Cameron Riviere

Cameron Riviere, Ph.D.
Associate Research Professor, The Robotics Institute
Associate Research Professor (by courtesy), Dept. of Biomedical Engineering
Director, Surgical Mechatronics Laboratory
Carnegie Mellon University

Adjunct Associate Professor, Dept. of Rehabilitation Science & Technology
University of Pittsburgh

Email: cam.riviere (at) cs.cmu.edu
Office: Newell-Simon Hall 3107
Phone: (412) 268-3083
Fax: 412-268-7350

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

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Jump to: Biography | Research interests | Projects | Publications | Non-work-related stuff

Biography

Dr. Riviere received the Ph.D. in Mechanical Engineering from The Johns Hopkins University in 1995, and joined the Robotics Institute the same year. He received second place in the 1995 Whitaker Student Paper Competition of the IEEE Engineering in Medicine and Biology Society. Since 1997 he has also been an Adjunct Assistant Professor in the Department of Rehabilitation Science and Technology at the University of Pittsburgh.

Research interests

I am interested in control systems, robotic devices, signal processing, learning algorithms, and high-precision interfaces for biomedical applications, including surgery and rehabilitation. I seek to develop intelligent tools that:

are as transparent as possible to the user (i.e., he feels he is doing a task rather than controlling a robot)
augment rather than replace the capabilities of the user (e.g., using active noise control in a fully handheld instrument rather than a telerobotic system to cancel hand tremor during microsurgery)

Most of my projects involve one or more of the following areas.

Robotic and mechatronic devices for microsurgery and minimally invasive surgery. One such project is "Micron," a fully hand-held intelligent microsurgical instrument with active compensation of the surgeon's hand tremor. I have also recently begun a project in robotic instrumentation for minimally invasive heart surgery.

Filtering methods for tremor and non-tremulous error. Distinguishing between desired and undesired motion in user interfaces often requires nonlinear filtering. I develop techniques such as adaptive filters and neural-network-based methods for online estimation of both tremor and non-tremulous types of erroneous motion.

High-precision instrumentation to track microsurgical tools. Peformance validation for microsurgical tools is not a trivial task, since movements as small as a few microns are significant. My research involves the need for precision tracking instrumentation in order to establish the performance baseline of unassisted surgeons, provide raw data for further filter development, and validate the performance of microsurgical devices. Using one such instrument I have acquired what are believed to be the world's first recordings of physiological hand tremor during actual microsurgery.

Projects

ASAP - non-contact 3-D surgical instrument tracking for device testing and surgeon assessment

HeartLander - A miniature mobile robot for minimally invasive therapy on the beating heart through a single percutaneous incision.

Joystick Filtering for Movement Disorders - Filtering of joystick input for computer users with movement disorders

Micron: Intelligent Microsurgical Instruments - Suppression of hand tremor to improve precision in microsurgery.

Needle Steering for Brain Surgery - We are developing high accuracy proportional steering of flexible needles for minimally invasive navigation in the brain.

Publications (See my official RI webpage for downloadable publications)

Journal Articles

W. T. Latt, U-X. Tan, A. Georgiou, A. E. Sidarta, C. N. Riviere, and W. T. Ang, “A micro motion sensing system for micromanipulation tasks,” Sens. Actuators A Phys., 173(1):254-266, 2012.
N. A. Patronik, T. Ota, M. A. Zenati, and C. N. Riviere. Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion. Int. J. Med. Robot., in press.
R. A. MacLachlan, B. C. Becker, J. Cuevas Tabarés, G. W. Podnar, L. A. Lobes, Jr., and C. N. Riviere. Micron: an actively stabilized handheld tool for microsurgery. IEEE Trans. Robotics, 28(1):195-212, 2012.
W. T. Latt, U-X. Tan, C. N. Riviere, and W. T. Ang. Transfer function compensation in gyroscope-free inertial measurement units for accurate angular motion sensing. IEEE Sensors Journal, in press.
R. A. MacLachlan and C. N. Riviere. Power voltage-current convertor using quasi-complementary MOSFET current mirrors. Electron. Lett., 47(21):1173-1175, 2011.
W. T. Latt, U-X. Tan, C. N. Riviere, and W. T. Ang. Placement of accelerometers for high sensing resolution in micromanipulation. Sens. Actuators A Phys., 167:304-316, 2011.
J. A. Engh, D. Kondziolka, and C. N. Riviere. Percutaneous intracerebral navigation by duty-cycled spinning of flexible bevel-tipped needles. Neurosurgery, 67(4):1117-1123, 2010.
B. C. Becker, R. A. MacLachlan, L. A. Lobes, Jr., and C. N. Riviere. Semiautomated intraocular laser surgery using handheld instruments. Lasers Surg. Med., 42:264-273, 2010.
W. T. Latt, U.-X. Tan, C. Y. Shee, C. N. Riviere, and W. T. Ang. Compact sensing design of a hand-held active tremor compensation instrument. IEEE Sens. J., 9(12):1864-1871, 2009.
N. A. Patronik, T. Ota, M. A. Zenati, and C. N. Riviere. A miniature mobile robot for navigation and positioning on the beating heart. IEEE Trans. Robot., 25(5):1109-1124, 2009.
U-X. Tan, W. T. Latt, C. Y. Shee, C. N. Riviere, and W. T. Ang. Feedforward controller of ill-conditioned hysteresis using singularity-free Prandtl-Ishlinskii model. IEEE/ASME Trans. Mechatron., 14(5):598-605, 2009.
U-X. Tan, W. T. Latt, F. Widjaja, C. Y. Shee, C. N. Riviere, W. T. Ang. Tracking control of hysteretic piezoelectric actuator using adaptive rate-dependent controller. Sens. Actuators A Phys., 150(1): 116-123, 2009.
R. A. MacLachlan and C. N. Riviere. High-speed microscale optical tracking using digital frequency-domain multiplexing. IEEE Trans. Instrum. Meas., 58(6):1991-2001, 2009.
T. Ota, N. A. Patronik, D. Schwartzman, C. N. Riviere, and M. A. Zenati. Minimally invasive epicardial injection using a semi-autonomous robotic device. Circulation, 118(14 Suppl):S115-S120, 2008.
U. X. Tan, K. C. Veluvolu, W. T. Latt, C. Y. Shee, C. N. Riviere, and W. T. Ang. Estimating displacement of periodic motion with inertial sensors. IEEE Sens. J., 8(8):1385-1388, 2008.
W. T. Ang, P. K. Khosla, and C. N. Riviere. Feedforward controller with inverse rate-dependent model for piezoelectric actuators in trajectory-tracking applications. IEEE/ASME Transactions on Mechatronics 12(2):134-142, 2007.
W. T. Ang, P. K. Khosla, and C. N. Riviere, Nonlinear regression model of a low-g MEMS accelerometer. IEEE Sensors Journal 7(1):81-88, 2007.
C. N. Riviere, J. Gangloff, and M. de Mathelin. Robotic compensation of biological motion to enhance surgical accuracy. Proceedings of the IEEE 94(9):1705-1716, 2006.
T. Ota, N. Patronik, C. Riviere, and M. Zenati. Percutaneous subxiphoid access to the epicardium using a miniature crawling robotic device. Innov. Technol. Tech. Cardiothorac. Vasc. Surg. 1(5):227-231, 2006.
N. A. Patronik, M. A. Zenati, and C. N. Riviere. Preliminary evaluation of a mobile robotic device for navigation and intervention on the beating heart,” Computer Aided Surgery 10(4):225-232, 2005.
C. N. Riviere, N. A. Patronik, and M. A. Zenati. A prototype epicardial crawling device for intrapericardial intervention on the beating heart. Heart Surgery Forum 7(6):E639-E643, 2004.
C. N. Riviere, W. T. Ang, and P. K. Khosla. Toward active tremor canceling in handheld microsurgical instruments. IEEE Transactions on Robotics and Automation 19(5):793-800, 2003.
G. Bonanomi, K. Rebello, K. Lebouitz, C. Riviere, E. Di Martino, D. Vorp, and M. A. Zenati. Microelectromechanical systems for endoscopic cardiac surgery. Journal of Thoracic and Cardiovascular Surgery 126(3):851-852, 2003.
R. H. Taylor, G. Fichtinger, P. Jensen, and C. N. Riviere. Medical robotics and computer-integrated surgery: information-driven systems for 21st century operating rooms. Journal of the Japanese Society for Computer-Assisted Surgery 2(2):47-53, 2000.
C. N. Riviere, R. S. Rader, and N. V. Thakor. Adaptive canceling of physiological tremor for improved precision in microsurgery. IEEE Transactions on Biomedical Engineering,45(7):839-846, July 1998.
C. N. Riviere, S. G. Reich, and N. V. Thakor. Adaptive Fourier modeling for quantification of tremor. Journal of Neuroscience Methods,74(1):77-87, 1997.
C. N. Riviere and N. V. Thakor. Modeling and canceling tremor in human-machine interfaces. IEEE Engineering in Medicine and Biology Magazine, 15(3):29-36, May/June 1996.
C. N. Riviere and N. V. Thakor. Effects of age and disability on tracking tasks with a computer mouse: accuracy and linearity. Journal of Rehabilitation Research and Development,33(1):6-15, February 1996.

Book Chapters

B. C. Becker, S. Voros, R. A. MacLachlan, G. D. Hager, and C. N. Riviere. Visual guidance of an active handheld microsurgical tool. In. J. Rosen, B. Hannaford, and R. M. Satava, eds., Surgical Robotics: Systems, Applications, and Visions, New York: Springer, 2011, pp. 355-368.
N. A. Patronik, T. Ota, M. A. Zenati, and C. N. Riviere. Accurate positioning for intervention on the beating heart using a crawling robot. In. J. Rosen, B. Hannaford, and R. M. Satava, eds., Surgical Robotics: Systems, Applications, and Visions, New York: Springer, 2011, pp. 105-121.
U-X. Tan, W. T. Ang, C. Riviere, W. T. Latt, and C. Y. Shee. Modeling and control of piezoelectric actuators for active physiological tremor compensation," in N. Sarkar, ed., Human-Robot Interaction, Vienna: I-Tech Education and Publishing, 2007, pp. 369-394.

Conference Papers

N. A. Wood, D. Schwartzman, M. A. Zenati, and C. N. Riviere. Toward onboard estimation of physiological phase for an epicardial crawling robot. Proc. IEEE Int. Conf. Biomed. Robot. Biomechatron. (BioRob), 2012, submitted.
B. C. Becker, S. Yang, R. A. MacLachlan, and C. N. Riviere. Towards vision-based control of a handheld micromanipulator for retinal cannulation in an eyeball phantom. Proc. IEEE Int. Conf. Biomed. Robot. Biomechatron. (BioRob), 2012, submitted.
C. Shi, B. C. Becker, and C. N. Riviere. Inexpensive monocular pico-projector-based augmented reality display for surgical microscope. Proc. 25th IEEE Int. Symp. Computer-Based Medical Systems, 2012, submitted.
G. Montes Grande, A. J. Knisely, B. C. Becker, S. Yang, B. E. Hirsch, and C. N. Riviere. Toward robot-assisted stapes fenestration with a handheld micromanipulator. Proc. IEEE Northeast Bioeng. Conf., 2012, in press.
K. Fok, N. A. Wood, and C. N. Riviere. Improved locomotion for the HeartLander robot for injection of an anti-remodeling hydrogel. Proc. IEEE Northeast Bioeng. Conf., 2012, in press.
C. A. Lehocky and C. N. Riviere. Needle steering by duty-cycled spinning: modeling the mechanics. Proc. IEEE Northeast Bioeng. Conf., 2012, in press.
S. Rodríguez Palma, B. C. Becker, and C. N. Riviere. Simultaneous calibration of stereo vision and 3D optical tracker for robotic microsurgery. Proc. IEEE Northeast Bioeng. Conf., 2012, in press.
S. Yang, R. A. MacLachlan, and C. N. Riviere. Design and analysis of 6 DOF handheld micromanipulator. Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2012, in press.
B. C. Becker, R. A. MacLachlan, L. A. Lobes, Jr., and C. N. Riviere. Position-based virtual fixtures for membrane peeling with a handheld micromanipulator. Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2012, in press.
B. C. Becker, R. A. MacLachlan, and C. N. Riviere. State estimation and feedforward tremor suppression for a handheld micromanipulator with a Kalman filter. Proc. IEEE/RSJ Int. Conf. Intell. Rob. Syst. (IROS), 2011, pp. 5160-5165.
N. A. Wood, D. Moral del Agua, M. A. Zenati, and C. N. Riviere. Position estimation of an epicardial crawling robot on the beating heart by modeling of physiological motion. Proc. IEEE/RSJ Int. Conf. Intell. Rob. Syst. (IROS), 2011, pp. 4522-4527.
N. A. Patronik, M. A. Zenati, and C. N. Riviere. A study ex vivo of the effect of epicardial fat on the HeartLander robotic crawler. IFMBE Proc. 37, 2011, pp. 227-230.
N. A. Wood, N. A. Patronik, M. A. Zenati, and C. N. Riviere. Fourier modeling of porcine heartbeat and respiration in vivo for synchronization of HeartLander robot locomotion. Proc. 33rd Annu. Int. Conf. IEEE Med. Biol. Soc., 2011, pp. 7041-7044.
D. Moral del Agua, N. A. Wood, and C. N. Riviere. Improved synchronization of HeartLander locomotion with physiological cycles. Proc. IEEE Northeast Bioeng. Conf., 2011, pp. 1-2.
B. C. Becker, R. A. MacLachlan, G. D. Hager, and C. N. Riviere. Handheld micromanipulation with vision-based virtual fixtures. Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 4127-4132.
B. C. Becker, S. Voros, L. A. Lobes, Jr, J. Handa, G. D. Hager, and C. N. Riviere. Retinal vessel cannulation with an image-guided handheld robot. Proc. 32^nd Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., pp. 5420-5423, 2010.
S. Peral Rodriguez, D. Ding, and C. N. Riviere. Algorithms for target prediction for computer users with athetosis. Proc. 32^nd Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., pp. 491-494, 2010.
J. Cuevas Tabarés, R. A. MacLachlan, C. A. Ettensohn, and C. N. Riviere. Cell micromanipulation with an active handheld micromanipulator. Proc. 32^nd Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., pp. 4363-4366, 2010.
N. A. Wood, K. Shahrour, M. C. Ost, and C. N. Riviere. Needle steering system using duty-cycled rotation for percutaneous kidney access. Proc. 32^nd Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., pp. 5432-5435, 2010.
B. E. Goyette, B. C. Becker, M. A. Zenati, and C. N. Riviere. Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot. Proc. 32^nd Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., pp. 2275-2278, 2010.
M. P. Chapman, J. L. López González, B. E. Goyette, K. L. Fujimoto, Z. Ma, W. R. Wagner, M. A. Zenati, and C. N. Riviere. Application of the HeartLander crawling robot for injection of a thermally sensitive anti-remodeling agent for myocardial infarction therapy. Proc. 32^nd Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., pp. 5428-5431, 2010.
B. E. Goyette and C. N. Riviere. Reducing operating time of a crawling robot for epicardial surgery. Proc. 36^th IEEE Northeast Bioeng. Conf., 2 pp., 2010.
B. C. Becker, C. Robles Valdivieso, J. Biswas, L. A. Lobes, Jr., and C. N. Riviere. Automatic scanning for laser retinal surgery using handheld instruments. Proc. 31st Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., pp. 5587-5590, 2009.
B. Becker, S. Voros, R. MacLachlan, G. Hager, and C. Riviere. Active guidance of a handheld micromanipulator using visual servoing. Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 339-344, 2009.
B. C. Becker, H. Tummala, and C. N. Riviere. Autoregressive modeling of physiological tremor under microsurgical conditions. Proc. 30th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., pp. 1948-1951, 2008.
S. Sibenaller, D. Ding, B. Dicianno, R. A. Cooper, C. Riviere. Kinematic characteristics of athetoid movement during target acquisition. Proc. RESNA Annu. Conf., 6 pp., 2008.
K. C. Olds, S. Sibenaller, R. A. Cooper, D. Ding, and C. Riviere. Target prediction for icon clicking by athetoid persons. Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2043-2048, 2008.
U-X. Tan, F. Widjaja, W. T. Latt, K. C. Veluvolu, C. Y. Shee, C. Riviere, and W. T. Ang. Adaptive rate-dependent feedforward controller for hysteretic piezoelectric actuator. Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 787-792, 2008.
P. D. Allen, N. A. Patronik, M. A. Zenati, and C. N. Riviere. A mobile robot driven by miniature onboard motors for cardiac intervention. Proc. 34th IEEE Northeast Bioeng. Conf., pp. 9-10, 2008.
J. J. Vázquez López, S. Sibenaller, D. Ding, and C. Riviere, “Toward filtering of athetoid motion with neural networks,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Lyon, France, 2007, pp. 1434-1436.
R. Sandoval, R. A. MacLachlan, M. Oh, and C. Riviere, “Positioning accuracy of neurosurgeons,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Lyon, France, 2007, pp. 206-209.
D. Minhas, J. Engh, M. Fenske, and C. Riviere, “Modeling of needle steering via duty-cycled spinning,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Lyon, France, 2007, pp. 2756-2759.
D. Y. Choi, R. Sandoval, R. A. MacLachlan, L. Ho, L. A. Lobes, and C. Riviere, “Test of tracing performance with an active handheld micromanipulator,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Lyon, France, 2007, pp. 3638-3641.
J. Engh, G. Podnar, D. Kondziolka, and C. Riviere, “Toward effective needle steering in brain tissue,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., New York City, 2006, pp. 559-562.
R. Cernat, C. Matei, L. Olteanu, C. Riviere, and D. Dumitraş, “Acousto-optic compensation of tremor for use in a handheld laser microsurgical instrument,” Proc. 28th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., New York City, 2006, pp. 3862-3864.
N. Patronik, T. Ota, M. Zenati, and C. Riviere, “Improved traction for a mobile robot traveling on the heart, Proc. 28th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., New York City, 2006, pp. 339-342.
H. Tummala, N. Patronik, and C. Riviere, “Design, implementation, and testing of the heartlander force (HLF) prototype,” ASME Summer Bioeng. Conf., 2006, 2 pp.
J. A. Engh, S. Y. Khoo, G. Podnar, and C. N. Riviere, “Flexible needle steering system for percutaneous access to deep zones of the brain,” Proc. 32nd IEEE Northeast Bioeng. Conf., 2006, pp. 103-104.
S. Seshamani, C. Riviere, J. Handa, L. Lobes, G. Hager, “Visual measurement of microsurgical motion with application to robotic augmentation,” Proc. 32nd IEEE Northeast Bioeng. Conf., 2006, pp. 39-40.
F. Razjouyan, N. A. Patronik, M. A. Zenati, and C. N. Riviere, “Enhancing the locomotion of an in vivo robot for cardiac surgery,” Proc. 32nd IEEE Northeast Bioeng. Conf., 2006, pp. 97-98. (Winner, Best Student Paper Award)
Patronik NA, Riviere CN, El Qarra S., Zenati MA. “The HeartLander: a novel epicardial crawling robot for myocardial injections”. Proc. 19^th Int. Congr. Comput. Asst. Radiol. Surg., Elsevier. 2005; 1281C: 735-739.
N. A. Patronik, M. A. Zenati, and C. N. Riviere, “A cable-driven miniature robot for crawling on the heart,” 27th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Shanghai, China, Sept. 1-4, 2005.
J. García Avedillo, D. Y. Choi, and C. N. Riviere, “Inverse kinematic model of flexure-based microsurgical manipulator,” 27th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Shanghai, China, Sept. 1-4, 2005.
C. Benjavitvilai and C. N. Riviere, “Fuzzy calibration of magnetometer in presence of surgical microscope,” 27th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Shanghai, China, Sept. 1-4, 2005.
D. Y. Choi and C. N. Riviere, “Flexure-based manipulator for active handheld microsurgical instrument,” 27th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Shanghai, China, Sept. 1-4, 2005. (First Place in Student Design Competition).
W. T. Ang, P. K. Khosla, and C. N. Riviere, “Kalman filtering for real-time orientation tracking of handheld microsurgical instrument,” Proc. IEEE/RSJ Intl. Conf. Intell. Robots Syst. (IROS), Sept. 28-Oct. 2, 2004, vol. 3, pp. 2574-2580.
W. T. Ang, P. K. Khosla, and C. N. Riviere, “Active tremor compensation in microsurgery,” Proc. 26^th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp. 2738-2741.
A. D. Jagtap and C. N. Riviere, “Applied force during vitreoretinal microsurgery with handheld instruments,” Proc. 26^th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp. 2771-2773.
F. Peral-Gutierrez, A. L. Liao, and C. N. Riviere, “Static and dynamic accuracy of vitreoretinal surgeons,” Proc. 26^th Annu. Intl. Conf. IEEE Eng. Med. Biol. Soc., Sep. 1-3, 2004, pp. 2734-2737.
N. A. Patronik, M. A. Zenati, and C. N. Riviere, “Crawling on the heart: a mobile robotic device for minimally invasive cardiac interventions,” 7^th Intl. Conf. Med. Image Comput. and Computer-Assisted Intervention (MICCAI), 2004, Lect. Notes Comput. Sci., pp. 9-16.
W. T. Ang, S. Y. Khoo, P. K. Khosla, and C. N. Riviere, “Physical model of a dual-axis MEMS accelerometer for low-g motion tracking applications,” Proc. IEEE Intl. Conf. Robot. Autom., New Orleans, May 2004, vol. 2, pp. 1345-1351.
N. A. Patronik, M. A. Zenati, and C. N. Riviere, “Development of a robotic crawler for minimally invasive cardiac therapies,” Proc. 30th IEEE Northeast Bioeng. Conf., Springfield, Mass., Apr. 17-18, 2004, pp. 239-240 (2^nd Place, Student Paper Competition).
W. T. Ang, P. K. Khosla, and C. N. Riviere, “Modeling rate-dependent hysteresis in piezoelectric actuators,” Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Oct. 2003, pp. 1975-1980.
F. Alija Garmón, W. T. Ang, P. K. Khosla, and C. N. Riviere, “Rate-dependent inverse hysteresis feedforward controller for microsurgical tool,” Proc. 25th Annu. Conf. IEEE Eng. Med. Biol. Soc., Cancun, Mex., Sept. 17-21, 2003, pp. 3415-3418.
R. Ortiz and C. N. Riviere, “Tracking rotation and translation of laser microsurgical instruments,” Proc. 25th Annu. Conf. IEEE Eng. Med. Biol. Soc., Cancun, Mex., Sept. 17-21, 2003, pp. 3411-3414.
W. T. Ang, P. K. Khosla, and C. N. Riviere, “Design of all-accelerometer inertial measurement unit for tremor sensing in handheld microsurgical instrument,” Proc. IEEE Intl. Conf. Robot. Autom., Taipei, Taiwan, Sept. 14-19, 2003, pp. 1781-1786.
W. T. Ang and C. N. Riviere, “Assistive human-machine interfaces via artificial neural networks,” Proc. 3^rd Intl. Symp. Robotics and Automation, Toluca, Mexico, Sept. 2002, pp. 477-480.
S. P. N. Singh and C. N. Riviere, “Physiological tremor amplitude during retinal microsurgery,” Proc. 28^th IEEE Northeast Bioeng. Conf., Philadelphia, April 20-21, 2002, pp. 171-172.
W. T. Ang, C. N. Riviere, and P. K. Khosla, “Design and implementation of active error canceling in a hand-held microsurgical instrument,” Proc. IEEE/RSJ Intl. Conf. Intell. Robots and Systems, Hawaii, Oct. 29-Nov. 3, 2001, pp.1106-1111.
L. Hotraphinyo and C. N. Riviere, “Precision measurement for microsurgical instrument evaluation,” Proc. 22^nd Annu. Conf. IEEE Eng. Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp. 3454-3457 (Finalist, Student Paper Competition).
W. T. Ang and C. N. Riviere, “Neural network methods for error canceling in human-machine manipulation,” Proc. 22^nd Annu. Conf. IEEE Eng. Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp. 3462-3465.
L. Hotraphinyo and C. N. Riviere, “Three-dimensional accuracy assessment of eye surgeons,” Proc. 22^nd Annu. Conf. IEEE Eng. Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp. 3458-3461.
W. T. Ang, C. N. Riviere, and P. K. Khosla, “An intelligent hand-held microsurgical instrument for improved accuracy,” Proc. 22^nd Annu. Conf. IEEE Eng. Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp. 3450-3453.
C. N. Riviere, A. Thakral, I. I. Iordachita, G. Mitroi, and D. Stoianovici, “Predicting respiratory motion for active canceling during percutaneous needle insertion,” Proc. 22^nd Annu. Conf. IEEE Eng. Med. Biol. Soc., Istanbul, Oct. 25-28, 2001, pp. 3477-3480.
W. T. Ang, C. N. Riviere, and P. K. Khosla, “An active hand-held instrument for enhanced microsurgical accuracy,” Proc. 3rd Intl. Conf. Medical Image Computing and Computer-Assisted Intervention, Pittsburgh, Oct. 11-14, 2000, pp. 878-886.
C. N. Riviere and P. S. Jensen, “A study of instrument motion in retinal microsurgery,” Proc. 21st Annu. Conf. IEEE Eng. Med. Biol. Soc., Chicago, Jul. 23-28, 2000.
M. A. Gomez-Blanco, C. N. Riviere and P. K. Khosla, “Intraoperative tremor monitoring for vitreoretinal microsurgery,” Proc. Medicine Meets Virtual Reality 8, Newport Bch., Ca., Jan. 27-30, 2000, pp. 99-101.
M. A. Gomez-Blanco, C. N. Riviere, and P. K. Khosla. Intraoperative instrument motion sensing for microsurgery. Proceedings of the 20th Annual Conference of the IEEE Engineering in Medicine and Biology Society, 13-16 Oct. 1999.
C. N. Riviere and P. K. Khosla. Microscale measurement of surgical instrument motion. Proc. 2nd Intl. Conf. on Medical Image Computing and Computer-Assisted Intervention, Cambridge, England, 19-22 Sept. 1999, pp. 1080-1087.
C. N. Riviere and P. K. Khosla. 3-D position measurement for microsurgical evaluation and simulation. Proc. Medicine Meets Virtual Reality 7, San Francisco, Jan. 20-23, 1999, pp. 285-289.
C. N. Riviere and P. K. Khosla. Error recognition for rehabilitation and microsurgery. Proceedings of the Sixth ACM International Multimedia Conference: Workshop on Face and Gesture Recognition and Its Applications, Bristol, England, 12 September 1998 (invited).
C. N. Riviere, R. S. Rader, and P. K. Khosla. Characteristics of hand motion of eye surgeons. Proceedings of the 19th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Chicago, 30 October-2 November 1997. [PDF; 98K]
C. N. Riviere and P. K. Khosla. Active handheld instrument for error compensation in microsurgery. Proceedings of Intelligent Systems and Advanced Manufacturing: Technical Conference on Microrobotics and Microsystem Fabrication, Pittsburgh, Pa., 16-17 October 1997, pp. 86-95. [PDF; 107K]
C. N. Riviere and P. K. Khosla. Augmenting the human-machine interface: improving manual accuracy. Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, 20-25 April 1997. [PDF; 26K]
C. N. Riviere and P. K. Khosla. Accuracy in positioning of handheld instruments. Proceedings of the 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Amsterdam, 31 October-3 November 1996.
D. S. Hsu, C. N. Riviere, and N. V. Thakor. On-line canceling of pathological tremor for computer interface. Proceedings of the 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Amsterdam, 31 October-3 November 1996.
C. N. Riviere, R. S. Rader, and N. V. Thakor. Adaptive real-time canceling of physiological tremor for microsurgery. Proceedings of the Second International Symposium on Medical Robotics and Computer Assisted Surgery , Baltimore, 5-7 November, pp. 89-96, 1995.
C. N. Riviere and N. V. Thakor. Adaptive human-machine interface for persons with tremor. Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Montréal, 20-23 September, pp. 1193-1194, 1995. (Second Place, Student Paper Competition)
C. N. Riviere and N. V. Thakor. Suppressing pathological tremor during dextrous teleoperation. Proceedings of the 17th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Montréal, 20-23 September, pp. 1195-1196, 1995.
C. N. Riviere and N. V. Thakor. Assistive computer interface for pen input by persons with tremor. Proceedings of the RESNA 1995 Annual Conference, Vancouver, BC, 9-14 June, pp. 440-442, 1995.
C. N. Riviere and N. V. Thakor. Linearity of human commands for telerobotics. Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Baltimore, 3-6 November, vol. 2, pp.1039-1040, 1994.
I. Z. Amanat, C. N. Riviere, and N. V. Thakor. Teleoperation of a dextrous robotics hand using vibrotactile feedback. Proceedings of the 16th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Baltimore, 3-6 November, vol. 2, pp. 1059-1060, 1994.
C. N. Riviere, H. F. Rizer, and N. V. Thakor. Accuracy of upper-extremity motion by healthy and disabled subjects. Proceedings of the RESNA 1994 Annual Conference, Nashville, TN, 17-22 June, pp. 170-172, 1994.
I. Z. Amanat, C. N. Riviere, and N. V. Thakor. Vibrotactile feedback for dextrous teleoperation. Proceedings of the RESNA 1994 Annual Conference, Nashville, TN, 17-22 June, pp. 460-462, 1994.
C. N. Riviere and N. V. Thakor. Accuracy-based bandwidth of human upper-extremity motion. Proceedings of the 13th Southern Biomedical Engineering Conference, Washington, DC, 16-17 April, pp. 530-533, 1994.
I. Z. Amanat, C. N. Riviere, and N. V. Thakor. Vibrotactile feedback for a teleoperated dextrous hand. Proceedings of the 13th Southern Biomedical Engineering Conference, Washington, DC, 16-17 April, pp. 526-529, 1994.
C. N. Riviere. A finite element model of the Hybrid III ribcage. Proceedings of the Eighteenth International Workshop on Human Subjects for Biomechanical Research, Orlando, FL, pp. 55-59, 1990.

Technical Reports

R. A. MacLachlan, C. N. Riviere. Optical tracking for performance testing of microsurgical instruments. Tech. report CMU-RI-TR-07-01, Robotics Institute, Carnegie Mellon University, 2007.
M. Gomez Blanco, C. Riviere, and P. Khosla. Sensing hand tremor in a vitreoretinal microsurgical instrument. Tech. report CMU-RI-TR-99-39, Robotics Institute, Carnegie Mellon University, 1999.

Non-work-related stuff