Research

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Pierre E.  Dupont, PhD

Pierre E. Dupont
Lab:
Pediatric Cardiac Bioengineering Laboratory
Department:
Cardiac Surgery Research
Hospital Title:
Staff Scientist, Cardiovascular Surgery; Chief, Pediatric Cardiac Bioengineering
Academic Title:
Visiting Professor of Surgery, Harvard Medical School
Research Focus Area:
Robotic Instruments and Imaging TechnologyCongenital Heart DefectsFetal and Pediatric Heart

Lab Web Site:  Pediatric Cardiac Bioengineering Lab

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. 

About Pierre E. Dupont, PhD

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. He recently moved his group from BU to Boston Children's Hospital.

Publications

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  1. 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 Nov 01; 25(5):785-792.
  2. 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.
  3. Ren H, Anuraj B, Dupont PE. Varying ultrasound power level to distinguish surgical instruments and tissue. Med Biol Eng Comput. 2017 Aug 15.
  4. 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.
  5. Fagogenis G, Bergeles C, Dupont PE. Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots. Rep U S. 2016 Oct; 2016:4324-4329.
  6. 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.
  7. 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.
  8. 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.
  9. Ha J, Dupont PE. Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. IEEE Robot Autom Lett. 2017 Jan; 2(1):298-304.
  10. 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.
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  12. 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.
  13. 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.
  14. 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.
  15. 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.
  16. 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.
  17. 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.
  18. 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.
  19. 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.
  20. 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.
  21. 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.
  22. Vasilyev NV, Dupont PE, del Nido PJ. Robotics and imaging in congenital heart surgery. Future Cardiol. 2012 Mar; 8(2):285-96.
  23. 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.
  24. Ren H, Dupont PE. Tubular Enhanced Geodesic Active Contours for Continuum Robot Detection using 3D Ultrasound. IEEE Int Conf Robot Autom. 2012.
  25. 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.
  26. 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.
  27. 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.
  28. Vartholomeos P, Qin L, Dupont PE. MRI-powered Actuators for Robotic Interventions. Rep U S. 2011 Sep 25; 4508-4515.
  29. Ren H, Vasilyev NV, Dupont PE. Detection of Curved Robots using 3D Ultrasound. Rep U S. 2011 Sep 25; 2011:2083-2089.
  30. 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.
  31. 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.
  32. 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.
  33. Mahvash M, Dupont PE. Stiffness Control of Surgical Continuum Manipulators. IEEE Trans Robot. 2011 Apr; 27(2).
  34. Laing G, Dupont PE. Beating-heart mitral valve chordal replacement. Conf Proc IEEE Eng Med Biol Soc. 2011; 2011:2476-9.
  35. 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.
  36. Lock J, Dupont PE. Friction Modeling in Concentric Tube Robots. IEEE Int Conf Robot Autom. 2011; 1139-1146.
  37. 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.
  38. 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.
  39. 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.
  40. 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.
  41. Mahvash M, Dupont PE. Mechanics of dynamic needle insertion into a biological material. IEEE Trans Biomed Eng. 2010 Apr; 57(4):934-43.
  42. 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.
  43. 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.
  44. Mahvash M, Dupont PE. Fast Needle Insertion to Minimize Tissue Deformation and Damage. IEEE Int Conf Robot Autom. 2009 Jul 06; 2009:3097-3102.
  45. 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.
  46. Dupont PE, Lock J, Butler E. Torsional Kinematic Model for Concentric Tube Robots. IEEE Int Conf Robot Autom. 2009 May 12; 2009:2964-2971.
  47. 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.
  48. 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.
  49. Sears P, Dupont PE. Inverse Kinematics of Concentric Tube Steerable Needles. IEEE Int Conf Robot Autom. 2007; 1887-1892.
  50. 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.
  51. 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.
  52. 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; 1:1509-12.
  53. 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.
  54. 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.
  55. Stoll J, Dupont P. Passive markers for ultrasound tracking of surgical instruments. Med Image Comput Comput Assist Interv. 2005; 8(Pt 2):41-8.
  56. 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.
  57. 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.
  58. 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.
  59. 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.
  60. 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.
  61. 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.
  62. 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.
  63. 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.
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