In the last decade, Micro/Nano positioning control has received a great attention in biomedical applications. The insulin delivery system for type-1 diabetic patients is selected as a case study for modeling and control. PID and Fuzzy controllers are developed in simulation using MATLAB/SIMULINK toolbox. The results obtained affirmed the potential of fuzzy control to smooth the insulin flow rates. The insulin pump design is surveyed as the main component in the closed loop. A new design for the insulin pump using ultrasonic piezoelectric linear motor is presented and described in detail. This design idea has been granted a US patent. The advantages of the invention lie in its economic feasibility, reliability and user friendliness. The invention also saves the consumed energy and extends the battery life due to the use of energy harvesting from the human body. This book helps the bioengineers and researchers who are working in the research field to understand and to develop their applications more effectively.