Magnetic　navigation　capsule　endoscopy　(MNCE)　has　been　widely　used　for　gastric　examination　because　of　its　advantages　of　high　examination　accuracy,　speed,　and　minimal　injury.　However,　the　insufficient　driving　force　and　single　control　strategy　of　currently　commercialized　products　have　become　challenges　for　applying　in　the　active　inspection　of　the　intestinal　tract.　To　solve　these　problems,　based　on　the　existing　cardiac　interventional　magnetic　navigation　system,　the　MNCE　system　with　a　dual-joystick　navigation　control　method　is　proposed,　which　can　achieve　manipulation　of　the　position　and　posture　of　the　capsule　endoscope　for　the　whole　gastrointestinal　(GI)　tract.　The　maximum　workspace　of　the　system　has　an　opening　diameter　of　480　mm,　the　control　region　is　a　spherical　area　with　a　diameter　of　200　mm,　the　magnetic　field　is　0.15　T,　the　maximum　driving　force　is　250　mN,　and　the　average　inspection　speed　is　6.4　mm/s.　The　results　of　model　tests　and　ex　vivo　experiments　demonstrate　that　the　system　can　generate　sufficient　force　to　drive　the　capsule　and　achieve　the　3-D　precision　inspection　of　the　GI　tract.　It　also　proves　the　engineering　feasibility　of　the　proposed　control　method,　which　significantly　improves　the　inspection　efficiency　and　is　expected　to　rapidly　promote　the　system　to　clinical　applications.