Figure 5. Docking of robotic pill at a target location under flow conditions. a) Scheme and photographs of pill being held in one position in a small intestine tube model under flow conditions (i) without and (ii) with an external magnetic field. b) Displacement and c) speed quantification of robotic pill, under i) no magnetic field, ii) magnetic field under constant fluid flow in the small intestine tubing model. d) Photographs illustrating different orientations of a pill by rotating the external magnetic field. e) Photograph illustrating robotic pill next to a porcine small intestine for scale. f) Photograph scheme illustrating the use of an external magnetic field to localize the robotic pill in a specific small intestine location. g) Photograph of a robotic pill inside the intestine. h) Photograph of robotic pill being transported and docked in a specific location within a  small intestine during active fluid flow. Scale bars: 5 mm.