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. Author manuscript; available in PMC: 2023 Feb 23.
Published in final edited form as: Int Symp Med Robot. 2021 Jan 11;2020:188–194. doi: 10.1109/ismr48331.2020.9312937

Fig. 1.

Fig. 1.

Anatomy of the human ear. Two natural orifices provide access to the middle ear cavity: the external ear canal (EAC) and the Eustachian tube (ET). To access the middle ear from the EAC, surgeons have to cut or lift the tympanic membrane. By contrast, accessing the middle ear by way of the ET does not require the disruption of any tissue.