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ABST汉ACT Recent坊 the incidence of diseases in gastro-intestinal (GI) tract has increased annually. Capsule endoscopy plays an important role in the diagnosis of diseases in GI tract. However, the passive capsule endoscopy using in clinic has many shortcomings, so the active capsule endoscopy (capsubot) needs to be used in clinic urgently. The "intemal force-static 企iction" capsubot moves in way of impact.认Te need to understand the bio-material property of the intestine in order to make thedoi:10.2316/p.2011.723-026 fatcat:i7obqf56nzdwrcekcyc2gbxlgu