The Scientific Revolution began during the Renaissance as scholars rediscovered ancient Greek and Roman texts using newly invented printing presses. This led to new ideas and technologies like the telescope and microscope that allowed for more accurate observation and measurement. Figures like Copernicus, Kepler, Galileo and Newton developed new scientific theories like heliocentrism and the laws of planetary motion, rejecting the old geocentric model. Advances were also made in medicine by Vesalius, Harvey, Boyle and Lavoisier, establishing new understandings of anatomy and chemistry. Despite some resistance from the church, the rational scientific method became established as the dominant way of understanding the natural world.