A guided medical propulsion capsule driven by strong electro-magnetic interaction between an external AC/DC magnetic gradient-lobe generator and a set of uniquely magnetized ferrous-conductive elements contained within the capsule. The capsule is navigated through the lumens and cavities of the human body wirelessly and without any physical contact for medical diagnostic, drug delivery, or other procedures with the magnetically guiding field generator external to the human body. The capsule is equipped with at least two sets of magnetic rings, disks and/or plates each possessing anisotropic magnetic properties. The external magnetic gradient fields provide the gradient forces and rotational torques on the internal conductive and magnetic elements needed to make the capsule move, tilt, and rotate in the body lumens and cavities according to the commands of an operator.