Simulation and Verification of a Magnetically Controlled System for a Wireless Capsule Robot

The incidence of digestive system disease is increasing with the development of society, the environmental transition, and changes in people's lifestyles. A magnetically controlled system (MCS) aimed at the examination of the digestive tract based on octupole electromagnets was proposed to manipulate a wireless capsule endoscopy (WCE) with an internal permanent magnet inside. The parameterization was utilized to optimize the magnetic field of the MCS by determining the structure of the electromagnets. Theoretical calculation and numerical simulation were carried out to compare the external magnetic field generated by the electromagnets with the internal magnetic field generated by the WCE. In vitro tests were studied on the experimental platform to evaluate the performance of the MCS, and it was found that the MCS performed well in directing the WCE's movement and causing the WCE to execute the prescribed action. The system, as a preliminary exploration of the magnetic field control system, was supposed to be employed in gastrointestinal examinations in the future.