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