Figure 6a illustrates a scheme and photographs of a robotic pill, passing through a plastic GI model under a flow of 7.2liters per min, i) without a magnetic field, and ii) with a magnetic field. Figures 6b and 6c illustrate the displacement and speed of the robotic pill under each condition (magnetic field vs no magnetic field), demonstrating that the robotic pill can be docked in a specific location and retain at the target location through magnetic force (Video S9).