Effective 3-D Rotational Actuation of Magnetically Controlled Capsule Endoscopes: Simulation and Validation

This article proposes a 3-D spatial rotational actuation strategy to improve the propulsion capability of the magnetically controlled capsule endoscope (MCCE) within the intestine. By establishing an actuation model for the MCCE within 3-D space, the critical range of actuation angles for effective propulsion and uniform forward motion of the MCCE has been calculated. Experiments have demonstrated that within the critical range of actuation angles, the MCCE can be effectively initiated and made to achieve a state of uniform motion. The results show that the displacements at different actuation angles exhibit 99% consistency with an average movement speed error of 4.3%. The experimental and simulation results validate the effectiveness of the proposed actuation strategy in 3-D space, providing theoretical and experimental evidence for the application of the MCCE in the intestinal environment.