We investigated two different arrangements of Halbach arrays for steering magnetic nanoparticles in cancer therapy. The arrays are arranged with permanent magnets where the strong and weak magnetic sides can be changed by rotating the single magnets. For deriving the magnetic force, two different fitting functions were analyzed and compared. Summarized, the magnetic force and, thus, the region where the particles are able to get washed out, can be adjusted using low-cost permanent magnets.

In the state-of-the-art of static magnetic localization of capsule endoscopes relatively large magnets compared with the small capsules are used. Therefore, small disc magnets and ring magnets for integration with the built-in components were evaluated. The mean position and orientation errors did not exceed 5 mm and 4° for all applied magnets except the thinnest disc magnets with a length of 1.5 and 3 mm. Therefore, the state-of-the-art was outperformed even for smaller magnets.