Robotic capsule system with magnetic actuation and localization Grant US-11122965-B2 United States of America 21 Sep 2021
Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource… Grant US-10758111-B2 United States of America 01 Sep 2020
Real-time pose and magnetic force detection for wireless magnetic capsule Grant US-10485409-B2 United States of America 26 Nov 2019
System and method for detecting tissue surface properties Grant US-9826904-B2 United States of America 28 Nov 2017