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

[2] [2] JIA Z, YAN G, JIANG P, et al. Efficiency optimization of wireless power transmission systems for active capsule endoscopes ［J］. Physiological Measurement, 2011, 32: 1561-1573.

[3] [3] MOGLIA A, MENCIASSI A, SCHURR M O, et al.. Wireless capsule endoscopy: from diagnostic devices to multipurpose robotic systems ［J］. Biomed Microdevices, 2007, 9: 235-243.

[4] [4] PUERS R, CARTA R, THONE J. Wireless power and data transmission strategies for next-generation capsule endoscopes ［J］. Journal of Micromechanics and Microengineering, 2011, 21: 1-15.

[5] [5] LENAERTS B, PUERS R. Inductive powering of a freely moving system ［J］. Sensors and Actuators A: Physical, 2005, 123-124: 522-530.

[6] [6] LI H, YAN G, GAO P. A method for improving the wireless power transmission efficiency of an endoscopic capsule based on electromagnetic localization and synthesis of magnetic field vector ［J］. Proc. IMechE Part C: J. Mechanical Engineering Science, 2010, 224: 1463-1471.

[7] [7] CARTA R, TORTORA G. Wireless powering for a self-propelled and steerable endoscopic capsule for stomach inspection ［J］. Biosensors and Bioelectronics. 2009, 25: 845-851.

[8] [8] RYU M, KIM J D, CHIN H U, et al.. Three-dimensional power receiver for in vivo robotic capsules［J］. Medical & Biological Engineering & Computing. 2007, 45: 997-1002.

[9] [9] JIA ZH W, YAN G ZH, SHI Y, et al.. Optimization design of transmitting coils in a wireless power transmission system based on the human tissue safety ［J］. Chinese High Technology Letters, 2012, 22(8): 857-862. (in Chinese)

[10] [10] SHI Y, YAN G ZH, JIA ZH W, et al.. Design and implementation of wireless power transmitting system for colon robot ［J］. Nanotechnology and Precision Engineering, 2013, 11(3): 215-219. (in Chinese)

[11] [11] KENJI S, TOMOHIRO N, TOSHIO T, et al.. Energy transmission transformer for a wireless capsule endoscope: analysis of specific absorption rate and current density in biological tissue ［J］. Biomedical Engineering, 2008, 55-7: 1864-1871.

[12] [12] WEN H X, GUO ZH Y, WEN X W. Study of a wireless power transmission system for active capsule endoscope ［J］. International Journal of Medical Robotics and Computer Assisted Surgery, 2010, 6(1): 113-122.

[13] [13] GUO B P, WEN H X, GUO ZH Y, et al.. A video wireless capsule endoscopy system powered wirelessly: design, analysis and experiment ［J］. MEAS SCI TECHNOL, 2011, 22(6): 1-9.

[14] [14] YUKA K, HIROTSUGU W, ATSUO Y, et al.. Diagnostic yield of capsule endoscopy for gastric diseases ［J］. Abdominal Imaging, 2012, 37: 29-34.

[15] [15] MA G Y, YAN G ZH, HE X. The wireless power delivery for gastrointestinal microsystems based on electromagnetic coupling ［J］. Journal of Shanghai Jiaotong University, 2008, 42(5): 798-802. (in Chinese)