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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. 5 — a Schematic depiction of the employed magnetic actuation system that utilizes a 6-DOF magnetic manipulator and a coil for ex vivo testing within a porcine stomach. b Sliding mode of the capsule under the magnetic gradient force. c Rolling mode of the capsule under the magnetic torque. d Demonstration of multi-targeted drug delivery of the capsule with a high-frequency (30 Hz) magnetic field. e Schematic depiction of the employed magnetic actuation system that utilizes a 6-DOF magnetic manipulator for ex vivo sampling testing and incorporates a coil with a trapezoidal cross-section iron core. f Magnetic field distribution map around the coil surface computed by the COMSOL Multiphysics software. g Measured and simulated magnetic fields under different coil voltages along the central axis. Source data are provided as a Source Data file. h Drug release testing performed at varying distances from the coil center aimed to demonstrate the fixed-point sampling capability of this coil setup. i Demonstration of active locomotion and the sampling process within an ex vivo model of the porcine small intestine. Scale bar: 10 mm.