In this paper, the authors propose a new magnetic control method for spiral-type wireless capsule endoscope (WCE). A cylindrical external permanent magnet (EPM) is used to generate rotational magnetic field to manipulate the synchronous rotation of a magnetic spiral-type WCE. To verify the feasibility of this method, a handheld actuator (HA) controlled by micro controller unit (MCU) was fabricated to drive the rotation of the EPM which is fixed on a step motor, and a magnetic spiral-type WCE along with a bracket were fabricated, too. Theoretical analysis and magnetic simulation about the control distance were performed. In ex vivo experiments were carried out in porcine small intestine, the control distance and control performances were evaluated. Experimental results indicate that this method can provide a maximum control distance up to 426.6[Formula: see text]mm with good control stability. Compared with Helmholtz coils method, this method is more cost-effective and the control region is broader. In addition, the estimated value of static friction torque (about 0.5694[Formula: see text]mN[Formula: see text][Formula: see text][Formula: see text]m) is obtained, which enriches the current research on friction issue in active control of the magnetic spiral-type WCE. This method has great potential to be applied in future clinical application.
Experimental measurement on movement of spiral-type capsule endoscope