The integration of robotics into healthcare has ushered in a new era of precision, efficiency, and improved patient outcomes. This talk explores the transformative role of control theory and advanced robotic methodologies in modern healthcare, including interaction force estimation and control, dynamic simulation, haptics and haptic rendering, and state estimation of infinite-dimensional systems. After providing a general overview of the topic and highlighting my contributions to the field, the presentation will offer a detailed analysis of the design and implementation of an innovative robotic system for superficial hyperthermia, from concept to experimental validation. Additionally, ongoing research related to this system will be discussed, focusing on the development of non-invasive temperature estimation of human body internal tissues through the combination of control theory and artificial intelligence methods.