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Conventional endoscopy is limited in its ability to examine the small bowel and perform long-term monitoring due to the risk of infection and tissue perforation. Wireless Capsule Endoscopy (WCE) is a painless and non-invasive method of examining the body's internal organs using a small camera that is swallowed like a pill. The existing active locomotion technologies do not have a practical localization system to control the capsule's movement within the body.

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