Wireless capsule endoscopy (WCE) is a remarkable diagnostic device that examines the gastrointestinal (GI) tract. The WCE is a small capsule integrated with a camera that is used to visualize the inner mucosa of the GI tract. WCE has been proven to be the most effective method to diagnose GI diseases and GI cancers. The procedure reduces the discomfort and risk compared to conventional endoscopy methods. However, current WCEs lack the ability to take a biopsy or deliver a drug to a specific location. Those therapeutic functions can be introduced by wirelessly controlled WCEs. This thesis introduces an electromagnetic system that uses a magnetic field to wirelessly maneuver the capsule inside the GI tract. An enhanced control method for controlling the steering of the capsule endoscope is presented. The control method uses image processing feedback to enhance the controllability of the WCE and enlarge the effective workspace. The final constructed system consists of 8 electromagnetic coils and can steer the capsule in the x-y plane. Additionally, a novel design of an untethered capsule endoscope that can deliver a drug to a specific location inside the GI tract wirelessly is presented. In conclusion, we present an electromagnetic system that enhances the controllability and therapeutic functions of the WCEs.


School of Sciences and Engineering


Mechanical Engineering Department

Degree Name

MS in Mechanical Engineering

Graduation Date

Winter 1-31-2024

Submission Date


First Advisor

Mohamed Serry

Second Advisor

Islam Khalil

Committee Member 1

Mohamed Fawzy

Committee Member 2

Mohamed Elwi


52 p.

Document Type

Master's Thesis

Institutional Review Board (IRB) Approval

Not necessary for this item