Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures

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Magnetic Methods in Robotics (2020, methodology): “In certain cases, the capsule is a true capsule that is completely untethered (66).”
A decade retrospective of medical robotics research from 2010 to 2020 (2021, methodology): “Magnetically guided microrobots As discussed in the previous section, capsule robots are relatively large devices enabling larger permanent magnets to be mounted in them allowing for magnetic field gradients to provide appreciable actuation force (43).”
Improved deep reinforcement learning for robotics through distribution-based experience retention (2016, background): “An example of this type of application are medical micro and nano robots [14].”
Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope (2012, methodology): “as the stomach, wall-to-wall locomotion methods [10], [11] in a liquid-filled environment or sliding-type surface locomotion methods in an inflated stomach [12]–[15] are proposed using mostly external magnetic actuation methods.”