A Low-Friction Capsule Robot with Drive–Control–Sensing Integration for Gastrointestinal Lesion Detection
1School of Disaster and Emergency Medicine, Tianjin University, Tianjin 300072, PR China.
2School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, PR China.
3Academy of Military Medical Sciences, Tianjin 300050, PR China.
4Tianjin Children’s Hospital, Tianjin University, Tianjin 300204, PR China.
5School of Acupuncture, Moxibustion and Tuina, Hebei University of Chinese Medicine, Shijiazhuang, Hebei 050200, PR China.
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