HARDWARE ARCHITECTURE FOR NANOROBOT APPLICATION IN CEREBRAL ANEURYSM

1. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com HARDWARE ARCHITECTURE FOR NANOROBOT APPLICATION IN CEREBRAL ANEURYSM Adriano Cavalcanti, Bijan Shirinzadeh, Toshio Fukuda, Seiichi Ikeda CAN Center for Automation in Nanobiotech Robotics & Mechatronics Research Lab., Monash University Dept of Micro-Nano Systems Eng., Nagoya University IEEE NANO 2007 Int’l Conf. on Nanotechnology Hong Kong, China August 2-5, 2007

2. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com The new era of Nanotechnology is coming

3. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com Medical Nanorobot Research Nanorobot Research Challenge Research Objectives Research Methodology Computational Analysis Nanorobot Design Sensing Methodology Control Model Verification Methodologies Nanorobot IC Layout Conclusion P r e s e n t a t i o n o u t l i n e :

4. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 1. MEDICAL NANOROBOT RESEARCH New research subject: - Interdisciplinary focus Natural result from: - Microelectronics miniaturization  nanoelectronics - Quantum Dot new materials - Genome analysis - Biomedical Problems Motivation: - Establish Methodologies on System and Device Prototyping - Control and Architecture of Nanorobots for Medicine

5. b. An acceptable approach • Agents as assemblers • sensory feedback intelligent control • is indispensable for micro/nano manipulation • Advanced analytical approach • as a tool for exploration and design www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 2. NANOROBOT RESEARCH CHALLENGE • Architecture, sensing and actuation at nanoscale: - development of molecular nanomachine & systems  Possible applications: - Nanoassembly automation - Health care

6. b. Control: - Identify methodology to control nanorobots c. Architecture: - Investigate issues associated with hardware requirements d. Flow Signal: - Define the chemical / thermal blood flow signals that interferes with sensing and actuation www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 3. RESEARCH OBJECTIVES a. Methodology: - Establish the necessary tools for the study of nanorobots

7. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 4. RESEARCH METHODOLOGY a. Characterization of sensor-based events: - Define protein anti-body based signals - Control modelling - nanorobot behaviours b. Biomedical Flow Signal: • Finite Element Method (FEM) to study flow patterns c. System Identification and Requirements: - System Modular approach to validate nanorobot architecture analysis - Verification Hardware Description Language (VHDL) to verify IC-Layout Architecture simulation

8. a. A 3D tool to simulate the nanorobot within the human body - Enable fast nanorobots control investigation - Provide physical parameters for manufacturing evaluation - Nanorobot Control Design (NCD) system www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 5. COMPUTATIONAL ANALYSIS b. Mobile nanorobot interaction and tasks - Perform molecular assembly manipulation - Biomedical engineering applications c. Storage simulation data - Later analyses for nanodevices manufacturing - Serves on sensing/actuation device design - Layout for DNA based new ICs: nanobioelectronics

9. 6. NANOROBOT DESIGN www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com a. For Molecular Manipulation nanorobot uses actuators nanorobot design b. Nanorobot navigation: - Uses plane surfaces (three fins total) - Propulsion by bi-directional propellers: two simultaneously counter-rotating screw drives - navigational acoustic sensors

10. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 7. SENSING METHODOLOGY a. Decision planning Medical target delivery Motion: random, chemical, thermochemical Behaviour activation

11. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 7. SENSING METHODOLOGY b. Physical parameters in the simulator Blood Flow Signal Analysis (FEM) - velocity - temperature - shear stress - molecular concentrations Interactive simulation

12. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 8. CONTROL MODEL a. Nanorobots Collective Control Planning ψ: determines the kind of behaviour for r. w: chemical level of the medical target i at time t. y: surplus/deficit to the desired protein/drug amount. Q: total of protein captured by r in t. d: desired protein compound rate. x: substance amount injected in the medical target i.

13. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 8. CONTROL MODEL b. Signal Sensor - Based Control Reaction D: diffusion coeficient C: molecules concentration per v: flow velocity : molecules per second r: distance from the center of the vessel

14. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 9. VERIFICATION METHODOLOGIES - CASES STUDIES a. Nanorobots for Cancer - Surgery / Drug Delivery / Early Diagnosis Nanorobots searching for malignant tissues

15. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com E-cadherin / bcl-2 gradient changed by tumour Genome Mapping - Chromosome 21 Constant signal diffusion from injury target

16. target area www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com E-cadherin / bcl-2: protein signals to detect cancer signal spreads further throughout vessel This high constant diffusion could be used as signals for robots. Chemical & temperature signals activate nanorobots near target.

17. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com 20microns diameter vessel Comparative behaviors

18. Blood temperature in the occluded region www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com b. Nanorobots for Cardiology Blood Pressure Monitoring / Drug Delivery Such control activation parameters could be used for biomedical applications – e.g. Coronary Atherosclerosis

19. sVCAM-1 chemical signal concentration in the stenosis www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com Nanorobots and Red Blood Cells Near the vessel occlusion

20. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com c. Nanorobots for Diabetes - Glucose Monitoring patients must take small blood samples many times a day to control glucose levels. Such procedures are uncomfortable and extremely inconvenient Nanorobots with nanobiochemosensors (hSGLT3) can be used for pervasive diabetes monitoring.

21. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com RF are proposed in our nanorobot architecture for: Upload control Data communication Tele-operation

22. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com d. Nanorobots for Brain Aneurysm Early Diagnosis / Nanowire Delivery Human Genome Mapping  Chromosome 12 DNA Analysis provides antibody agent for CMOS Electro-Chemical biosensors. New NanoCMOS IC Design  is progressively advancing through integration of new materials for nanobiosensors and actuator for biomedical application. Brain Aneurysm Bulb Medical Nanorobots  Can be applied for cerebral aneurysm with detection of iNOS (inducible Nitric Oxide Synthase)

23. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com Nanorobots can enable precise delivery of nanowires to fill the aneurysm Diagnosis and detection of vessels dilatation & deformation in early stages is crucial

24. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com iNOS (inducible Nitric Oxide Synthase) Nanorobots can be used with biosensors to detect iNOS Signals for diagnosis before a stroke happens

25. 10. Nanorobot IC Layout www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com * CMOS CMOS achieved 10nm sizes functionality Can be used as embedded nanodevice to build integrated sensors and actuator for nanorobots

26. 10. Nanorobot IC Layout www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com * CMOS Photonics + Q.D. + nanotubes: enable high performance to production of nanodevices RF-CMOS with wireless communication is a feasible way to interface with nanorobots – tracking, operation, diagnosis

27. 10. Nanorobot IC Layout www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com * CMOS Nanorobot hardware integrated nanocircuit architecture Electromagnetic backpropagation waves are used to define the nanorobot positions

28. Selected Peer Reviewed Publications www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com Journal Adriano Cavalcanti, Bijan Shirinzadeh, Robert A. Freitas Jr., Luiz C. Kretly, “Medical Nanorobot Architecture Based on Nanobioelectronics”, Recent Patents on Nanotechnology, Bentham Science, Vol. 1, no. 1, pp. 1-10, Feb. 2007. Adriano Cavalcanti, Robert A. Freitas Jr., “Nanorobotics Control Design: A Collective Behavior Approach for Medicine”, IEEE Transactions on NanoBioscience, Vol 4., no. 2, pp. 133-140, Jun. 2005. Adriano Cavalcanti, “Assembly Automation with Evolutionary Nanorobots and Sensor-Based Control applied to Nanomedicine”, IEEE Transactions on Nanotechnology, Vol. 2, no. 2, pp. 82-87, Jun. 2003. Conference Adriano Cavalcanti, Bijan Shirinzadeh, Declan Murphy, Julian A. Smith, “Nanorobot for Laparoscopic Cancer Surgery”, IEEE-ICIS Int’l Conf. on Computer and Information Science, Melbourne, Australia, pp. 738-743, Jul. 2007. Adriano Cavalcanti, Lior Rosen, Bijan Shirinzadeh, Moshe Rosenfeld, “Nanorobot for Treatment of Patients with Artery Occlusion”, Springer Proceedings of Virtual Concept, Cancun, Mexico, Nov. 2006. Adriano Cavalcanti, Warren W. Wood, Luiz C. Kretly, Bijan Shirinzadeh, “Computational Nanomechatronics: A Pathway for Control and Manufacturing Nanorobots”, IEEE CIMCA Int’l Conf. on Computational Intelligence for Modelling, Control and Automation, IEEE Computer Society, Sydney, Australia, pp. 185-190, Nov. 2006. Adriano Cavalcanti, Tad Hogg, Bijan Shirinzadeh, “Nanorobotics System Simulation in 3D Workspaces with Low Reynolds Number”, IEEE-RAS MHS Int’l Symposium on Micro-Nanomechatronics and Human Science, Nagoya, Japan, pp. 226-231, Nov. 2006. Arancha Casal, Tad Hogg, Adriano Cavalcanti, “Nanorobots as Cellular Assistants in Inflammatory Responses”, IEEE BCATS Biomedical Computation at Stanford 2003 Symposium, IEEE Computer Society, Stanford CA, USA, Oct. 2003.

29. www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com Acknowledgments / Technical Collaboration A. Casal (Stanford University US) R. A. Freitas Jr. (Inst. for Molecular Manufacturing US) T. Hogg (HP US) L. C. Kretly (Campinas University BR) D. Murphy (Guy’s Hospital UK) L. Rosen (Tel Aviv University IL) W. W. Wood (Michigan State University US)

30. 11. CONCLUSION a. Real-time digital simulation as a valuable tool for the better investigation of biomedical flow signals c. Show a practical approach to investigate nanodevices manufacturing for nanorobots e.g.: transducers/nanobiosensors prototyping CONTRIBUTIONS  First methodology for medical nanorobot investigation  First nanorobot architecture based on nanobielectronics www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com b. Rapid Evaluation of Various Control Algorithms

31. Just a few quotes… “There is nothing permanent except change.” Heraclitus of Ephesus(ca. 525-475 B.C.) “A scientific truth does not triumph by convincing its opponents and making them see the light, but rather because its opponents eventually die and a new generation grows up that is familiar withit.” Max Plank (1858-1947) “A pessimist sees the difficulty in every opportunity; An optimist sees the opportunity in every difficulty.” Winston Churchill (1874-1965) www.c a n b i o t e c h n e m s.comwww.n a n o r o b o t d e s i g n.com