本論文提出一具磁橋之磁導引系統，可用於導引膠囊內視鏡、導管與磁性藥物至目標位置，減少藥物劑量以降低因治療所產生的副作用與對正常組織的傷害。傳統磁導引系統係使用永久磁鐵磁致動器，致使體積較為龐大。因此，電磁鐵磁致動器被用於磁導引系統中以縮小磁致動器之體積。藉由有限元素法(FEM)分析磁致動器之磁場，以驗證本論文所提出之磁致動器可以符合磁導引之應用。此外，可善用病床之金屬支架做為磁橋以增加感應於磁藥物之Y分量磁力於工作區內。
本論文亦提出錯相式三相激磁機系統，進行激磁相量控制。最後，實做一1:15縮小尺寸之磁導引系統雛型以驗證磁導引之操控性。

This thesis presents a magnetic guidance system with magnetic bridges, which can be utilized to navigate the capsule endoscopy, magnetic catheter, and magnetic drugs to the targeted position. The drug doses of the therapies with the magnetic guidance system can be reduced to decrease the side effects and harm for normal tissues.
The permanent magnets are utilized to be the magnetic actuators in the conventional magnetic guidance system, but causes bulky volume. Therefore, the electromagnet actuator is employed in the magnetic guidance system for smaller volume. The magnetic fields of the magnetic actuator are analyzed through FEM to validate the proposed magnetic actuator corresponding to the applications of the magnetic navigation.
Furthermore, the metal frames of the patient table can be well utilized as the magnetic bridges to enhance the Y component magnetic forces induced on the magnetic drugs in the working region of the magnetic actuator.
The interleaved three-phase exciter system is also proposed in this thesis for the vector control excitation. Finally, the 1:15 reduced-scale prototype of the proposed magnetic guidance system is implemented to verify the maneuverability of the magnetic navigation.

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