{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T13:27:09Z","timestamp":1770298029161,"version":"3.49.0"},"reference-count":46,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2023,12,29]],"date-time":"2023-12-29T00:00:00Z","timestamp":1703808000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,12,29]],"date-time":"2023-12-29T00:00:00Z","timestamp":1703808000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Med Biol Eng Comput"],"published-print":{"date-parts":[[2024,4]]},"DOI":"10.1007\/s11517-023-02997-7","type":"journal-article","created":{"date-parts":[[2023,12,29]],"date-time":"2023-12-29T18:03:06Z","timestamp":1703872986000},"page":"1153-1163","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Active distance control in multi-capsule endoscopy via closed loop electromagnetic force between capsules"],"prefix":"10.1007","volume":"62","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3303-1949","authenticated-orcid":false,"given":"Furkan","family":"Peker","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5381-533X","authenticated-orcid":false,"given":"Onur","family":"Ferhano\u011flu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,12,29]]},"reference":[{"key":"2997_CR1","doi-asserted-by":"publisher","first-page":"417","DOI":"10.1038\/35013140","volume":"405","author":"G Iddan","year":"2000","unstructured":"Iddan G, Meron G, Glukhovsky A, Swain P (2000) Wireless capsule endoscopy. Nature 405:417. https:\/\/doi.org\/10.1038\/35013140","journal-title":"Nature"},{"key":"2997_CR2","doi-asserted-by":"publisher","first-page":"805","DOI":"10.1016\/j.gie.2013.06.026","volume":"78","author":"A Wang","year":"2013","unstructured":"Wang A, Banerjee S, Barth BA et al (2013) Wireless capsule endoscopy. Gastrointest Endosc 78:805\u2013815. https:\/\/doi.org\/10.1016\/j.gie.2013.06.026","journal-title":"Gastrointest Endosc"},{"key":"2997_CR3","doi-asserted-by":"publisher","first-page":"697","DOI":"10.1148\/rg.253045134","volume":"25","author":"AK Hara","year":"2005","unstructured":"Hara AK, Leighton JA, Sharma VK et al (2005) Imaging of small bowel disease: comparison of capsule endoscopy, standard endoscopy, barium examination, and CT. Radiographics 25:697\u2013711. https:\/\/doi.org\/10.1148\/rg.253045134","journal-title":"Radiographics"},{"key":"2997_CR4","doi-asserted-by":"publisher","unstructured":"Swain P (2003) Wireless capsule endoscopy. Gut 52:iv48 LP-iv50. https:\/\/doi.org\/10.1136\/gut.52.suppl_4.iv48","DOI":"10.1136\/gut.52.suppl_4.iv48"},{"key":"2997_CR5","doi-asserted-by":"publisher","first-page":"59","DOI":"10.1109\/RBME.2011.2171182","volume":"4","author":"G Ciuti","year":"2011","unstructured":"Ciuti G, Menciassi A, Dario P (2011) Capsule endoscopy: from current achievements to open challenges. IEEE Rev Biomed Eng 4:59\u201372. https:\/\/doi.org\/10.1109\/RBME.2011.2171182","journal-title":"IEEE Rev Biomed Eng"},{"key":"2997_CR6","doi-asserted-by":"publisher","first-page":"466","DOI":"10.1016\/j.gie.2018.05.003","volume":"88","author":"AJ Zhao","year":"2018","unstructured":"Zhao AJ, Qian YY, Sun H et al (2018) Screening for gastric cancer with magnetically controlled capsule gastroscopy in asymptomatic individuals. Gastrointest Endosc 88:466-474.e1. https:\/\/doi.org\/10.1016\/j.gie.2018.05.003","journal-title":"Gastrointest Endosc"},{"key":"2997_CR7","doi-asserted-by":"publisher","first-page":"1290","DOI":"10.1016\/j.gie.2010.01.064","volume":"71","author":"P Swain","year":"2010","unstructured":"Swain P, Toor A, Volke F et al (2010) Remote magnetic manipulation of a wireless capsule endoscope in the esophagus and stomach of humans (with videos). Gastrointest Endosc 71:1290\u20131293. https:\/\/doi.org\/10.1016\/j.gie.2010.01.064","journal-title":"Gastrointest Endosc"},{"key":"2997_CR8","doi-asserted-by":"publisher","first-page":"199","DOI":"10.1017\/S0263574709990361","volume":"28","author":"G Ciuti","year":"2010","unstructured":"Ciuti G, Valdastri P, Menciassi A, Dario P (2010) Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures. Robotica 28:199\u2013207. https:\/\/doi.org\/10.1017\/S0263574709990361","journal-title":"Robotica"},{"key":"2997_CR9","doi-asserted-by":"publisher","first-page":"1047","DOI":"10.1109\/TRO.2009.2014127","volume":"25","author":"P Valdastri","year":"2009","unstructured":"Valdastri P, Webster RJ, Quaglia C et al (2009) A new mechanism for mesoscale legged locomotion in compliant tubular environments. IEEE Trans Rob 25:1047\u20131057. https:\/\/doi.org\/10.1109\/TRO.2009.2014127","journal-title":"IEEE Trans Rob"},{"key":"2997_CR10","doi-asserted-by":"crossref","unstructured":"Quirini M, Scapellato S, Valdastri P et al (2007) An approach to capsular endoscopy with active motion. In: 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. pp 2827\u20132830","DOI":"10.1109\/IEMBS.2007.4352917"},{"key":"2997_CR11","doi-asserted-by":"crossref","unstructured":"Kim B, Park S, Park J-O (2009) Microrobots for a capsule endoscope. In: 2009 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics. pp 729\u2013734","DOI":"10.1109\/AIM.2009.5229926"},{"key":"2997_CR12","doi-asserted-by":"publisher","first-page":"4015","DOI":"10.1109\/TMAG.2005.855154","volume":"41","author":"M Tomie","year":"2005","unstructured":"Tomie M, Takiguchi A, Honda T, Yamasaki J (2005) Turning performance of fish-type microrobot driven by external magnetic field. IEEE Trans Magn 41:4015\u20134017. https:\/\/doi.org\/10.1109\/TMAG.2005.855154","journal-title":"IEEE Trans Magn"},{"key":"2997_CR13","doi-asserted-by":"publisher","unstructured":"Morita E, Ohtsuka N, Murano M et al (2008) Trial of driving capsule endoscopy using a magnetic field. Gastrointest Endosc 67:AB131. https:\/\/doi.org\/10.1016\/j.gie.2008.03.231","DOI":"10.1016\/j.gie.2008.03.231"},{"key":"2997_CR14","doi-asserted-by":"publisher","unstructured":"Byun D, Choi J, Cha K et al (2011) Swimming microrobot actuated by two pairs of Helmholtz coils system. Mechatronics 21:357\u2013364. https:\/\/doi.org\/10.1016\/j.mechatronics.2010.09.001","DOI":"10.1016\/j.mechatronics.2010.09.001"},{"key":"2997_CR15","doi-asserted-by":"crossref","unstructured":"Zhang Y, Xie H, Wang N et al (2012) Design, analysis and experiments of a spatial universal rotating magnetic field system for capsule robot. In: 2012 IEEE International Conference on Mechatronics and Automation. pp 998\u20131003","DOI":"10.1109\/ICMA.2012.6283386"},{"key":"2997_CR16","doi-asserted-by":"publisher","first-page":"3232","DOI":"10.1109\/TMAG.2003.816731","volume":"39","author":"M Sendoh","year":"2003","unstructured":"Sendoh M, Ishiyama K, Arai K-I (2003) Fabrication of magnetic actuator for use in a capsule endoscope. IEEE Trans Magn 39:3232\u20133234. https:\/\/doi.org\/10.1109\/TMAG.2003.816731","journal-title":"IEEE Trans Magn"},{"key":"2997_CR17","doi-asserted-by":"crossref","unstructured":"Ishiyama K, Arai KI, Sendoh M, Yamazaki A (2000) Spiral-type micro-machine for medical applications. In: MHS2000. Proceedings of 2000 International Symposium on Micromechatronics and Human Science (Cat. No.00TH8530). pp 65\u201369","DOI":"10.1109\/MHS.2000.903292"},{"key":"2997_CR18","unstructured":"Kim B, Park S, Jee CY, Yoon S-J (2005) An earthworm-like locomotive mechanism for capsule endoscopes. In: 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems. pp 2997\u20133002"},{"key":"2997_CR19","unstructured":"Karagozler ME, Cheung E, Kwon J, Sitti M (2006) Miniature endoscopic capsule robot using biomimetic micro-patterned adhesives. In: The First IEEE\/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. pp 105\u2013111"},{"key":"2997_CR20","doi-asserted-by":"publisher","first-page":"471","DOI":"10.1002\/rcs.284","volume":"5","author":"D Hosokawa","year":"2009","unstructured":"Hosokawa D, Ishikawa T, Morikawa H et al (2009) Development of a biologically inspired locomotion system for a capsule endoscope. Int J Med Robot Comput Assist Surg 5:471\u2013478. https:\/\/doi.org\/10.1002\/rcs.284","journal-title":"Int J Med Robot Comput Assist Surg"},{"key":"2997_CR21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/s17071553","volume":"17","author":"FR Stewart","year":"2017","unstructured":"Stewart FR, Qiu Y, Lay HS et al (2017) Acoustic sensing and ultrasonic drug delivery in multimodal theranostic capsule endoscopy. Sensors 17:1\u201324. https:\/\/doi.org\/10.3390\/s17071553","journal-title":"Sensors"},{"key":"2997_CR22","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1016\/j.sna.2016.03.020","volume":"243","author":"VH Le","year":"2016","unstructured":"Le VH, Leon-Rodriguez H, Lee C et al (2016) A soft-magnet-based drug-delivery module for active locomotive intestinal capsule endoscopy using an electromagnetic actuation system. Sens Actuators A Phys 243:81\u201389. https:\/\/doi.org\/10.1016\/j.sna.2016.03.020","journal-title":"Sens Actuators A Phys"},{"key":"2997_CR23","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1007\/s10544-019-0383-z","volume":"21","author":"X Guo","year":"2019","unstructured":"Guo X, Luo Z, Cui H et al (2019) A novel and reproducible release mechanism for a drug-delivery system in the gastrointestinal tract. Biomed Microdevices 21:25. https:\/\/doi.org\/10.1007\/s10544-019-0383-z","journal-title":"Biomed Microdevices"},{"key":"2997_CR24","doi-asserted-by":"publisher","unstructured":"Quaglia C, Tognarelli S, Sinibaldi E et al (2013) Wireless robotic capsule for releasing bioadhesive patches in the gastrointestinal tract. J Med Device 8. https:\/\/doi.org\/10.1115\/1.4025450","DOI":"10.1115\/1.4025450"},{"key":"2997_CR25","doi-asserted-by":"publisher","first-page":"945","DOI":"10.1109\/TBME.2012.2228647","volume":"60","author":"SP Woods","year":"2013","unstructured":"Woods SP, Constandinou TG (2013) Wireless capsule endoscope for targeted drug delivery: mechanics and design considerations. IEEE Trans Biomed Eng 60:945\u2013953. https:\/\/doi.org\/10.1109\/TBME.2012.2228647","journal-title":"IEEE Trans Biomed Eng"},{"key":"2997_CR26","doi-asserted-by":"publisher","first-page":"848","DOI":"10.1109\/JSEN.2016.2627798","volume":"17","author":"T Pipe","year":"2017","unstructured":"Pipe T, Winstone B, Melhuish C et al (2017) Toward bio-inspired tactile sensing capsule endoscopy for detection of submucosal tumors. IEEE Sens J 17:848\u2013857. https:\/\/doi.org\/10.1109\/JSEN.2016.2627798","journal-title":"IEEE Sens J"},{"key":"2997_CR27","doi-asserted-by":"publisher","first-page":"64","DOI":"10.1109\/TMRB.2020.3037255","volume":"3","author":"D Camboni","year":"2021","unstructured":"Camboni D, Massari L, Chiurazzi M et al (2021) Endoscopic tactile capsule for non-polypoid colorectal tumour detection. IEEE Trans Med Robot Bionics 3:64\u201373. https:\/\/doi.org\/10.1109\/TMRB.2020.3037255","journal-title":"IEEE Trans Med Robot Bionics"},{"key":"2997_CR28","doi-asserted-by":"publisher","first-page":"513","DOI":"10.1109\/TBME.2013.2283369","volume":"61","author":"S Yim","year":"2014","unstructured":"Yim S, Gultepe E, Gracias DH, Sitti M (2014) Biopsy using a magnetic capsule endoscope carrying, releasing, and retrieving untethered microgrippers. IEEE Trans Biomed Eng 61:513\u2013521. https:\/\/doi.org\/10.1109\/TBME.2013.2283369","journal-title":"IEEE Trans Biomed Eng"},{"key":"2997_CR29","doi-asserted-by":"crossref","unstructured":"Kong K, Cha J, Jeon D, Cho DD (2005) A rotational micro biopsy device for the capsule endoscope. In: 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems. pp 1839\u20131843","DOI":"10.1109\/IROS.2005.1545441"},{"key":"2997_CR30","doi-asserted-by":"publisher","unstructured":"Simi M, Gerboni G, Menciassi A, Valdastri P (2013) Magnetic torsion spring mechanism for a wireless biopsy capsule. J Med Device 7. https:\/\/doi.org\/10.1115\/1.4025185","DOI":"10.1115\/1.4025185"},{"key":"2997_CR31","doi-asserted-by":"publisher","unstructured":"Kong K, Yim S, Choi S, Jeon D (2012) A robotic biopsy device for capsule endoscopy. J Med Device 6. https:\/\/doi.org\/10.1115\/1.4007100","DOI":"10.1115\/1.4007100"},{"key":"2997_CR32","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2012\/841691","volume":"2012","author":"G Pan","year":"2012","unstructured":"Pan G, Wang L (2012) Swallowable wireless capsule endoscopy: progress and technical challenges. Gastroenterol Res Pract 2012:1\u20139","journal-title":"Gastroenterol Res Pract"},{"key":"2997_CR33","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/978-981-16-7239-2_12","volume-title":"Small Intestine Disease: A Comprehensive Guide to Diagnosis and Management","author":"YJ Lim","year":"2022","unstructured":"Lim YJ (2022) The Future of Capsule Endoscopy. In: Chun HJ, Seol S-Y, Choi M-G, Cho JY (eds) Small Intestine Disease: A Comprehensive Guide to Diagnosis and Management. Springer Singapore, Singapore, pp 65\u201368"},{"key":"2997_CR34","doi-asserted-by":"crossref","unstructured":"Nagy Z, Oung R, Abbott JJ, Nelson BJ (2008) Experimental investigation of magnetic self-assembly for swallowable modular robots. In: 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, IROS","DOI":"10.1109\/IROS.2008.4650662"},{"key":"2997_CR35","doi-asserted-by":"crossref","unstructured":"Guo J, Liu P, Guo S et al (2017) Development of a novel wireless spiral capsule robot with modular structure. In: 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017","DOI":"10.1109\/ICMA.2017.8015857"},{"key":"2997_CR36","doi-asserted-by":"publisher","unstructured":"Li Z, Hoang MC, Kim CS et al (2021) Modular capsules with assembly and separation mechanism: proof of concept. Actuators 10. https:\/\/doi.org\/10.3390\/act10070159","DOI":"10.3390\/act10070159"},{"key":"2997_CR37","doi-asserted-by":"publisher","first-page":"315","DOI":"10.1007\/s40846-021-00610-6","volume":"41","author":"F Peker","year":"2021","unstructured":"Peker F, Ferhano\u011flu O (2021) Multi-capsule endoscopy: an initial study on modeling and phantom experimentation of a magnetic capsule train. J Med Biol Eng 41:315\u2013321. https:\/\/doi.org\/10.1007\/s40846-021-00610-6","journal-title":"J Med Biol Eng"},{"key":"2997_CR38","doi-asserted-by":"publisher","first-page":"961","DOI":"10.1109\/TMAG.2003.808597","volume":"39","author":"RA Schill","year":"2003","unstructured":"Schill RA (2003) General relation for the vector magnetic field of a circular current loop: a closer look. IEEE Trans Magn 39:961\u2013967. https:\/\/doi.org\/10.1109\/TMAG.2003.808597","journal-title":"IEEE Trans Magn"},{"key":"2997_CR39","doi-asserted-by":"publisher","DOI":"10.1155\/1998\/79537","volume":"9","author":"KW Yung","year":"1998","unstructured":"Yung KW, Landecker PB, Villani DD (1998) An analytic solution for the force between two magnetic dipoles. Magn Electr Sep 9:079537. https:\/\/doi.org\/10.1155\/1998\/79537","journal-title":"Magn Electr Sep"},{"key":"2997_CR40","doi-asserted-by":"publisher","first-page":"386","DOI":"10.1016\/0016-5085(86)90573-1","volume":"91","author":"JE Kellow","year":"1986","unstructured":"Kellow JE, Borody TJ, Phillips SF et al (1986) Human interdigestive motility: variations in patterns from esophagus to colon. Gastroenterology 91:386\u2013395. https:\/\/doi.org\/10.1016\/0016-5085(86)90573-1","journal-title":"Gastroenterology"},{"key":"2997_CR41","volume-title":"Evaluation of small bowel lumen friction forces for applications in in vivo robotic capsule endoscopy","author":"AB Lyle","year":"2012","unstructured":"Lyle AB (2012). Evaluation of small bowel lumen friction forces for applications in in vivo robotic capsule endoscopy. Doctoral dissertation, University of Colorado at Boulder"},{"key":"2997_CR42","doi-asserted-by":"publisher","unstructured":"Ives GC, Demehri FR, Sanchez R et al (2016) Small bowel diameter in short bowel syndrome as a predictive factor for achieving enteral autonomy. J Pediatr 178:275\u2013277.e1. https:\/\/doi.org\/10.1016\/j.jpeds.2016.08.007","DOI":"10.1016\/j.jpeds.2016.08.007"},{"key":"2997_CR43","first-page":"309","volume":"16","author":"C Gheorghe","year":"2007","unstructured":"Gheorghe C, Iacob RA, Bancila I (2007) Olympus capsule endoscopy for small bowel examination. J Gastrointestin Liver Dis 16:309\u2013313","journal-title":"J Gastrointestin Liver Dis"},{"key":"2997_CR44","doi-asserted-by":"publisher","first-page":"265","DOI":"10.1177\/1756283X11401645","volume":"4","author":"SN Adler","year":"2011","unstructured":"Adler SN, Metzger YC (2011) PillCam COLON capsule endoscopy: recent advances and new insights. Therap Adv Gastroenterol 4:265\u2013268. https:\/\/doi.org\/10.1177\/1756283X11401645","journal-title":"Therap Adv Gastroenterol"},{"key":"2997_CR45","doi-asserted-by":"crossref","unstructured":"Zhang Y, Wang W, Ke W, Hu C (2023) Optimized design and analysis of active propeller-driven capsule endoscopic robot for gastric examination. In: 2023 IEEE International Conference on Robotics and Automation (ICRA 2023). IEEE, London, pp 4689\u20134695","DOI":"10.1109\/ICRA48891.2023.10161057"},{"key":"2997_CR46","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1017\/S026357472300142X","volume":"42","author":"F Peker","year":"2023","unstructured":"Peker F, Be\u015fer M, I\u015f\u0131ldar E et al (2023) Towards capsule endoscope locomotion in large volumes: design, fuzzy modeling, and testing. Robotica 42:1\u201322. https:\/\/doi.org\/10.1017\/S026357472300142X","journal-title":"Robotica"}],"container-title":["Medical &amp; Biological Engineering &amp; Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-023-02997-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11517-023-02997-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-023-02997-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,3,19]],"date-time":"2024-03-19T03:21:29Z","timestamp":1710818489000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11517-023-02997-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,29]]},"references-count":46,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2024,4]]}},"alternative-id":["2997"],"URL":"https:\/\/doi.org\/10.1007\/s11517-023-02997-7","relation":{},"ISSN":["0140-0118","1741-0444"],"issn-type":[{"value":"0140-0118","type":"print"},{"value":"1741-0444","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,29]]},"assertion":[{"value":"2 May 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 December 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 December 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"There is no ethical approval needed for this study.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"No human subject involved on this study.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"No human subject involved on this study.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to publish"}},{"value":"The authors declare no competing interests.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}]}}