Multi-applications of a magnet configuration in actuating capsule endoscope

This paper describes multi-applications of a magnet configuration in actuating wireless capsule endoscope (WCE). The magnet configuration consists of three magnets, i.e., one small permanent magnet (PM) and two external PMs. These three PMs are placed in the same horizontal plane with the small PM in the middle of two external PMs. The small PM is magnetized diametrically, whereas two external PMs are magnetized axially. The small PM, together with the WCE, will be swallowed by a patient; whereas two external PMs will be separately held by two oppositely placed robotic arms. Each robotic arm with only four degrees of freedom can actuate the small PM in the patient GI tract. Applications of this magnetic actuation mechanism, includes direct magnetically dragged WCE, pure magnet-actuating WCE robot, and hybrid actuated WCE robot. How to actuate a legged WCE robot with this kind of magnetic configuration has also been extensively discussed.