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. 2024 Feb 29;15:1839. doi: 10.1038/s41467-024-46046-9

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© The Author(s) 2024

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 4 — a Schematic diagram of the developed Helmholtz coil actuation system. b Targeted drug delivery of MagCaps rolling along an S-shaped testing platform and the final drug release driven by a uniform magnetic field. c Targeted sampling of MagCaps in a U-shaped testing platform under a uniform magnetic field. d Targeted drug delivery using a permanent magnet (D50 × L20 mm, N35) and drug releasing with a 30 Hz, 30 mT high-frequency magnetic field (generated by the coil in Fig. S6e) in the anatomical model of the stomach, which can be divided into four stages: swinging, sliding, rolling and releasing. Scale bar: 10 mm.