{"id":"https://openalex.org/W2015705868","doi":"https://doi.org/10.1109/tro.2011.2163861","title":"Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope","display_name":"Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope","publication_year":2011,"publication_date":"2011-08-31","ids":{"openalex":"https://openalex.org/W2015705868","doi":"https://doi.org/10.1109/tro.2011.2163861","mag":"2015705868"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2163861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2163861","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078379560","display_name":"Sehyuk Yim","orcid":"https://orcid.org/0000-0003-2152-0307"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sehyuk Yim","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Dept. Of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. Of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079968392","display_name":"Metin Sitti","orcid":"https://orcid.org/0000-0001-8249-3854"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Metin Sitti","raw_affiliation_strings":["Department of Mechanical Engineering and the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Dept. Of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. Of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":11.6237,"has_fulltext":false,"cited_by_count":397,"citation_normalized_percentile":{"value":0.99068022,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"28","issue":"1","first_page":"183","last_page":"194"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10980","display_name":"Vascular Malformations and Hemangiomas","score":0.9668999910354614,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5249124765396118},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5211400985717773},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.4964647889137268},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4255712032318115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4161287248134613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36093130707740784},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32877057790756226},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3254944086074829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23400503396987915},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17169758677482605}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5249124765396118},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5211400985717773},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.4964647889137268},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4255712032318115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4161287248134613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36093130707740784},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32877057790756226},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3254944086074829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23400503396987915},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17169758677482605},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2011.2163861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2163861","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.5899999737739563,"display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W179372779","https://openalex.org/W1968415082","https://openalex.org/W1972735648","https://openalex.org/W1986789340","https://openalex.org/W1998152844","https://openalex.org/W2017223238","https://openalex.org/W2032243730","https://openalex.org/W2034223731","https://openalex.org/W2049806229","https://openalex.org/W2070510683","https://openalex.org/W2077133085","https://openalex.org/W2079014643","https://openalex.org/W2083314906","https://openalex.org/W2096208415","https://openalex.org/W2107560398","https://openalex.org/W2115980364","https://openalex.org/W2123252911","https://openalex.org/W2127086686","https://openalex.org/W2140571167","https://openalex.org/W2147904646","https://openalex.org/W2148512278","https://openalex.org/W2148828700","https://openalex.org/W2157760711","https://openalex.org/W2157977301","https://openalex.org/W2160751146","https://openalex.org/W2161893004","https://openalex.org/W2167024178","https://openalex.org/W2277920844","https://openalex.org/W4242650431","https://openalex.org/W4285719527","https://openalex.org/W6694460165"],"related_works":["https://openalex.org/W2381426581","https://openalex.org/W2024370140","https://openalex.org/W2159705349","https://openalex.org/W2105392727","https://openalex.org/W2081826635","https://openalex.org/W2125678830","https://openalex.org/W601048412","https://openalex.org/W4205781190","https://openalex.org/W4210698599","https://openalex.org/W3166930015"],"abstract_inverted_index":{"This":[0],"paper":[1,177],"proposes":[2],"a":[3,11,32,131,152,170,218,224],"magnetically":[4,225],"actuated":[5,226],"soft":[6,57],"capsule":[7,227],"endoscope":[8,228],"(MASCE)":[9],"as":[10,108,130],"tetherless":[12],"miniature":[13],"mobile":[14],"robot":[15,41,150,189,203],"platform":[16],"for":[17,183],"diagnostic":[18],"and":[19,31,77,155,173,180,194,210,215],"therapeutic":[20],"medical":[21],"applications":[22],"inside":[23,136],"the":[24,40,68,74,87,127,137,140,149,156,184,188,202],"stomach.":[25,138],"Two":[26],"embedded":[27],"internal":[28],"permanent":[29],"magnets":[30],"large":[33],"external":[34,92,141,157,205],"magnet":[35],"are":[36],"used":[37,146,161],"to":[38,147,162,165],"actuate":[39],"remotely.":[42],"The":[43,176],"proposed":[44],"MASCE":[45],"has":[46],"three":[47,122],"novel":[48],"features.":[49],"First,":[50],"its":[51,191,211],"outside":[52],"body":[53],"is":[54,145,160,208,213],"made":[55],"of":[56,100,187,201],"elastomer-based":[58],"compliant":[59,62,185],"structures.":[60],"Such":[61],"structures":[63,186],"can":[64,82],"deform":[65],"passively":[66],"during":[67],"robot-tissue":[69],"contact":[70],"interactions,":[71],"which":[72,95,168],"makes":[73],"device":[75],"safer":[76],"less":[78],"invasive.":[79],"Next,":[80],"it":[81,119,164],"be":[83],"actively":[84],"deformed":[85],"in":[86,121],"axial":[88,109,192],"direction":[89],"by":[90,124,222],"using":[91,204,223],"magnetic":[93,143,158,206],"actuation,":[94],"provides":[96,169],"an":[97],"extra":[98],"degree":[99],"freedom":[101],"that":[102],"enables":[103],"various":[104],"advanced":[105],"functions":[106],"such":[107],"position":[110,195],"control,":[111],"drug":[112,114],"releasing,":[113],"injection,":[115],"or":[116],"biopsy.":[117],"Finally,":[118],"navigates":[120],"dimensions":[123],"rolling":[125],"on":[126,151,217],"stomach":[128,220],"surface":[129,133,199,221],"new":[132],"locomotion":[134,200],"method":[135],"Here,":[139],"attractive":[142],"force":[144],"anchor":[148],"desired":[153],"location,":[154,167],"torque":[159],"roll":[163],"another":[166],"stable,":[171],"continuous,":[172],"controllable":[174],"motion.":[175],"presents":[178],"design":[179],"fabrication":[181],"methods":[182],"with":[190],"deformation":[193],"control":[196],"capability.":[197],"Rolling-based":[198],"torques":[207],"modeled,":[209],"feasibility":[212],"tested":[214],"verified":[216],"synthetic":[219],"prototype.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":44},{"year":2023,"cited_by_count":33},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":36},{"year":2019,"cited_by_count":26},{"year":2018,"cited_by_count":24},{"year":2017,"cited_by_count":28},{"year":2016,"cited_by_count":17},{"year":2015,"cited_by_count":32},{"year":2014,"cited_by_count":26},{"year":2013,"cited_by_count":20},{"year":2012,"cited_by_count":9}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}