Home/Cameron Riviere

Cameron Riviere

Research Professor
Email: criviere@andrew.cmu.edu
Office: NSH 3107
Phone: (412) 268-3083
Personal Homepage
Administrative Assistant: Stephanie Matvey

Most of my research is in the area of surgical robotics. Specifically, I have an interest in developing robotic systems and interfaces for microsurgery and minimally invasive surgery that enhance the performance of the surgeon while also being “minimally obtrusive:” small, inexpensive, and easy to use, with minimal disturbance of the workflow in the operating room.

Many of my projects deal with compensation of involuntary physiological motion for enhanced accuracy in surgery, using both active and passive approaches. One example of such a system is “Micron,” an active handheld micromanipulator which estimates the hand tremor of the surgeon and deflects its own tip with an equal but opposite motion to provide smooth control for specialties such as retinal microsurgery. This work has involved not only development of the robotic system, but also considerable effort in quantitative modeling of human tremor.

Another example is “HeartLander,” a miniature crawling robot that passively compensates for heartbeat and respiratory motion by adhering to the surface of the heart using suction, while also crawling to specified targets on the heart and performing a variety of types of surgical intervention.

My research involves building whole systems; thus, work in my lab includes modeling and simulation, mechanical design, electrical design, signal processing, control systems, fabrication and assembly, and testing with human users.

As an outgrowth of the tremor modeling research, I also do research in filtering of input signals to provide assistive computer interfaces for persons with movement disorders including athetoid cerebral palsy and a variety of types of pathological tremor, in order to enable improved control of devices such as personal computers and powered wheelchairs.

Publications

Displaying 109 Publications
Defect-Detection Technologies for Low-Observability Aircraft Skin Coatings
Mel Siegel, Cameron Riviere

CMU-RI-TR-17-31, Robotics Institute, Carnegie Mellon University, May, 2017

Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot
Shohin Mukherjee, Sungwook Yang, Robert A. MacLachlan, Louis A. Lobes, Jr., Joseph N. Martel, Cameron Riviere

IEEE International Conference on Robotics and Automation 2017, May, 2017

Electromagnetic Tracker for Active Handheld Robotic Systems
Robert A. MacLachlan, Nicholas Parody, Shohin Mukherjee, Ralph Hollis, Cameron Riviere

IEEE Sensors 2016, October, 2016

Velocity-Limiting Control of an Active Handheld Micromanipulator
Shohin Mukherjee, Robert MacLachlan, Cameron Riviere

Journal of Medical Devices, August, 2016

Manipulator design and operation of a six-degree-of-freedom handheld tremor-cancelling microsurgical instrument
Sungwook Yang, Robert MacLachlan and Cameron Riviere

IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 2, pp. 761-772, April, 2015

Vision-Based Control of a Handheld Surgical Micromanipulator with Virtual Fixtures
Brian Becker, Robert MacLachlan, Louis A. Lobes Jr., Gregory Hager and Cameron Riviere

IEEE Transactions on Robotics, Vol. 29, No. 3, pp. 674-683, February, 2013

Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion
Nicholas A. Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 8, No. 1, pp. 97-106, March, 2012

Micron: an actively stabilized handheld tool for microsurgery
Robert MacLachlan, Brian Becker, Jaime Cuevas Tabares, Gregg Podnar, Louis Lobes and Cameron Riviere

IEEE Transactions on Robotics, Vol. 28, No. 1, pp. 195-212, February, 2012

A micro motion sensing system for micromanipulation tasks
Win Tun Latt, U-Xuan Tan andreas Georgiou, Ananda Ekaputera Sidarta, Cameron Riviere and Wei-Tech Ang

Sensors and Actuators A: Physical, Vol. 173, pp. 254-266, January, 2012

Power voltage-current converter using quasi-complementary MOSFET current mirrors
Robert MacLachlan and Cameron Riviere

Electronics Letters, Vol. 47, No. 21, pp. 1173 - 1175, October, 2011

A study ex vivo of the effect of epicardial fat on the HeartLander robotic crawler
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

5th European IFMBE Conference, IFMBE Proceedings 37, pp. 227-230, September, 2011

Percutaneous intracerebral navigation by duty-cycled spinning of flexible bevel-tipped needles
Johnathan A. Engh, Davneet Minhas, Douglas Kondziolka and Cameron Riviere

Neurosurgery, Vol. 67, No. 4, pp. 1117-1123, September, 2011

State estimation and feedforward tremor suppression for a handheld micromanipulator with a Kalman filter
Brian Becker, Robert MacLachlan and Cameron Riviere

Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 5160-5165, September, 2011

Fourier modeling of porcine heartbeat and respiration in vivo for synchronization of HeartLander robot locomotion
Nathan Wood, Nicholas Patronik, Marco A. Zenati and Cameron Riviere

33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 7041-7044, August, 2011

Handheld micromanipulation with vision-based virtual fixtures
Brian Becker, Robert MacLachlan, Gregory Hager and Cameron Riviere

Proc. IEEE International Conference on Robotics and Automation, pp. 4127-4132, May, 2011

Improved synchronization of HeartLander locomotion with physiological cycles
Diego Moral del Agua, Nathan Wood and Cameron Riviere

Proc. 37th Annual IEEE Northeast Bioengineering Conference, April, 2011

Algorithms for target prediction for computer users with athetosis
Sergio Peral Rodriguez, Dan Ding and Cameron Riviere

Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 491-494, September, 2010

Application of the HeartLander crawling robot for injection of a thermally sensitive anti-remodeling agent for myocardial infarction therapy
Michael P. Chapman, Jose L. Lopez Gonzalez, Brina Goyette, Kazuro L. Fujimoto, Zuwei Ma, William R. Wagner, Marco A. Zenati and Cameron Riviere

Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5428-5431, September, 2010

Cell micromanipulation with an active handheld micromanipulator
Jaime Cuevas Tabares, Robert MacLachlan, Charles A. Ettensohn and Cameron Riviere

Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 4363-4366, September, 2010

Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot
Brina Goyette, Brian Becker, Marco A. Zenati and Cameron Riviere

Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 2275-2278, September, 2010

Needle steering system using duty-cycled rotation for percutaneous kidney access
Nathan Wood, Khaled Shahrour, Michael C. Ost and Cameron Riviere

Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5432-5435, September, 2010

Retinal vessel cannulation with an image-guided handheld robot
Brian Becker, Sandrine Voros, Louis A. Lobes Jr., James T. Handa, Gregory D. Hager and Cameron Riviere

Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5420-5423, September, 2010

Reducing operating time of a crawling robot for epicardial surgery
Brina Goyette and Cameron Riviere

Proceedings of the 36th Annual IEEE Northeast Bioengineering Conference, March, 2010

Semiautomated intraocular laser surgery using handheld instruments
Brian Becker, Robert MacLachlan and Cameron Riviere

Lasers in Surgery and Medicine, Vol. 42, pp. 264-273, March, 2010

Compact sensing design of a handheld active tremor compensation instrument
Win Tun Latt, U-Xuan Tan, Cheng Yap Shee, Cameron Riviere and Wei-Tech Ang

IEEE Sensors Journal, Vol. 9, No. 12, pp. 1864-1871, December, 2009

A miniature mobile robot for navigation and positioning on the beating heart
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

IEEE Transactions on Robotics, Vol. 25, No. 5, pp. 1109-1124, October, 2009

Feedforward controller of ill-conditioned hysteresis using singularity-free Prandtl-Ishlinskii model
U-Xuan Tan, Win Tun Latt, Cheng Yap Shee, Cameron Riviere and Wei-Tech Ang

IEEE/ASME Transactions on Mechatronics, Vol. 14, No. 5, pp. 598-605, October, 2009

Active guidance for laser retinal surgery with a handheld instrument
Brian Becker, Cristina Robles Valdivieso, Joydeep Biswas, Louis Lobes and Cameron Riviere

Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2009 (EMBC 2009)., pp. 5587-5590, September, 2009

Testing of neurosurgical needle steering via duty-cycled spinning in brain tissue in vitro
Davneet Minhas, Johnathan A. Engh and Cameron Riviere

Proc. 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 258-261, September, 2009

High-Speed Microscale Optical Tracking Using Digital Frequency-Domain Multiplexing
Robert MacLachlan and Cameron Riviere

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, Vol. 58, No. 6, pp. 1991 - 2001, June, 2009

Active Guidance of a Handheld Micromanipulator using Visual Servoing
Brian Becker, Sandrine Voros, Robert MacLachlan, Gregory Hager and Cameron Riviere

2009 IEEE International Conference on Robotics and Automation, pp. 339 - 344, May, 2009

Tracking control of hysteretic piezoelectric actuator using adaptive rate-dependent controller
U-Xuan Tan, Win Tun Latt, Ferdinan Widjaja, Cheng Yap Shee, Cameron Riviere and Wei-Tech Ang

Sensors and Actuators A: Physical, Vol. 150, pp. 116-123, March, 2009

Accurate positioning for intervention on the beating heart using a crawling robot
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 250-257, October, 2008

Minimally invasive epicardial injections using a novel semiautonomous robotic device
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere and Marco A. Zenati

Circulation, Vol. 118, No. suppl 1, pp. S115-S120, September, 2008

Autoregressive Modeling of Physiological Tremor under Microsurgical Conditions
Brian Becker, Harsha Tummala and Cameron Riviere

30th Annual International IEEE EMBS Conference, pp. 1948-1951, August, 2008

Estimating displacement of periodic motion with inertial sensors
U-Xuan Tan, Kalyana C. Veluvolu, Win Tun Latt, Cheng Yap Shee, Cameron Riviere and Wei-Tech Ang

IEEE Sensors Journal, Vol. 8, No. 8, pp. 1385-1388, August, 2008

Adaptive rate-dependent feedforward controller for hysteretic piezoelectric actuator
U-Xuan Tan, Ferdinan Widjaja, Win Tun Latt, K. C. Veluvolu, C. Y. Shee, Cameron Riviere and Wei-Tech Ang

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 787-792, May, 2008

Target prediction for icon clicking by athetoid persons
K. C. Olds, S. Sibenaller, Rory Cooper, Dan Ding and Cameron Riviere

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2043-2048, May, 2008

A Mobile Robot Driven by Miniature Onboard Motors for Cardiac Intervention
Peter David Allen, Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Proceedings of the 34th Annual Northeast Bioengineering Conference, April, 2008

Modeling of Needle Steering via Duty-Cycled Spinning
Davneet Minhas, Johnathan A. Engh, Michele Marie Fenske and Cameron Riviere

Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 2756-2759, August, 2007

Positioning Accuracy of Neurosurgeons
Roberto Sandoval Garcia, Robert MacLachlan, Michael Oh and Cameron Riviere

Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 206-209, August, 2007

Test of Tracing Performance with an Active Handheld Micromanipulator
David Choi, Roberto Sandoval Garcia, Robert MacLachlan, Lawrence Ho, Louis Lobes and Cameron Riviere

Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 3638-3641, August, 2007

Toward Filtering of Athetoid Motion with Neural Networks
Juan J. V?quez, Kevin C. Olds, Sara Sibenaller, Dan Ding and Cameron Riviere

Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 1434-1436, August, 2007

Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, pp. 134-142, April, 2007

Subxiphoid epicardial pacing lead implantation using a miniature crawling robotic device
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere and Marco A. Zenati

Journal of Surgical Research, Vol. 137, No. 2, pp. 242-243, February, 2007

Nonlinear Regression Model of a Low-g MEMS Accelerometer
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

IEEE Sensors Journal, Vol. 7, No. 1, pp. 81-88, January, 2007

Optical Tracking for Performance Testing of Microsurgical Instruments
Robert MacLachlan and Cameron Riviere

CMU-RI-TR-07-01, Robotics Institute, Carnegie Mellon University, January, 2007

Percutaneous Subxiphoid Access to the Epicardium Using a Miniature Crawling Robotic Device
Takeyoshi Ota, Nicholas Patronik, Cameron Riviere and Marco A. Zenati

Innovations, Vol. 1, No. 5, pp. 227-231, October, 2006

Improved Traction for a Mobile Robot Traveling on the Heart
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 339 - 342, September, 2006

Toward Effective Needle Steering in Brain Tissue
Johnathan A. Engh, Gregg Podnar, D. Kondziolka and Cameron Riviere

28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS '06), pp. 559 - 562, August, 2006

Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery
F. Razjouyan, Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, pp. 97 - 98, April, 2006

Flexible Needle Steering System for Percutaneous Access to Deep Zones of the Brain
Johnathan A. Engh, Gregg Podnar, Si Yi Khoo and Cameron Riviere

Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, pp. 103 - 104, April, 2006

Performance Envelope and Physiological Tremor in Microsurgery
David Ortega Ibanez, Fernando Perez Baquerin, David Choi and Cameron Riviere

Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, pp. 121 - 122, April, 2006

Flexible Needle Steering System for Percutaneous Access to Deep Zones of the Brain
Johnathan A. Engh, Si Yi Khoo, Gregg Podnar and Cameron Riviere

, , 32nd IEEE Northeast Bioengineering Conference, January, 2006

A Miniature Cable-Driven Robot for Crawling on the Heart
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 5771 - 5774, September, 2005

Flexure-based Manipulator for Active Handheld Microsurgical Instrument
David Choi and Cameron Riviere

Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 2325 - 2328, September, 2005

Fuzzy Calibration of Magnetometer in Presence of Surgical Microscope
Chanikarn Benjavitvilai and Cameron Riviere

27th Annual International Conference of the Engineering in Medicine and Biology Society, pp. 5047 - 5049, September, 2005

Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator
J.G. Avedillo, David Choi and Cameron Riviere

Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (EMBS 2005), pp. 5775 - 5777, September, 2005

Preliminary Evaluation of a Mobile Robotic Device for Navigation and Intervention on the Beating Heart
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Computer Aided Surgery, Vol. 10, No. 4, pp. 225 - 232, July, 2005

The HeartLander: A Novel Epicardial Crawling Robot for Myocardial Injections
Nicholas Patronik, Cameron Riviere, Suad El Qarra and Marco A. Zenati

Proceedings of the 19th International Congress of Computer Assisted Radiology and Surgery, Vol. 1281C, pp. 735-739, June, 2005

Kalman filtering for real-time orientation tracking of handheld microsurgical instrument
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), Vol. 3, pp. 2574 - 2580, October, 2004

Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Proceedings of the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Vol. LNCS 3117, September, 2004

A Prototype Epicardial Crawling Device for Intrapericardial Intervention on the Beating heart
Cameron Riviere, Nicholas Patronik and Marco A. Zenati

The Heart Surgery Forum, Vol. 7, No. 6, July, 2004

Development of a Tethered Epicardial Crawler for Minimally Invasive Cardiac Therapies
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

IEEE 30th Annual Northeast Bioengineering Conference, pp. 239-240, April, 2004

Physical model of a MEMS accelerometer for low-g motion tracking applications
Wei-Tech Ang, Si Yi Khoo, Pradeep Khosla and Cameron Riviere

Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 2, pp. 1345 - 1351, April, 2004

Active tremor compensation in microsurgery
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Proceedings of 26th Annual International Conference of the Engineering in Medicine and Biology Society, Vol. 4, pp. 2738 - 2741, January, 2004

Applied force during vitreoretinal microsurgery with handheld instruments
Anirudha Jagtap and Cameron Riviere

Proceedings of the 26th Annual International Conference of the Engineering in Medicine and Biology Society, pp. 2771 - 2773, January, 2004

Static and dynamic accuracy of vitreoretinal surgeons
F. Peral-Gutierrez, Anna L. Liao and Cameron Riviere

Proceedings of the 26th Annual International Conference of the Engineering in Medicine and Biology Society, Vol. 4, pp. 2734 - 2737, January, 2004

Toward Active Tremor Canceling in Handheld Microsurgical Instruments
Cameron Riviere, Wei-Tech Ang and Pradeep Khosla

IEEE Transactions on Robotics and Automation, Vol. 15, No. 5, pp. 793-800, October, 2003

Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-held Microsurgical Instrument
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

IEEE International Conference on Robotics and Automation, pp. 1781-1786, September, 2003

Rate-dependent inverse hysteresis feedforward controller for microsurgical tool
Francisoco Alija-Garm?, Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

25th Annual Conference IEEE Engineering in Medicine and Biology Society, pp. 3415 - 3418, September, 2003

Tracking rotation and translation of laser microsurgical instruments
Rafael Mario Ortiz and Cameron Riviere

Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 4, pp. 3411 - 3414, September, 2003

Microelectromechanical systems for endoscopic cardiac surgery
Gianluca Bonanomi, Keith Rebello, Kyle Lebouitz, Cameron Riviere, Elena di Martino, David Vorp and Marco A. Zenati

Journal of Thoracic and Cardiovascular Surgery, Vol. 126, No. 3, pp. 851-852, March, 2003

Modeling Rate-dependent Hysteresis in Piezoelectric Actuator
Wei-Tech Ang, Cameron Riviere and Pradeep Khosla

Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1975 - 1980, January, 2003

Assistive Human-Machine Interfaces via Artificial Neural Netwoks
Wei-Tech Ang, Cameron Riviere and Pradeep Khosla

Proc. of the 3rd International Symposium on Robotics and Automation, pp. 477-480, September, 2002

Physiological tremor amplitude during vitreoretinal microsurgery
S.P.N. Singh and Cameron Riviere

Proceedings of the IEEE 28th Annual Northeast Bioengineering Conference, pp. 171-172, April, 2002

An intelligent hand-held microsurgical instrument for improved accuracy
Wei-Tech Ang, Pradeep Khosla and Cameron Riviere

Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3450-3453, October, 2001

Design and implementation of active error canceling in hand-held microsurgical instrument
Wei-Tech Ang, Cameron Riviere and Pradeep Khosla

Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Vol. 2, pp. 1106-1111, October, 2001

Neural network methods for error canceling in human-machine manipulation
Wei-Tech Ang and Cameron Riviere

Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3462-3465, October, 2001

Precision measurement for microsurgical instrument evaluation
Lee Hotraphinyo and Cameron Riviere

Proceedings 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3454-3457, October, 2001

Predicting respiratory motion for active canceling during percutaneous needle insertion
Cameron Riviere, A. Thakral, I. I. Iordachita, G. Mitroi and D. Stoianovici

Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3477-3480, October, 2001

Three-dimensional accuracy assessment of eye surgeons
Lee Hotraphinyo and Cameron Riviere

Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3458-3461, October, 2001

An Active Hand-held Instrument for Enhanced Microsurgical Accuracy
Wei-Tech Ang, Cameron Riviere and Pradeep Khosla

Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 878-886, October, 2000

A Study of Instrument Motion in Vitreoretinal Microsurgery
Cameron Riviere and Patrick Jensen

Proceedings of the 22nd International Conference of the IEEE Engineering in Medicine and Biology Society, July, 2000

Intraoperative tremor monitoring for vitreoretinal microsurgery
Mario Gomez-Blanco, Cameron Riviere and Pradeep Khosla

Proc. Medicine Meets Virtual Reality 8, January, 2000

Sensing Hand Tremor in a Vitreoretinal Microsurgical Instrument
Mario Gomez-Blanco, Cameron Riviere and Pradeep Khosla

CMU-RI-TR-99-39, Robotics Institute, Carnegie Mellon University, December, 1999

Intraoperative instrument motion sensing for microsurgery
Mario Gomez-Blanco, Cameron Riviere and Pradeep Khosla

Proceedings of the 20th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, October, 1999

Microscale Tracking of Surgical Instrument Motion
Cameron Riviere and Pradeep Khosla

Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention, Lecture Notes In Computer Science, Vol. 1679, pp. 1080 - 1087, September, 1999

Adaptive canceling of physiological tremor for improved precision in microsurgery
Cameron Riviere, R. S. Rader and N. V. Thakor

IEEE Transactions on Biomedical Engineering, Vol. 45, No. 7, pp. 839 - 846, July, 1998

Error recognition for rehabilitation and microsurgery
Cameron Riviere and Pradeep Khosla

Proc. Sixth ACM International Multimedia Conference: Workshop on Face and Gesture Recognition and its Applications, January, 1998

Active handheld instrument for error compensation in microsurgery
Cameron Riviere and Pradeep Khosla

Intelligent Systems and Advanced Manufacturing: Technical Conference on Microrobotics and Microsystem Fabrication, pp. 86-95, October, 1997

Characteristics of hand motion of eye surgeons
Cameron Riviere, R. Scott Rader and Pradeep Khosla

19th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 4, pp. 1690 - 1693, October, 1997

Augmenting the human-machine interface: improving manual accuracy
Cameron Riviere and Pradeep Khosla

IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3546 - 3550, April, 1997

Adaptive Fourier modeling for quantification of tremor
Cameron Riviere, S.G. Reich and N.V. Thakor

Journal of Neuroscience Methods, Vol. 74, No. 1, pp. 77-87, January, 1997

Accuracy in positioning of handheld instruments
Cameron Riviere and Pradeep Khosla

18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Bridging Disciplines for Biomedicine, Vol. 1, pp. 212 - 213, October, 1996

On-line canceling of pathological tremor for computer interface
D. S. Hsu, Cameron Riviere and N. V. Thakor

Proceedings of the 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 521 - 522, October, 1996

Modeling and canceling tremor in human-machine interfaces
Cameron Riviere and N.V. Thakor

IEEE Engineering in Medicine and Biology Magazine, Vol. 15, No. 3, pp. 29 - 36, June, 1996

Effects of age and disability on tracking tasks with a computer mouse: accuracy and linearity
Cameron Riviere and N. V. Thakor

Journal of Rehabilitation Research and Development, Vol. 33, No. 1, February, 1996

Adaptive real-time canceling of physiological tremor for microsurgery
Cameron Riviere, R. S. Rader and N. V. Thakor

Proceedings of the Second International Symposium on Medical Robotics and Computer Assisted Surgery, pp. 89-96, November, 1995

Adaptive human-machine interface for persons with tremor
Cameron Riviere and N. V. Thakor

Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 1193 - 1194, September, 1995

Suppressing pathological tremor during dextrous teleoperation
Cameron Riviere and N. V. Thakor

Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 1195 - 1196, September, 1995

Assistive computer interface for pen input by persons with tremor
Cameron Riviere and N. V. Thakor

Proceedings of the RESNA 1995 Annual Conference, pp. 440-442, June, 1995

Linearity of human commands for telerobotics
Cameron Riviere and N. V. Thakor

Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 1039 - 1040, November, 1994

Teleoperation of a dextrous robotic hand using vibrotactile feedback
I.Z. Amanat, Cameron Riviere and N.V. Thakor

Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 2, pp. 1059 - 1060, November, 1994

Accuracy of upper-extremity motion by healthy and disabled subjects
Cameron Riviere, H. F. Rizer and N. V. Thakor

Proceedings of the RESNA 1994 Annual Conference, pp. 170-172, June, 1994

Vibrotactile feedback for dextrous teleoperation
I. Z. Amanat, Cameron Riviere and N. V. Thakor

Proceedings of the RESNA 1994 Annual Conference, pp. 460-462, June, 1994

Accuracy-based bandwidth of human upper-extremity motion
Cameron Riviere and N. V. Thakor

Proceedings of the 13th Southern Biomedical Engineering Conference, pp. 530-533, April, 1994

Vibrotactile feedback for a teleoperated dextrous hand
I. Z. Amanat, Cameron Riviere and N. V. Thakor

Proceedings of the 13th Southern Biomedical Engineering Conference, pp. 526-529, April, 1994

A finite element model of the Hybrid III ribcage
Cameron Riviere

Proceedings of the Eighteenth International Workshop on Human Subjects for Biomechanical Research, pp. 55-59, January, 1990

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

2017-04-23T12:56:43+00:00