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. Author manuscript; available in PMC: 2024 Dec 29.
Published in final edited form as: Expert Opin Drug Deliv. 2023 Dec 29;20(12):1801–1822. doi: 10.1080/17425247.2023.2291450

Figure 1. Motivation and trends for untethered shape-changing gastrointestinal (GI) devices.

Figure 1.

A. Photograph of the Lichtleiter, or "light conductor," invented in 1806 by Philipp Bozzini, one of the first tethered endoscopic devices used to inspect internal cavities of the human body. Reprinted from [3] under CC BY-NC-ND 4.0. B. Image of a present-day tethered multi-functional endoscope with two flexible instrumentation arms. Adapted from [4] with permission under CC BY 4.0. Copyright © 2017, Elsevier. C. Images of untethered parasites Hookworm (duodenale) and thorny-headed worm (Phylum Acanthocephala) that live in human and fish GI tract. Images adapted from Human Parasitology, 4th Ed. and Fishdisease.net with permissions. D. Images of untethered modern-day endoscopic capsules for imaging of the GI tract. Image adapted from [7] with permission. Copyright © 2021, Elsevier.