@inproceedings{7989135,
  title = {Magnetically actuated soft capsule endoscope for fine-needle aspiration biopsy},
  booktitle = {Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA)},
  abstract = {This paper presents a magnetically actuated soft capsule endoscope for fine-needle aspiration biopsy (B-MASCE) in the upper gastrointestinal tract. A thin and hollow needle is attached to the capsule, which can penetrate deeply into tissues to obtain subsurface biopsy sample. The design utilizes a soft elastomer body as a compliant mechanism to guide the needle. An internal permanent magnet provides a means for both actuation and tracking. The capsule is designed to roll towards its target and then deploy the biopsy needle in a precise location selected as the target area. B-MASCE is controlled by multiple custom-designed electromagnets while its position and orientation are tracked by a magnetic sensor array. In in vitro trials, B-MASCE demonstrated rolling locomotion and biopsy of a swine tissue model positioned inside an anatomical human stomach model. It was confirmed after the experiment that a tissue sample was retained inside the needle.},
  pages = {1132-1139},
  publisher = {IEEE},
  address = {Piscataway, NJ, USA},
  month = may,
  year = {2017},
  author = {Son, D. and Dogan, M. D. and Sitti, M.},
  doi = {10.1109/ICRA.2017.7989135},
  month_numeric = {5}
}