{"id":"https://openalex.org/W7140159927","doi":"https://doi.org/10.1109/tro.2026.3677072","title":"A Magnetic Capsule for Navigation and Multi-targeted Sampling in the Gastrointestinal Tract","display_name":"A Magnetic Capsule for Navigation and Multi-targeted Sampling in the Gastrointestinal Tract","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7140159927","doi":"https://doi.org/10.1109/tro.2026.3677072"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2026.3677072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3677072","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":null,"display_name":"Ziheng Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ziheng Chen","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, Liaoning, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Huayang Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huayang Ren","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhaokai Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaokai Wang","raw_affiliation_strings":["Department of Mechanical and Materials Engineering, Queen&#x0027;s University, Kingston, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Materials Engineering, Queen&#x0027;s University, Kingston, ON, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jingfang Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingfang Han","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiaqing Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiaqing Xie","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ruicheng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ruicheng Li","raw_affiliation_strings":["Department of Mechanical and Materials Engineering, Queen&#x0027;s University, Kingston, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Materials Engineering, Queen&#x0027;s University, Kingston, ON, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chunyun Wei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chunyun Wei","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tao Yue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao Yue","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yue Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuzhao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuzhao Zhang","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yan Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan Peng","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiangfan Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiangfan Yu","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xian Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xian Wang","raw_affiliation_strings":["Department of Mechanical and Materials Engineering, Queen&#x0027;s University, Kingston, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Materials Engineering, Queen&#x0027;s University, Kingston, ON, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Na Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Na Liu","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":null,"display_name":"Yu Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu Sun","raw_affiliation_strings":["department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":15,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.65061656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.7006000280380249,"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":0.7006000280380249,"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/T11190","display_name":"3D Printing in Biomedical Research","score":0.04580000042915344,"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/T10552","display_name":"Colorectal Cancer Screening and Detection","score":0.036400001496076584,"subfield":{"id":"https://openalex.org/subfields/2730","display_name":"Oncology"},"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/capsule","display_name":"Capsule","score":0.7264999747276306},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.7081999778747559},{"id":"https://openalex.org/keywords/gastrointestinal-tract","display_name":"Gastrointestinal tract","score":0.6154999732971191},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.6118000149726868},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5174000263214111},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.42890000343322754},{"id":"https://openalex.org/keywords/biomagnetism","display_name":"Biomagnetism","score":0.39890000224113464}],"concepts":[{"id":"https://openalex.org/C2778778583","wikidata":"https://www.wikidata.org/wiki/Q147768","display_name":"Capsule","level":2,"score":0.7264999747276306},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.7081999778747559},{"id":"https://openalex.org/C2780512811","wikidata":"https://www.wikidata.org/wiki/Q11829360","display_name":"Gastrointestinal tract","level":2,"score":0.6154999732971191},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.6118000149726868},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.5511999726295471},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5174000263214111},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.42890000343322754},{"id":"https://openalex.org/C78902741","wikidata":"https://www.wikidata.org/wiki/Q4915071","display_name":"Biomagnetism","level":3,"score":0.39890000224113464},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.35420000553131104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35269999504089355},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3447999954223633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3138999938964844},{"id":"https://openalex.org/C2777882243","wikidata":"https://www.wikidata.org/wiki/Q11090","display_name":"Small intestine","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C2992581678","wikidata":"https://www.wikidata.org/wiki/Q11829360","display_name":"Digestive tract","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2906999886035919},{"id":"https://openalex.org/C80264047","wikidata":"https://www.wikidata.org/wiki/Q7424019","display_name":"Pressure measurement","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C2778863792","wikidata":"https://www.wikidata.org/wiki/Q16909918","display_name":"TRACER","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2632000148296356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25780001282691956}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2026.3677072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3677072","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Untethered":[0],"capsules":[1,29],"are":[2,30],"capable":[3],"of":[4,23,67,80,160,169,196],"entering":[5],"the":[6,21,54,87,95,102,106,110,161,170,178,194,198],"gastrointestinal":[7],"(GI)":[8],"tract":[9,56],"and":[10,57,75,84,122,149,166,175,204],"collecting":[11],"fluid":[12,61,133],"samples":[13,40],"containing":[14],"microbial":[15],"communities":[16],"from":[17,41],"specific":[18],"locations,":[19],"facilitating":[20],"study":[22],"chronic":[24],"diseases.":[25],"However,":[26],"existing":[27],"sampling":[28,52,62,130,162,206],"designed":[31],"for":[32,50,119,132,157,188],"single-site":[33],"sampling,":[34,148],"making":[35],"it":[36],"challenging":[37],"to":[38,100,144,200],"gather":[39],"multiple":[42,51],"targets.":[43],"This":[44],"paper":[45],"reports":[46],"a":[47,68,70,76,150,208],"magnetic-driven":[48],"capsule":[49,65,96,171,199],"within":[53],"GI":[55],"an":[58,81,182],"on-demand":[59],"magnetic-triggered":[60,71],"strategy.":[63],"The":[64,125,164],"consists":[66],"body,":[69],"negative":[72,88],"pressure":[73,89,92],"unit,":[74],"reservoir":[77,126],"unit.":[78],"Composed":[79],"elastic":[82],"membrane":[83],"Magnet":[85,112,155],"I,":[86],"unit":[90,127],"controls":[91],"change":[93],"inside":[94],"cavity":[97],"on":[98],"demand":[99],"pump":[101],"sample":[103],"by":[104,181],"switching":[105],"magnetic":[107,117,184],"field,":[108,185],"while":[109],"embedded":[111,153],"I":[113],"also":[114],"enables":[115],"real-time":[116],"localization":[118],"regional":[120],"targeting":[121],"position":[123],"tracking.":[124],"integrates":[128],"three":[129],"papers":[131],"absorption,":[134],"two":[135],"waterproof":[136],"layers":[137],"that":[138],"maintain":[139],"contamination":[140],"levels":[141],"below":[142],"25%":[143],"ensure":[145],"reliable":[146],"multi-site":[147],"rotating":[151],"arm":[152],"with":[154],"II":[156],"posture":[158],"adjustment":[159],"paper.":[163],"pumping":[165],"storage":[167],"performance":[168],"was":[172,186,211],"systematically":[173],"evaluated":[174,187],"optimized.":[176],"Meanwhile,":[177],"capsule,":[179],"actuated":[180],"external":[183],"its":[189],"active":[190,202],"locomotion":[191],"performance.":[192],"Finally,":[193],"feasibility":[195],"using":[197],"perform":[201],"navigation":[203],"multi-target":[205],"in":[207],"porcine":[209],"intestine":[210],"validated":[212],"via":[213],"<italic":[214],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[215],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ex":[216],"vivo</i>":[217],"experiments.":[218]},"counts_by_year":[],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2026-03-25T00:00:00"}