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A. Moglia, A. Menciassi, M. Schurr and P. Dario, “Wireless Capsule Endoscopy: From Diagnostic Decices to Multipurpose Robotic System,” Biomed Microdevis, Vol. 9, 2007, pp. 235-243. http://dx.doi.org/10.1007/s10544-006-9025-3

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