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.oxfordshopes.shop/product-category/knitwear-urban-hoodies/