Bivariable magnetic moment control of a Capsule Endoscope

Minglu Chi, Rongsheng Liu, Cheng Chang, Yuanli Wang, Huadong Zheng, Xiaoyan Qian, Qinchao Ren, Ruihua Ren

Abstract: To drive and steer a capsule endoscope in a flexible and quick way,a magnetic field superposition method is proposed based on dimen-sionality reduction and decoupling control principles with the swing(χ) and pitch (ξ) angles as the double control variables.