@article{yim2014biopsy, title = {Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing and Retrieving Untethered Micro-Grippers}, author = {Yim, Sehyuk and Gultepe, Evin and Gracias, David H and Sitti, Metin}, journal = {IEEE Trans. on Biomedical Engineering}, volume = {61}, number = {2}, pages = {513--521}, publisher = {IEEE}, year = {2014}, doi = {} }