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. 2024 Feb 29;15:1839. doi: 10.1038/s41467-024-46046-9

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© The Author(s) 2024

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 6 — a Schematic diagram of the in vivo testing system. The locomotion and drug release processes are observed using an electronic endoscope. The figure was partly generated using Servier Medical Art, provided by Servier, licensed under a Creative Commons Attribution 3.0 unported license⁷¹. b Experimental site image. c Diagram of the targeted motion process of the capsule under an externally applied magnetic field generated by a permanent magnet (D80 × 80 mm, N35), where the distance between the magnet and the rabbit stomach is ~15 cm. d Photographs showing the region surrounding the capsule within the rabbit’s stomach before and after the drug release. Scale bar: 10 mm.