Cameron Riviere

Associate Research Professor, Robotics Institute

Courtesy Appointments, Mechanical Engineering, Biomedical Engineering

Cameron Riviere

Source: College of Engineering


Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Newell-Simon Hall 3107
Pittsburgh, PA 15213

Phone: 412-268-3083




Dr. Riviere received the Ph.D. in Mechanical Engineering from 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. He is Director of the Surgical Mechatronics Laboratory. Since 1997 he has also been an Adjunct Assistant Professor in the Department of Rehabilitation Science and Technology at the University of Pittsburgh.


B.S. Aerospace Engineering, Virginia Tech, 1989 

B.S. Ocean Engineering, Virginia Tech, 1989 

Ph.D. Mechanical Engineering, Johns Hopkins University, 1995


Most of my research is in the area of surgical robotics. Specifically, I have an interest in developing robotic systems and interfaces for microsurgery and minimally invasive surgery that enhance the performance of the surgeon while also being "minimally obtrusive:" small, inexpensive, and easy to use, with minimal disturbance of the workflow in the operating room. Many of my projects deal with compensation of involuntary physiological motion for enhanced accuracy in surgery, using both active and passive approaches. My research involves building whole systems; thus, work in my lab includes modeling and simulation, mechanical design, electrical design, signal processing, control systems, fabrication and assembly, and testing with human users. As an outgrowth of the tremor modeling research, I also do research in filtering of input signals to provide assistive computer interfaces for persons with movement disorders including athetoid cerebral palsy and a variety of types of pathological tremor, in order to enable improved control of devices such as personal computers and powered wheelchairs.

Selected Publications

  • 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., in press.
  • 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, in press.
  • 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 Trans. Mechatron., 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 Sens. J., 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. Comput. Aided Surg. 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 Surg. 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 Trans. Robot. Autom., 19(5): 793-800, 2003.
  • C. N. Riviere, R. S. Rader, and N. V. Thakor.  Adaptive canceling of physiological tremor for improved precision in microsurgery. IEEE Trans. Biomed. Eng., 45(7):839-846, 1998.