Micron: Intelligent Microsurgical Instruments - Robotics Institute Carnegie Mellon University
Graphical depiction of the Micron: Intelligent Microsurgical Instruments project
Micron: Intelligent Microsurgical Instruments
Project Head: Cameron Riviere

Positioning error is inherent in normal human hand motion. This includes components such as physiological tremor and jerk. For a surgeon performing microsurgery, involuntary hand motion limits the accuracy with which he or she operates. This problem is especially significant in the fields of ophthalmological and neurological surgery. To deal with this problem, we are developing an intelligent active hand-held instrument for ophthalmological microsurgery. This instrument senses its own motion, distinguishes between desired and undesired motion using advanced filtering techniques, and actively compensates for undesired motion by an equal but opposite deflection of its own tip. A full prototype, with six sensors and three actuators, has been completed and preliminary tests have demonstrated attenuation of tremor-like oscillations by as much as 50%.

Displaying 55 Publications

2024
Master's Thesis, Tech. Report, CMU-RI-TR-24-42, July, 2024
2020
Xuefan Zha, Leila Wehbe, Robert J. Sclabassi, Zachary Mace, Ye V. Liang, Todd A. Hillman, Douglas A. Chen, Alexander Yu, Jody Leonardo, Boyle C. Cheng, and Cameron N. Riviere
Tech. Report, CMU-RI-TR-20-07, Robotics Institute, Carnegie Mellon University, March, 2020
2019
Emmanuel Vander Poorten, Cameron N. Riviere, Jake J. Abbott, Christos Bergeles, M. Ali Nasseri, Jin U. Kang, Raphael Sznitman, Koorosh Faridpooya, and Iulian Iordachita
Book Section/Chapter, Handbook of Robotic and Image-Guided Surgery, pp. 627 - 672, September, 2019
Giulio Russo, Sara Moccia, Joseph N. Martel, Alessandro Perin, Raymond F. Sekula, Luca Bascetta, Elena De Momi, and Cameron N. Riviere
Conference Paper, Proceedings of Hamlyn Symposium on Medical Robotics, pp. 109 - 110, June, 2019
Conference Paper, Proceedings of International Symposium on Medical Robotics (ISMR '19), April, 2019
2018
Sungwook Yang, Joseph N. Martel, Louis A. Lobes, Jr., and Cameron N. Riviere
Journal Article, International Journal of Robotics Research, Vol. 37, No. 8, pp. 931 - 952, July, 2018
2015
PhD Thesis, Tech. Report, CMU-RI-TR-15-11, Robotics Institute, Carnegie Mellon University, May, 2015
2012
Robert MacLachlan, Brian Becker, Jaime Cuevas Tabares, Gregg Podnar, Louis Lobes, and Cameron Riviere
Journal Article, IEEE Transactions on Robotics, Vol. 28, No. 1, pp. 195 - 212, February, 2012
2011
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5160 - 5165, September, 2011
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4127 - 4132, May, 2011

current head

current contact

past staff

  • Fernando Perez Baquerin
  • David Choi
  • Francisco Alija Garmon
  • Mario Gomez-Blanco
  • Gonzalo Montes Grande
  • Lee Hotraphinyo
  • David Ortega Ibanez
  • Si Yi Khoo
  • Pradeep Khosla
  • Anna L Liao
  • Rafael Mario Ortiz
  • Santiago Rodriguez Palma
  • Gregg Podnar
  • Raul Rodriguez
  • Ivan Villamarzo Tolivia