Force-Based Supervisory Control Assisted Surgery

Nowadays, there is an increasing number of mechatronic and robotic systems that are used in robotic surgery. In this chapter, the main focus is on developing a novel “all-in-one” surgical device and its control system which carry out an office-based surgical treatment for Otitis media with effusion (OME) that overcomes the disadvantages and limitations of the current surgery. OME is a very common ear disease occurring in adults and children alike when the middle ear is infected or the eustachian tube becomes dysfunctional, resulting in accumulation of fluid in the middle ear space. When medication as the first treatment fails, a ventilation tube (grommet) is commonly surgically inserted on the tympanic membrane (TM) of the patient to discharge the fluid.