[1] IDDAN G, MERON G, GLUKHOVSKY A, et al.. Wireless capsule endoscopy [J]. Nature, 2000, 405(5):417-418.

[2] SWAIN P. Wireless capsule endoscopy [J]. Gut, 2003, 52: 48-50.

[3] TOENNIES J L, TORTORA G, SIMI M, et al.. Swallowable medical devices for diagnosis and surgery: the state of the art[J]. Proc Institution of Mechanical Engineers, Part C: J. Mechanical Engineering Sci., 2010, 224(7): 1397-1414.

[4] GUO X D, YAN R G, YAN G ZH. Calibration method for wirelessly localizing capsule endoscopy [J]. Opt. Precision Eng., 2010, 18(12): 2650-2655. (in Chinese)

[5] PAN G B, YAN G ZH, ZHANG M Q, et al.. Application of probabilistic neural network and differential evolution to bleeding detection in wireless capsule endoscopy images[J]. Opt. Precision Eng., 2010, 18(6): 1429-1435. (in Chinese)

[6] CHI P C, ZHANG W P, CHEN W Y, et al.. Design and fabrication of an SU-8 biomimetic flapping-wing micro air vehicle by MEMS technology [J]. Opt. Precision Eng., 2011, 33(3): 366-370. (in Chinese)

[7] WANG K D, YAN G ZH, MA G Y， et al.. An earthworm-like robotic endoscope system for human intestine: design, analysis, and experiment [J]. Annals of Biomedical Engineering, 2008, 37(1): 210-221.

[8] GAO P, YAN G ZH, WANG ZH W, et al.. A robotic endoscope based on minimally invasive locomotion and wireless techniques for human colon [J]. The International Journal of Medical Robotics and Computer Assisted Surgery, 2011, 7(3): 256-267.

[9] QUIRINI M, MENCIASSI A, SCAPELLATO S, et al.. Design and fabrication of a motor legged capsule for the active exploration of the gastrointestinal tract ［J］IEEE/ASME Trans. Mechatronics, 2008, 13(2): 169-179.

[10] HARADA K, OETOMO D, SUSILO E, et al.. A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results [J]. Robotica, 2010, 28(2):171-183.

[11] GAO M Y, HU CH ZH, CHEN ZH ZH, et al.. Design and fabrication of a magnetic propulsion system for self-propelled capsule endoscope [J]. IEEE Trans. Biomedical Engineering, 2010, 57(12): 2891-2902.

[12] ZHANG Y SH, JIANG SH Y, ZHANG X W, et al.. A variable diameter capsule robot based on multiple wedge effects [J]. IEEE/ASME Trans Mechatronics, 2011, 16(2): 241-254.

[13] KIM H M, YANG S, KIN J, et al.. Active locomotion of a paddling-based capsule endoscope in an in vitro and in vivo experiment [J]. Gastrointestinal Endoscopy, 2010, 72(2): 381-387.

[14] MENCIASSI A, DARIO P. Bio-inspired solutions for locomotion in the gastrointestinal tract: background and perspectives[J]. Philosophical Transactions of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences, 2003:2287-2298.

[15] KIM B, LEE S, PARK J H, et al.. Inchworm-like microrobot for capsule endoscope ［C］ IEEE International Conference on Robotics and Biomimetics, Shenyang, P.R. China, 2004: 458-463.