Abstract: A capsule includes a main body with at least one tail connected to the main body. At least two coils are disposed on each tail such that the coils are responsive to a magnetic field interacting with the coils such that a force is exerted on the tail. The capsule is controlled through application of a varying magnetic field with a constant current in the coils and/or by providing varying a current in the coils that interact with a constant magnetic field. The capsule can be disposed in a cavity, and the magnetic field can be provided from outside the cavity to affect movement of the capsule. An MRI device can be configured to control and image the capsule.

Abstract: A sheath apparatus includes, a plurality of node rings configured to be tilted with respect to each other, each node ring defining a substantially cylindrical wall and having at least one hole passing through said cylindrical wall, the plurality of node rings being arranged next to each other along a linear axis such that consecutive node rings contact each other at a contact plane; a manipulating wire going through the holes in said stacked node rings; and a position restoring component configured to restore said stacked node rings from a tilted position to an original position, wherein said position restoring component is located inside or outside of the stacked node rings.