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Related Experiment Video

Updated: Dec 30, 2025

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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Published on: November 14, 2015

Precision Motion Control using Nonlinear Contact Force Model in a Surgical Device.

Cailin Ng, Wenyu Liang, Chee Wee Gan

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|January 18, 2020

Summary

A new precision motion controller improves ear surgery accuracy for otitis media with effusion (OME) by predicting and managing insertion forces on the tympanic membrane (TM). This enhances surgical precision and reduces errors in grommet placement.

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Area of Science:

Biomedical Engineering
Robotic Surgery
Otology

Background:

Otitis media with effusion (OME) is a prevalent pediatric middle ear condition.
Current treatments for OME involve surgical insertion of ventilation tubes (grommets) into the tympanic membrane (TM).
Precise control is crucial during grommet insertion to minimize TM trauma and ensure successful placement.

Purpose of the Study:

To introduce a precision motion controller for the Ventilation Tube Applicator.
To enhance the accuracy and safety of grommet insertion during OME treatment.
To utilize a nonlinear contact force model for improved surgical control.

Main Methods:

Development of a precision motion controller incorporating the Hunt-Crossley contact force model.
Real-time prediction of forces exerted on the tympanic membrane during insertion.
Implementation of a motion control scheme that uses predicted forces to reject disturbances.

Main Results:

Significant improvements in the precision and accuracy of the motion controller.
Reduction in maximum absolute tracking error by up to 29%.
Reduction in root mean square error by up to 43%.

Conclusions:

The novel application of the Hunt-Crossley nonlinear contact force model effectively enhances surgical control.
The developed precision motion controller demonstrates superior performance in grommet insertion for OME treatment.
This approach holds potential for application in other contact-based robotic surgeries requiring high placement accuracy.