We propose a method to control the motion of a capsule endoscope (CE) in the stomach utilizing either a single external permanent magnet (EPM) or dual EPMs to extend the examination of the upper gastrointestinal tract. When utilizing the conventional magnetic navigational system (MNS) with a single EPM to generate tilting and rotational motions of the CE. undesired translational motio... https://www.ealisboa.com/sale-now-ENSO-Whip-Magnum-Shader-hot-grab/