Optimizing Permanent Magnet Designs for Improving Control in the Magnetically Controlled Capsule Endoscope

The magnetically controlled capsule endoscopy (MCCE) is a user-friendly device widely used in intestine examinations; however, maintaining its flexible movement through the intestine is still challenging. In this article, three different permanent magnet structures within the MCCE are evaluated. The magnetic forces and torques on the different permanent magnet structures in three dimensions are analyzed through finite element simulations. We experimentally compared the performance of MCCEs with different permanent magnet structures in three aspects: pressure exerted on the intestine under static and dynamic conditions, controllable degrees of freedom and speed of movement. The results showed that the MCCE with a combined permanent magnet structure performed well in shortening the examination time and reducing the pressure on the intestine. These studies provide a reference for the design of permanent magnets.