The　development　and　popularization　of　various　medical　robots　provide　an　approach　for　minimally　invasive　interventional　diagnosis　and　treatment.　Here　we　present　a　square　coil　platform　with　more　uniformed　magnetic　field,　higher　flexibility　for　control　and　easy　to　assemble.　In　order　to　realize　the　motion　control　of　capsule　robot　in　vivo,　a　permanent　magnet　has　been　put　in　the　capsule　robot,　by　adjusting　the　space　magnetic　field　through　the　external　electromagnetic　coil　system,　the　capsule　robot　could　be　controlled　in　3-D　with　5　degree　of　freedom,　comparing　with　traditional　circular　coils　used　in　most　magnetic　control　systems.　According　to　the　modeling　and　simulation,　the　coil　construction　mode　is　designed　and　the　system　parameters　have　been　confirmed.　According　to　the　experimental　results,　the　magnetic　control　system　is　not　only　convenient　to　install　and　save　space,　but　also　can　effectively　control　the　movement　of　capsule　robot　in　the　simulated　gastric　environment,　such　as　fixed-point　scanning,　linear　point　movement　and　so　on.　Meanwhile,　a　simple　test　by　using　somatosensory　operation　has　been　conducted.　Overall,　the　motion　accuracy　of　the　capsule　robot　is　less　than　0.84　mm,　which　still　has　a　lot　of　room　for　improvement;　the　fixed-point　scanning　orientation　control　can　reach　to　10　degree.　©　2019　IEEE.