gap between rigid and flexible scopes. Neurosurg Focus. 2016 Sep; 41(3):E13. View A multiport MR-compatible neuroendoscope: spanning the gap between rigid and flexible scopes. 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 When will a Robot Outperform a Handheld Instrument? - A Case Study in Beating-Heart Paravalvular Leak Closure. Abstract

  41. Biocompatible Pressure Sensing Skins for Minimally Invasive Surgical Instruments. IEEE Sens J. 2016 Mar; 16(5):1294-1303. View Biocompatible Pressure Sensing Skins for Minimally Invasive Surgical Instruments. Abstract

  42. Cardioscopic Tool-delivery Instrument for Beating-heart Surgery. IEEE ASME Trans Mechatron. 2016 Feb; 21(1):584-590. View Cardioscopic Tool-delivery Instrument for Beating-heart Surgery. Abstract

  43. Elastic Stability of Concentric Tube Robots Subject to External Loads. IEEE Trans Biomed Eng. 2016 06; 63(6):1116-28. View Elastic Stability of Concentric Tube Robots Subject to External Loads. Abstract

  44. Real-time Adaptive Kinematic Model Estimation of Concentric Tube Robots. Rep U S. 2015 Sep-Oct; 2015:3214-3219. View Real-time Adaptive Kinematic Model Estimation of Concentric Tube Robots. 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 Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints. Abstract

  46. Untethered magnetic millirobot for targeted drug delivery. Biomed Microdevices. 2015; 17(3):9962. View Untethered magnetic millirobot for targeted drug delivery. Abstract

  47. Novel pressure-sensing skin for detecting impending tissue damage during neuroendoscopy. J Neurosurg Pediatr. 2014 Jan; 13(1):114-21. View Novel pressure-sensing skin for detecting impending tissue damage during neuroendoscopy. 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 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. Abstract

  49. Simultaneous Soft Sensing of Tissue Contact Angle and Force for Millimeter-scale Medical Robots. IEEE Int Conf Robot Autom. 2013. View Simultaneous Soft Sensing of Tissue Contact Angle and Force for Millimeter-scale Medical Robots. 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 Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools. Abstract

  51. Robotics and imaging in congenital heart surgery. Future Cardiol. 2012 Mar; 8(2):285-96. View Robotics and imaging in congenital heart surgery. 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 Tracking and position control of an MRI-powered needle-insertion robot. Abstract

  53. Metal MEMS Tools for Beating-heart Tissue Removal. IEEE Int Conf Robot Autom. 2012. View Metal MEMS Tools for Beating-heart Tissue Removal. Abstract

  54. Tubular Enhanced Geodesic Active Contours for Continuum Robot Detection using 3D Ultrasound. IEEE Int Conf Robot Autom. 2012. View Tubular Enhanced Geodesic Active Contours for Continuum Robot Detection using 3D Ultrasound. Abstract

  55. Robotic Neuro-Endoscope with Concentric Tube Augmentation. Rep U S. 2012. View Robotic Neuro-Endoscope with Concentric Tube Augmentation. 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 Passive markers for tracking surgical instruments in real-time 3-D ultrasound imaging. Abstract

  57. Detection of Curved Robots using 3D Ultrasound. Rep U S. 2011 Sep 25; 2011:2083-2089. View Detection of Curved Robots using 3D Ultrasound. Abstract

  58. MRI-powered Actuators for Robotic Interventions. Rep U S. 2011 Sep 25; 4508-4515. View MRI-powered Actuators for Robotic Interventions. 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 Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints. Abstract

  60. Metal MEMS Tools for Beating-heart Tissue Approximation. IEEE Int Conf Robot Autom. 2011 May 09; 2011:411-416. View Metal MEMS Tools for Beating-heart Tissue Approximation. 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 Algorithms for Design of Continuum Robots Using the Concentric Tubes Approach: A Neurosurgical Example. Abstract

  62. Stiffness Control of Surgical Continuum Manipulators. IEEE Trans Robot. 2011 Apr; 27(2). View Stiffness Control of Surgical Continuum Manipulators. Abstract

  63. Friction Modeling in Concentric Tube Robots. IEEE Int Conf Robot Autom. 2011; 1139-1146. View Friction Modeling in Concentric Tube Robots. Abstract

  64. Beating-heart mitral valve chordal replacement. Annu Int Conf IEEE Eng Med Biol Soc. 2011; 2011:2476-9. View Beating-heart mitral valve chordal replacement. 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 Tubular structure enhancement for surgical instrument detection in 3D ultrasound. Abstract

  66. Quasistatic Modeling of Concentric Tube Robots with External Loads. Rep U S. 2010 Dec 03; 2010:2325-2332. View Quasistatic Modeling of Concentric Tube Robots with External Loads. Abstract

  67. Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment. Rep U S. 2010 Dec 03; 2010:863-870. View Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment. Abstract

  68. Real-time Position Control of Concentric Tube Robots. IEEE Int Conf Robot Autom. 2010 May 03; 2010:562-568. View Real-time Position Control of Concentric Tube Robots. Abstract

  69. Design and Control of Concentric-Tube Robots. IEEE Trans Robot. 2010 Apr 01; 26(2):209-225. View Design and Control of Concentric-Tube Robots. Abstract

  70. Mechanics of dynamic needle insertion into a biological material. IEEE Trans Biomed Eng. 2010 Apr; 57(4):934-43. View Mechanics of dynamic needle insertion into a biological material. Abstract

  71. Image guided surgical interventions. Curr Probl Surg. 2009 Sep; 46(9):730-66. View Image guided surgical interventions. Abstract

  72. In brief. Curr Probl Surg. 2009 Sep; 46(9):723-7. View In brief. Abstract

  73. In Brief. Curr Probl Surg. 2009 Sep 01; 46(9):723-727. View In Brief. Abstract

  74. Fast Needle Insertion to Minimize Tissue Deformation and Damage. IEEE Int Conf Robot Autom. 2009 Jul 06; 2009:3097-3102. View Fast Needle Insertion to Minimize Tissue Deformation and Damage. 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 Removing muscle and eye artifacts using blind source separation techniques in ictal EEG source imaging. Abstract

  76. Torsional Kinematic Model for Concentric Tube Robots. IEEE Int Conf Robot Autom. 2009 May 12; 2009:2964-2971. View Torsional Kinematic Model for Concentric Tube Robots. Abstract

  77. Imaging artifacts of medical instruments in ultrasound-guided interventions. J Ultrasound Med. 2007 Oct; 26(10):1303-22. View Imaging artifacts of medical instruments in ultrasound-guided interventions. Abstract

  78. GPU based real-time instrument tracking with three-dimensional ultrasound. Med Image Anal. 2007 Oct; 11(5):458-64. View GPU based real-time instrument tracking with three-dimensional ultrasound. Abstract

  79. Inverse Kinematics of Concentric Tube Steerable Needles. IEEE Int Conf Robot Autom. 2007; 1887-1892. View Inverse Kinematics of Concentric Tube Steerable Needles. Abstract

  80. 3D ultrasound in robotic surgery: performance evaluation with stereo displays. Int J Med Robot. 2006 Sep; 2(3):279-85. View 3D ultrasound in robotic surgery: performance evaluation with stereo displays. Abstract

  81. Producing diffuse ultrasound reflections from medical instruments using a quadratic residue diffuser. Ultrasound Med Biol. 2006 May; 32(5):721-7. View Producing diffuse ultrasound reflections from medical instruments using a quadratic residue diffuser. 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 GPU based real-time instrument tracking with three dimensional ultrasound. Abstract

  83. Stereo display of 3D ultrasound images for surgical robot guidance. Conf Proc IEEE Eng Med Biol Soc. 2006; 2006:1509-12. View Stereo display of 3D ultrasound images for surgical robot guidance. 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 Three-dimensional echo-guided beating heart surgery without cardiopulmonary bypass: atrial septal defect closure in a swine model. Abstract

  85. Passive markers for ultrasound tracking of surgical instruments. Med Image Comput Comput Assist Interv. 2005; 8(Pt 2):41-8. View Passive markers for ultrasound tracking of surgical instruments. 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 Three-dimensional echocardiography-guided beating-heart surgery without cardiopulmonary bypass: a feasibility study. Abstract

  87. Port Placement Planning in Robot-Assisted Coronary Artery Bypass. IEEE Trans Rob Autom. 2003 Oct; 19(5):912-917. View Port Placement Planning in Robot-Assisted Coronary Artery Bypass. Abstract

  88. Application of robotics in congenital cardiac surgery. Semin Thorac Cardiovasc Surg Pediatr Card Surg Annu. 2003; 6:72-83. View Application of robotics in congenital cardiac surgery. Abstract

  89. Real-time three-dimensional ultrasound for guiding surgical tasks. Comput Aided Surg. 2003; 8(2):82-90. View Real-time three-dimensional ultrasound for guiding surgical tasks. Abstract

  90. An iterative maximum-likelihood polychromatic algorithm for CT. IEEE Trans Med Imaging. 2001 Oct; 20(10):999-1008. View An iterative maximum-likelihood polychromatic algorithm for CT. 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 Maximum-likelihood expectation-maximization reconstruction of sinograms with arbitrary noise distribution using NEC-transformations. 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 Simultaneous maximum a posteriori reconstruction of attenuation and activity distributions from emission sinograms. Abstract

  93. Iterative reconstruction for helical CT: a simulation study. Phys Med Biol. 1998 Apr; 43(4):729-37. View Iterative reconstruction for helical CT: a simulation study. Abstract

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