Magnetic manipulation with several mobile coils towards gastrointestinal capsular endoscopy.

Traditional techniques of endoscopy based on flexible endoscopes are fairly reliable but poorly tolerated by patients and do not give access to the small bowel. It has been demonstrated that magnetic fields are usable for manipulating an untethered magnet, either using fixed coils or mobile permanent magnets.We introduce a novel approach for magnetic manipulation and present the preliminary results obtained by simulating a planar manipulation system including multiple mobile coils