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This paper presents a sliding mode disturbance observer‐based motion tracking control methodology. In particular, the methodology is applied to control a semi‐automated hand‐held ear surgical device for the treatment of otitis media with effusion. The proposed control methodology is utilised to deal with the undesirable effects in the motion system, such as non‐linear dynamics, parametric uncertainties...
To treat a worldwide common ear disease called Otitis Media with Effusion, a robotic device allowing fast and automatic grommet tube insertion has been designed in our earlier works. However, the previous version has to be manually placed close to the tympanic membrane before the insertion procedures. For the purpose of realizing a fully automated surgical process, locating and realizing a suitable...
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