A Magnetic Capsule for Navigation and Multitargeted Sampling in the Gastrointestinal Tract. - Ziheng Chen; Huayang Ren; Zhaokai Wang; Jingfang Han; Jiaqing Xie; Ruicheng Li; Chunyun Wei; Tao Yue 001; Yue Wang 110; Yuzhao Zhang; Yan Peng 001; Jiangfan Yu; et al. (IEEE Trans. Robotics, 2026)