Lab Web Site:  Pediatric Cardiac Bioengineering Lab

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. 


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.


Publications powered by Harvard Catalyst Profiles

  1. Mondal A, Ha J, Jo VY, Wu FY, Kaza AK, Dupont PE. Preclinical evaluation of a pediatric airway stent for tracheobronchomalacia. J Thorac Cardiovasc Surg. 2020 Mar 15. View abstract
  2. Wang J, Junhyoung H, Dupont PE. Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. IEEE Robot Autom Mag. 2019 May; 2019:9834-9840. View abstract
  3. Fagogenis G, Mencattelli M, Machaidze Z, Rosa B, Price K, Wu F, Weixler V, Saeed M, Mayer JE, Dupont PE. Autonomous Robotic Intracardiac Catheter Navigation Using Haptic Vision. Sci Robot. 2019 Apr 24; 4(29). View abstract
  4. Ha J, Mondal A, Zhao Z, Kaza AK, Dupont PE. Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal. IEEE Trans Biomed Eng. 2020 01; 67(1):177-184. View abstract
  5. Machaidze Z, Mencattelli M, Arnal G, Price K, Wu FY, Weixler V, Brown DW, Mayer JE, Dupont PE. Optically-guided instrument for transapical beating-heart delivery of artificial mitral chordae tendineae. J Thorac Cardiovasc Surg. 2019 11; 158(5):1332-1340. View abstract
  6. Manjila S, Rosa B, Mencattelli M, Dupont PE. 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 abstract
  7. Ha J, Fagogenis G, Dupont PE. Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics. IEEE Trans Robot. 2019 Apr; 35(2):353-370. View abstract
  8. Rosa B, Machaidze Z, Shin B, Manjila S, Brown DW, Baird CW, Mayer JE, Dupont PE. 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 abstract
  9. Rosa B, Machaidze Z, Mencattelli M, Manjila S, Shin B, Price K, Borger MA, Thourani V, Del Nido P, Brown DW, Baird CW, Mayer JE, Dupont PE. Cardioscopically Guided Beating Heart Surgery: Paravalvular Leak Repair. Ann Thorac Surg. 2017 Sep; 104(3):1074-1079. View abstract
  10. Ren H, Anuraj B, Dupont PE. Varying ultrasound power level to distinguish surgical instruments and tissue. Med Biol Eng Comput. 2018 Mar; 56(3):453-467. View abstract
  11. Jang C, Ha J, Dupont PE, Park FC. Toward On-line Parameter Estimation of Concentric Tube Robots Using a Mechanics-based Kinematic Model. Rep U S. 2016 Oct; 2016:2400-2405. View abstract
  12. Fagogenis G, Bergeles C, Dupont PE. Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots. Rep U S. 2016 Oct; 2016:4324-4329. View abstract
  13. Ha J, Park FC, Dupont PE. Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots. IEEE Trans Robot. 2017 Feb; 33(1):22-37. View abstract
  14. Machaidze Z, Rosa B, Mencattelli M, Manjila S, Price K, Borger M, Thourani V, Brown D, Baird C, Mayer J, Dupont P. 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 abstract
  15. Felfoul O, Becker AT, Fagogenis G, Dupont PE. Simultaneous steering and imaging of magnetic particles using MRI toward delivery of therapeutics. Sci Rep. 2016 Sep 26; 6:33567. View abstract
  16. Ha J, Dupont PE. Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. IEEE Robot Autom Lett. 2017 Jan; 2(1):298-304. View abstract
  17. Manjila S, Mencattelli M, Rosa B, Price K, Fagogenis G, Dupont PE. A multiport MR-compatible neuroendoscope: spanning the gap between rigid and flexible scopes. Neurosurg Focus. 2016 Sep; 41(3):E13. View abstract
  18. Rosa B, Machaidze Z, Dupont PE. When will a Robot Outperform a Handheld Instrument? - A Case Study in Beating-Heart Paravalvular Leak Closure. Hamyln Symp Med Robot (2016). 2016 Jun; 2016:11-12. View abstract
  19. Arabagi V, Felfoul O, Gosline AH, Wood RJ, Dupont PE. Biocompatible Pressure Sensing Skins for Minimally Invasive Surgical Instruments. IEEE Sens J. 2016 Mar; 16(5):1294-1303. View abstract
  20. Ataollahi A, Berra I, Vasilyev NV, Machaidze Z, Dupont PE. Cardioscopic Tool-delivery Instrument for Beating-heart Surgery. IEEE ASME Trans Mechatron. 2016 Feb; 21(1):584-590. View abstract
  21. Ha J, Park FC, Dupont PE. Elastic Stability of Concentric Tube Robots Subject to External Loads. IEEE Trans Biomed Eng. 2016 06; 63(6):1116-28. View abstract
  22. Kim C, Ryu SC, Dupont PE. Real-time Adaptive Kinematic Model Estimation of Concentric Tube Robots. Rep U S. 2015 Sep-Oct; 2015:3214-3219. View abstract
  23. Bergeles C, Gosline AH, Vasilyev NV, Codd PJ, Del Nido PJ, Dupont PE. Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints. IEEE Trans Robot. 2015 Feb 03; 31(1):67-84. View abstract
  24. Iacovacci V, Lucarini G, Ricotti L, Dario P, Dupont PE, Menciassi A. Untethered magnetic millirobot for targeted drug delivery. Biomed Microdevices. 2015; 17(3):9962. View abstract
  25. Codd PJ, Veaceslav A, Gosline AH, Dupont PE. Novel pressure-sensing skin for detecting impending tissue damage during neuroendoscopy. J Neurosurg Pediatr. 2014 Jan; 13(1):114-21. View abstract
  26. Vasilyev NV, Gosline AH, Butler E, Lang N, Codd PJ, Yamauchi H, Feins EN, Folk CR, Cohen AL, Chen R, Zurakowski D, del Nido PJ, Dupont PE. 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 abstract
  27. Arabagi V, Gosline A, Wood RJ, Dupont PE. Simultaneous Soft Sensing of Tissue Contact Angle and Force for Millimeter-scale Medical Robots. IEEE Int Conf Robot Autom. 2013. View abstract
  28. Gosline AH, Vasilyev NV, Butler EJ, Folk C, Cohen A, Chen R, Lang N, Del Nido PJ, Dupont PE. Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools. Int J Rob Res. 2012 Aug 01; 31(9):1081-1093. View abstract
  29. Vasilyev NV, Dupont PE, del Nido PJ. Robotics and imaging in congenital heart surgery. Future Cardiol. 2012 Mar; 8(2):285-96. View abstract
  30. Bergeles C, Qin L, Vartholomeos P, Dupont PE. Tracking and position control of an MRI-powered needle-insertion robot. Conf Proc IEEE Eng Med Biol Soc. 2012; 2012:928-31. View abstract
  31. Ren H, Dupont PE. Tubular Enhanced Geodesic Active Contours for Continuum Robot Detection using 3D Ultrasound. IEEE Int Conf Robot Autom. 2012. View abstract
  32. Gosline AH, Vasilyev NV, Veeramani A, Wu M, Schmitz G, Chen R, Arabagi V, Del Nido PJ, Dupont PE. Metal MEMS Tools for Beating-heart Tissue Removal. IEEE Int Conf Robot Autom. 2012. View abstract
  33. Butler EJ, Hammond-Oakley R, Chawarski S, Gosline AH, Codd P, Anor T, Madsen JR, Dupont PE, Lock J. Robotic Neuro-Endoscope with Concentric Tube Augmentation. Rep U S. 2012. View abstract
  34. Stoll J, Ren H, Dupont PE. Passive markers for tracking surgical instruments in real-time 3-D ultrasound imaging. IEEE Trans Med Imaging. 2012 Mar; 31(3):563-75. View abstract
  35. Vartholomeos P, Qin L, Dupont PE. MRI-powered Actuators for Robotic Interventions. Rep U S. 2011 Sep 25; 4508-4515. View abstract
  36. Ren H, Vasilyev NV, Dupont PE. Detection of Curved Robots using 3D Ultrasound. Rep U S. 2011 Sep 25; 2011:2083-2089. View abstract
  37. Butler EJ, Folk C, Cohen A, Vasilyev NV, Chen R, Del Nido PJ, Dupont PE. Metal MEMS Tools for Beating-heart Tissue Approximation. IEEE Int Conf Robot Autom. 2011 May 09; 2011:411-416. View abstract
  38. Anor T, Madsen JR, Dupont P. 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 abstract
  39. Bedell C, Lock J, Gosline A, Dupont PE. Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints. IEEE Int Conf Robot Autom. 2011 May 09; 2011:398-403. View abstract
  40. Mahvash M, Dupont PE. Stiffness Control of Surgical Continuum Manipulators. IEEE Trans Robot. 2011 Apr; 27(2). View abstract
  41. Laing G, Dupont PE. Beating-heart mitral valve chordal replacement. Conf Proc IEEE Eng Med Biol Soc. 2011; 2011:2476-9. View abstract
  42. Ren H, Dupont PE. Tubular structure enhancement for surgical instrument detection in 3D ultrasound. Conf Proc IEEE Eng Med Biol Soc. 2011; 2011:7203-6. View abstract
  43. Lock J, Dupont PE. Friction Modeling in Concentric Tube Robots. IEEE Int Conf Robot Autom. 2011; 1139-1146. View abstract
  44. Mahvash M, Dupont PE. Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment. Rep U S. 2010 Dec 03; 2010:863-870. View abstract
  45. Lock J, Laing G, Mahvash M, Dupont PE. Quasistatic Modeling of Concentric Tube Robots with External Loads. Rep U S. 2010 Dec 03; 2010:2325-2332. View abstract
  46. Dupont PE, Lock J, Itkowitz B. Real-time Position Control of Concentric Tube Robots. IEEE Int Conf Robot Autom. 2010 May 03; 2010:562-568. View abstract
  47. Dupont PE, Lock J, Itkowitz B, Butler E. Design and Control of Concentric-Tube Robots. IEEE Trans Robot. 2010 Apr 01; 26(2):209-225. View abstract
  48. Mahvash M, Dupont PE. Mechanics of dynamic needle insertion into a biological material. IEEE Trans Biomed Eng. 2010 Apr; 57(4):934-43. View abstract
  49. Perrin DP, Vasilyev NV, Novotny P, Stoll J, Howe RD, Dupont PE, Salgo IS, del Nido PJ. Image guided surgical interventions. Curr Probl Surg. 2009 Sep; 46(9):730-66. View abstract
  50. Perrin DP, Vasilyev NV, Novotny P, Stoll J, Howe RD, Dupont PE, Salgo IS, Del Nido PJ. In brief. Curr Probl Surg. 2009 Sep; 46(9):723-7. View abstract
  51. Mahvash M, Dupont PE. Fast Needle Insertion to Minimize Tissue Deformation and Damage. IEEE Int Conf Robot Autom. 2009 Jul 06; 2009:3097-3102. View abstract
  52. Hallez H, De Vos M, Vanrumste B, Van Hese P, Assecondi S, Van Laere K, Dupont P, Van Paesschen W, Van Huffel S, Lemahieu I. Removing muscle and eye artifacts using blind source separation techniques in ictal EEG source imaging. Clin Neurophysiol. 2009 Jul; 120(7):1262-72. View abstract
  53. Dupont PE, Lock J, Butler E. Torsional Kinematic Model for Concentric Tube Robots. IEEE Int Conf Robot Autom. 2009 May 12; 2009:2964-2971. View abstract
  54. Huang J, Triedman JK, Vasilyev NV, Suematsu Y, Cleveland RO, Dupont PE. Imaging artifacts of medical instruments in ultrasound-guided interventions. J Ultrasound Med. 2007 Oct; 26(10):1303-22. View abstract
  55. Novotny PM, Stoll JA, Vasilyev NV, del Nido PJ, Dupont PE, Zickler TE, Howe RD. GPU based real-time instrument tracking with three-dimensional ultrasound. Med Image Anal. 2007 Oct; 11(5):458-64. View abstract
  56. Sears P, Dupont PE. Inverse Kinematics of Concentric Tube Steerable Needles. IEEE Int Conf Robot Autom. 2007; 1887-1892. View abstract
  57. Novotny PM, Jacobsen SK, Vasilyev NV, Kettler DT, Salgo IS, Dupont PE, Del Nido PJ, Howe RD. 3D ultrasound in robotic surgery: performance evaluation with stereo displays. Int J Med Robot. 2006 Sep; 2(3):279-85. View abstract
  58. Huang J, Dupont PE, Undurti A, Triedman JK, Cleveland RO. Producing diffuse ultrasound reflections from medical instruments using a quadratic residue diffuser. Ultrasound Med Biol. 2006 May; 32(5):721-7. View abstract
  59. Novotny PM, Kettler DT, Jordan P, Dupont PE, del Nido PJ, Howe RD. Stereo display of 3D ultrasound images for surgical robot guidance. Conf Proc IEEE Eng Med Biol Soc. 2006; 2006:1509-12. View abstract
  60. Novotny PM, Stoll JA, Vasilyev NV, del Nido PJ, Dupont PE, Howe RD. GPU based real-time instrument tracking with three dimensional ultrasound. Med Image Comput Comput Assist Interv. 2006; 9(Pt 1):58-65. View abstract
  61. Suematsu Y, Martinez JF, Wolf BK, Marx GR, Stoll JA, DuPont PE, Howe RD, Triedman JK, del Nido PJ. 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 abstract
  62. Stoll J, Dupont P. Passive markers for ultrasound tracking of surgical instruments. Med Image Comput Comput Assist Interv. 2005; 8(Pt 2):41-8. View abstract
  63. Suematsu Y, Marx GR, Stoll JA, DuPont PE, Cleveland RO, Howe RD, Triedman JK, Mihaljevic T, Mora BN, Savord BJ, Salgo IS, del Nido PJ. Three-dimensional echocardiography-guided beating-heart surgery without cardiopulmonary bypass: a feasibility study. J Thorac Cardiovasc Surg. 2004 Oct; 128(4):579-87. View abstract
  64. Cannon JW, Stoll JA, Selha SD, Dupont PE, Howe RD, Torchiana DF. Port Placement Planning in Robot-Assisted Coronary Artery Bypass. IEEE Trans Rob Autom. 2003 Oct; 19(5):912-917. View abstract
  65. Cannon JW, Howe RD, Dupont PE, Triedman JK, Marx GR, del Nido PJ. Application of robotics in congenital cardiac surgery. Semin Thorac Cardiovasc Surg Pediatr Card Surg Annu. 2003; 6:72-83. View abstract
  66. Cannon JW, Stoll JA, Salgo IS, Knowles HB, Howe RD, Dupont PE, Marx GR, del Nido PJ. Real-time three-dimensional ultrasound for guiding surgical tasks. Comput Aided Surg. 2003; 8(2):82-90. View abstract
  67. De Man B, Nuyts J, Dupont P, Marchal G, Suetens P. An iterative maximum-likelihood polychromatic algorithm for CT. IEEE Trans Med Imaging. 2001 Oct; 20(10):999-1008. View abstract
  68. Nuyts J, Michel C, Dupont P. 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 abstract
  69. Nuyts J, Dupont P, Stroobants S, Benninck R, Mortelmans L, Suetens P. Simultaneous maximum a posteriori reconstruction of attenuation and activity distributions from emission sinograms. IEEE Trans Med Imaging. 1999 May; 18(5):393-403. View abstract
  70. Nuyts J, De Man B, Dupont P, Defrise M, Suetens P, Mortelmans L. Iterative reconstruction for helical CT: a simulation study. Phys Med Biol. 1998 Apr; 43(4):729-37. View abstract