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A. Chiba, M. Sendoh, K. Ishiyama, K. Arai, H. Kawano1, A. Uchiyama1 and H. Takizawa, “Magnetic Actuator for a Capsule Endoscope Navigation System,” Journal of Magnetics, Vol. 12, No. 2, 2007, pp. 89-92. doi:10.4283/JMAG.2007.12.2.089

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