Abstract: Some embodiments of the disclosure describe a capsule endoscope system. In some examples, the system includes a capsule endoscope, a magnetic control device, and a processing device. The capsule endoscope has a first magnet, an IMU, and at least two magnetic sensors arranged in a built-in space. The magnetic control device has a second magnet. IMU acquires a measurement value of the attitude, and at least two magnetic sensors acquire at least a measurement value of a first magnetic field and the measurement value of the second magnetic field. The processing device calculates the spin angle of the capsule endoscope, including a precisely estimated Pitch angle, a precisely estimated Roll angle, and an estimated Yaw angle. The processing device calculates the estimated position of the capsule endoscope relative to the second magnet.

Abstract: A magnetic control device (30) for a capsule endoscope (10) including at least a first magnet (11) and an imaging device (12), and the capsule endoscope (10) is located in a tissue cavity (3). The magnetic control device (30) includes a second magnet (31) and a first induction coil (32) arranged around the second magnet (31). The magnetic control device (30) is configured to generate a driving force to the capsule endoscope (10) to move the capsule endoscope (10) from a first position (P1) in the tissue cavity (3) to a second position towards an opposite side in the tissue cavity (3); to control a variable magnetic field to decelerate the capsule endoscope (10) to a predetermined speed when the capsule endoscope (10) approaches the second position (P2); and to generate the variable magnetic field for the capsule endoscope (10).