7K.Saito,A.Uchiyama et al.Telemetry capsule for Gastric pH Monitoting[J].Proceeding of 12th International symposium on Biotelemetry,NOV.1992.
8Slatkin A B,Burdick J,Grundfest W.The development of robotic endoscope[A].Proc.IEEE Int Conf.On Robotic andA utomation[C].Nagoya,Aichi,Japan,1995.162 ～ 171.
9Dario P.A micro robotic system for colonoscopy[A].Proceedings of the 1997 IEEE International Conference on Robotics andA utomation[C].Albuquerque,New Mexico,1997.1 567 ～ 1 572.
