Abstract Systems and methods are provided for controlling lateral movement of a medical
capsule system. A capsule housing is configured to be inserted into an anatomical structure
of a patient. The multichannel tether is coupled to a rear of the capsule and includes at least
one liquid exhaust channel conveying liquid to the capsule housing. The plurality of liquid
exhaust ports are positioned around an outer circumference of the capsule housing and
each configured to controllably expel liquid laterally from the capsule housing at varying …