@misc{sitti2016system,
  title = {System and method to magnetically actuate a capsule endoscopic robot for diagnosis and treatment},
  abstract = {Present invention describes a swallowable device with a soft, compliant exterior, whose shape can be changed through the use of magnetic fields, and which can be locomoted in a rolling motion through magnetic control from the exterior of the patient. The present invention could be used for a variety of medical applications inside the GI tract including but not limited to drug delivery, biopsy, heat cauterization, pH sensing, biochemical sensing, micro-surgery, and active imaging.},
  year = {2016},
  note = {US Patent 9,445,711},
  author = {Sitti, Metin and Yim, Sehyuk}
}