Multimodal Imaging, Drug Delivery, and On-Board Triggered Degradation in Soft Capsule Rolling Microrobots. - David Castellanos-Robles; Raphaël C. L.-M. Doineau; Azaam Aziz; Richard Nauber; Song Wu; Silvia Moreno; Konstantina Mitropoulou; Franziska Hebenstreit; Mariana Medina-Sánchez (Adv. Intell. Syst., 2024)