This article describes a data fusion algorithm that uses fuzzy logic techniques. The algorithm involves weighting factors, the values of which change depending on whether the conditions dictated by processes of fuzzy logic have been met. By modifying the values of weighting factors, one can achieve a measurement signal with expected properties. The article includes a general description of the algorithm and an example of its application. The algorithm was developed for the purposes of data fusion for contactless measurement of the linear and angular position of an automatic laparoscopic device or a laparoscopic camera (hereinafter Laparoscope sleeve or LS). These measurements are used in the article to close the feedback loop on the position within a servomechanism with two degrees of freedom.

The design of a force sensor prototype as an equipment of a control system with force feedback to be used in the RobIn Heart [1,2, telemanipulator system is presented. The main problems with placing the sensor on the laparoscopic tool are discussed. The method of decoupling impact of the gripper actuation force from the measurement is described. Also, the results of computer FEM simulations are shown.

Diagnostics of the digestive system carried out properly is becoming more and more important where patients' health status and lives are concerned. Current diagnostic methods include but are not limited to the following: radiodiagnostics, endoscopy, enteroscopy and capsule endoscopy. This article contains a brief presentation of these methods and it describes their main advantages and disadvantages. One of the main conclusions summarizing the description of diagnostic methods is to indicate any “blank spots” in the diagnosis and treatment of the digestive system. This article also presents studies of new devices that will eventually fill in the blank spots in the diagnosis of the digestive system. In the conclusions this article characterizes the most important parameter requirements that a device should possess to meet the expectations of physicians and allow for comprehensive diagnostic assessment of the intestines and taking of samples for further tests.

In this study novel transversal pneumatic artificial muscles (TPAM), made from composite – poly(dimethylsiloxane) (PDMS) matrix membrane and poly(ethylene terephthalate) (PET) satin reinforcement, are presented. Miniature TPAM consists of a flexible internal braid (IB) reinforcing the membrane and the external braid (EB). EB, with fibers arranged transversely to the IB, is placed laterally. Differently prepared TPAMs were tested for their effectiveness as actuators for robot drive and the PDMS/PET composite suitability was evaluated for applications in human gastrointestinal tract (chemical resistance, thermal characteristic). FT-IR spectra of the composite were compared for study PDMS impregnation process of PET satin and effect of immersion in selected solution. The composite shows outstanding biocompatibility and the muscles have competitive static load characteristics in comparison with other pneumatic artificial muscles (PAM). These results lead to believe, that in the near future painless examination of the gastrointestinal tract using a secure robot will be possible.