Magnetically actuated soft capsule endoscope for fine-needle biopsy

@article{son2019magnetically,
  title = {Magnetically actuated soft capsule endoscope for fine-needle biopsy},
  journal = {Soft Robotics},
  volume = {7},
  number = {1},
  pages = {10--21},
  year = {2020},
  author = {Son, Donghoon and Gilbert, Hunter and Sitti, Metin},
  doi = {10.1089/soro.2018.0171}
}