A method of manipulating an untethered magnetic device, such as a magnetic capsule endoscope, can include positioning a magnet actuator and an untethered magnetic device proximate one another such that the untethered magnetic device is within a constant magnetic field of the magnet actuator. A position of the untethered magnetic device can be determined relative to the magnet actuator. A desired heading, position, and/or velocity of the untethered magnetic device can be identified. The method can include calculating a magnetic field heading and/or a magnetic force to be applied to the untethered magnetic device to achieve the desired device heading, position, and/or velocity. The magnetic actuator can be moved to apply the calculated magnetic field heading and/or magnetic force to the untethered magnetic device via the magnetic field. The magnetic field heading can be operable to orient the untethered magnetic device in the desired heading and the magnetic force can be operable to translate the untethered magnetic device to the desired position and/or at the desired velocity such that the magnetic device can levitate above a surface.
