@article{yim2014biopsy,
  title = {Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing and Retrieving Untethered Micro-Grippers},
  journal = {IEEE Trans. on Biomedical Engineering},
  volume = {61},
  number = {2},
  pages = {513--521},
  publisher = {IEEE},
  year = {2014},
  slug = {yim2014biopsy},
  author = {Yim, Sehyuk and Gultepe, Evin and Gracias, David H and Sitti, Metin}
}