Abstract
In order to actively maneuver the robotic capsule and make it small to swallow easily, we propose that the capsule incorporating the circuits, batteries, imaging device, etc. is looped by a magnet ring with 1 mm thickness. Another cuboidal or cylindrical permanent magnet attracts or pushes or rotates the robotic capsule to make closer scrutiny for the interesting area. Before designing the control system, the force regarding distance between cuboidal or cylindrical magnet and magnet ring should be known in advance. The mathematic model of magnetic force that the cuboidal or cylindrical permanent magnet exerts on the magnet ring is given for that purpose. The experiments state that the force the robotic capsule requires can be produced by cuboidal or cylindrical magnet when it's moving forward in the pig's small bowel. The experiments also show the relationships between the force and the shape of cuboidal magnet or cylindrical magnet, which can help to choose the magnets with optimal dimensions.
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