| 2024 | IROS | Continuum Robot Shape Estimation Using Magnetic Ball Chains. | Giovanni Pittiglio, Abdulhamit Donder, Pierre E. Dupont |
| 2023 | ICRA | Magnetic Ball Chain Robots for Endoluminal Interventions. | Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont |
| 2023 | IROS | Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. | Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, Pierre E. Dupont |
| 2019 | ICRA | Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. | Jiaole Wang, Junhyoung Ha, Pierre E. Dupont |
| 2017 | ICRA | Incorporating tube-to-tube clearances in the kinematics of concentric tube robots. | Junhyoung Ha, Pierre E. Dupont |
| 2016 | IROS | Adaptive nonparametric kinematic modeling of concentric tube robots. | Georgios Fagogenis, Christos Bergeles, Pierre E. Dupont |
| 2016 | IROS | Toward on-line parameter estimation of concentric tube robots using a mechanics-based kinematic model. | Cheongjae Jang, Junhyoung Ha, Pierre E. Dupont, Frank Chongwoo Park |
| 2015 | ICRA | Toward tissue penetration by MRI-powered millirobots using a self-assembled Gauss gun. | Aaron T. Becker, Ouajdi Felfoul, Pierre E. Dupont |
| 2015 | IROS | Stabilizing the relative position of millirobots inside an MRI scanner considering magnetic interaction forces. | Alina Eqtami, Pierre E. Dupont |
| 2015 | IROS | Real-time adaptive kinematic model estimation of concentric tube robots. | Chunwoo Kim, Seok Chang Ryu, Pierre E. Dupont |
| 2014 | ICRA | Robotic implant to apply tissue traction forces in the treatment of esophageal atresia. | Dana D. Damian, Slava Arabagi, Assunta Fabozzo, Peter Ngo, Russell Jennings, Michael Manfredi, Pierre E. Dupont |
| 2014 | ICRA | Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robots. | Beobkyoon Kim, Junhyoung Ha, Frank C. Park, Pierre E. Dupont |
| 2014 | IROS | Simultaneously powering and controlling many actuators with a clinical MRI scanner. | Aaron T. Becker, Ouajdi Felfoul, Pierre E. Dupont |
| 2014 | IROS | MRI-powered closed-loop control for multiple magnetic capsules. | Alina Eqtami, Ouajdi Felfoul, Pierre E. Dupont |
| 2014 | IROS | Achieving elastic stability of concentric tube robots through optimization of tube precurvature. | Junhyoung Ha, Frank Chongwoo Park, Pierre E. Dupont |
| 2014 | ICRA | FBG-based shape sensing tubes for continuum robots. | Seok Chang Ryu, Pierre E. Dupont |
| 2013 | ICRA | Simultaneous soft sensing of tissue contact angle and force for millimeter-scale medical robots. | Veaceslav Arabagi, Andrew H. C. Gosline, Robert J. Wood, Pierre E. Dupont |
| 2013 | ICRA | Closed-loop commutation control of an MRI-powered robot actuator. | Christos Bergeles, Panagiotis Vartholomeos, Lei Qin, Pierre E. Dupont |
| 2013 | IROS | Planning stable paths for concentric tube robots. | Christos Bergeles, Pierre E. Dupont |
| 2012 | ICRA | Metal MEMS tools for beating-heart tissue removal. | Andrew H. C. Gosline, Nikolay V. Vasilyev, Arun Veeramani, MingTing Wu, Gregory P. Schmitz, Richard T. Chen, Veaceslav Arabagi, Pedro J. del Nido, Pierre E. Dupont |
| 2012 | ICRA | Tubular Enhanced Geodesic Active Contours for continuum robot detection using 3D ultrasound. | Hongliang Ren, Pierre E. Dupont |
| 2012 | IROS | Robotic neuro-emdoscope with concentric tube augmentation. | Evan J. Butler, Robert Hammond-Oakley, Szymon Chawarski, Andrew H. C. Gosline, Patrick J. Codd, Tomer Anor, Joseph R. Madsen, Pierre E. Dupont, Jesse Lock |
| 2012 | ICRA | Motion planning for multiple millimeter-scale magnetic capsules in a fluid environment. | Panagiotis Vartholomeos, M. Reza Akhavan-Sharif, Pierre E. Dupont |
| 2011 | ICRA | Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example. | Tomer Anor, Joseph R. Madsen, Pierre E. Dupont |
| 2011 | ICRA | Design optimization of concentric tube robots based on task and anatomical constraints. | Chris Bedell, Jesse Lock, Andrew H. C. Gosline, Pierre E. Dupont |
| 2011 | ICRA | Metal MEMS tools for beating-heart tissue approximation. | Evan J. Butler, Chris Folk, Adam Cohen, Nikolay V. Vasilyev, Richard T. Chen, Pedro J. del Nido, Pierre E. Dupont |
| 2011 | ICRA | Friction modeling in concentric tube robots. | Jesse Lock, Pierre E. Dupont |
| 2011 | IROS | Detection of curved robots using 3D ultrasound. | Hongliang Ren, Nikolay V. Vasilyev, Pierre E. Dupont |
| 2011 | IROS | MRI-powered actuators for robotic interventions. | Panagiotis Vartholomeos, Lei Qin, Pierre E. Dupont |
| 2010 | ICRA | Real-time position control of concentric tube robots. | Pierre E. Dupont, Jesse Lock, Brandon Itkowitz |
| 2010 | IROS | Quasistatic modeling of concentric tube robots with external loads. | Jesse Lock, Genevieve Laing, Mohsen Mahvash, Pierre E. Dupont |
| 2010 | IROS | Stiffness control of a continuum manipulator in contact with a soft environment. | Mohsen Mahvash, Pierre E. Dupont |
| 2009 | ICRA | Torsional kinematic model for concentric tube robots. | Pierre E. Dupont, Jesse Lock, Evan J. Butler |
| 2009 | ICRA | Fast needle insertion to minimize tissue deformation and damage. | Mohsen Mahvash, Pierre E. Dupont |
| 2007 | ICRA | Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound. | Paul M. Novotny, Jeffrey A. Stoll, Pierre E. Dupont, Robert D. Howe |
| 2007 | ICRA | Inverse Kinematics of Concentric Tube Steerable Needles. | Patrick Sears, Pierre E. Dupont |
| 2006 | IROS | A Steerable Needle Technology Using Curved Concentric Tubes. | Patrick Sears, Pierre E. Dupont |
| 2006 | ICRA | Real-time 3D Ultrasound-based Servoing of a Surgical Instrument. | Jeffrey A. Stoll, Paul M. Novotny, Robert D. Howe, Pierre E. Dupont |
| 2006 | MICCAI | GPU Based Real-Time Instrument Tracking with Three Dimensional Ultrasound. | Paul M. Novotny, Jeffrey A. Stoll, Nikolay V. Vasilyev, Pedro J. del Nido, Pierre E. Dupont, Robert D. Howe |
| 2005 | ICRA | Trajectory Optimization for Dynamic Needle Insertion. | Matt Heverly, Pierre E. Dupont, John K. Triedman |
| 2005 | MICCAI | Passive Markers for Ultrasound Tracking of Surgical Instruments. | Jeffrey A. Stoll, Pierre E. Dupont |
| 2004 | ICRA | Kinematic Error Correction for Minimally Invasive Surgical Robots. | Ryan A. Beasley, Robert D. Howe, Pierre E. Dupont |
| 2004 | ICRA | Distinguishability and Identifiability of Contact States. | Thomas Debus, Pierre E. Dupont |
| 2002 | ICRA | Multi-Channel Vibrotactile Display for Teleoperated Assembly. | Thomas Debus, Tae-Jeong Jang, Pierre E. Dupont, Robert D. Howe |
| 2001 | MICCAI | Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting. | Shaun Selha, Pierre E. Dupont, Robert D. Howe, David F. Torchiana |
| 2000 | ICRA | Automatic Identification of Local Geometric Properties During Teleoperation. | Thomas Debus, Pierre E. Dupont, Robert D. Howe |
| 1999 | ICRA | Automatic Property Identification via Parameterized Constraints. | Thomas Debus, Pierre E. Dupont, Robert D. Howe |
| 1997 | ICRA | Experimental identification of kinematic constraints. | Pierre E. Dupont, Timothy M. Schulteis, Robert D. Howe |
| 1996 | ICRA | Stability of rigid-body dynamics with sliding frictional contacts. | Pierre E. Dupont, Serge P. Yamajako |
| 1994 | ICRA | Jamming and Wedging in Constrained Rigid-Body Dynamics. | Pierre E. Dupont, Serge P. Yamajako |
| 1992 | ICRA | The effect of Coulomb friction on the existence and uniqueness of the forward dynamics problem. | Pierre E. Dupont |
| 1991 | ICRA | Avoiding stick-slip in position and force control through feedback. | Pierre E. Dupont |
| 1990 | ICRA | Friction modeling in dynamic robot simulation. | Pierre E. Dupont |