Nanorobotics is the emerging technology field of creating machines or robots whose components are at or close to the microscopic scale of a nanometre (10−9 meters). More specifically, Nanorobotics refers to the nanotechnology engineering discipline of designing and building nanorobots, with devices ranging in size from 0.1-10 micrometer & constructed of nano scale or molecular component. The names nanobots, nanoids, nanites, nanomachines or nanomites have also been used to describe these devices currently under research and development. Nano machines are largely in the research-and-development phase, but some primitive molecular machines have been tested. An example is a sensor having a switch approximately 1.5 nano meters across, capable of counting specific molecules in a chemical sample. The first useful applications of nano machines might be in medical technology, which could be used to identify and destroy cancer cells. Another potential application is the detection of toxic chemicals, and the measurement of their concentrations, in the environment. Since nano robots would be microscopic in size, it would probably be necessary for very large numbers of them to work together to perform microscopic and macroscopic tasks. These nano robot swarms, both those incapable of replication and those capable of unconstrained replication in the natural environment

1. Nanorobotics
J.MOHANRAJ
Ph.D.Scholar
Dept.of .Nanoscience and Technology
TNAU ,Coimbatore-3

2. ADVISORY COMMITTEE
S. No. Advisory Committee Name, Designation and Department
1. Chairman
Dr. D. Jawahar, Ph.D.,
Professor (SS & AC)
TNAU, Coimbatore-641003
2.
Members
(1)
Dr. K.S. Subramanian, Ph.D.,
Director of Research,
TNAU, Coimbatore -641003
(2)
Dr. G. J. Janavi, Ph.D.,
Professor and Head,
Department Vegetables Sciences,
HC & RI ,Periyakulam -2
(3)
Dr. P. Jayamani, Ph.D.,
Professor and Head,
Department of Pulses,
TNAU, Coimbatore-641003
3.
Additional Member
Dr. S. Marimuthu,Ph.D.,
Assistant Professor (Agronomy),
Department of Nano Science and Technology,
TNAU, Coimbatore -641003

3. Nanorobotics – History, Definition and Basics
What is Robots ?
• It is a mechanical or virtual artificial agent usually an
electromechanical machine that is guided by computer program or
electronic circuitry.
• Examples: Nanorobots, Swarm robots and Industrial robots.
Cavalcanti et al ., 2005

4. Robotics
• Robotics is the branch of technology that deals with the design,
construction, operation, structural disposition, manufacture and
application of robots and computer systems for their control,
sensory feedback and information processing.

5. Types of Robots
• Mobile robots
• Rolling robots
• Walking robots
• Stationary robots
• Autonomous robots
• Beam robots
• Virtual robots
• Remote control robots

6. History
• 1986: K. Eric Drexler publishes Engines of Creation
• 1959: Richard Feynman, Plenty of Room at the Bottom.

7. Nanorobotic Inventor
• Nanorobot pioneer, Adriano Cavalcanti is the
medical nanorobotics inventor.
Adriano Cavalcanti: CEO
Chairman, Research
Scientist, Inventor

8. Nanorobotics
• Nanorobotics is the technology of creating machines or robots at or close to
the microscopic scale of a nanometre.
• Nanorobotics is the tiny machine designed to perform a specific task whose
components are at or close to the scale of a nanometer.
• The main element used will be carbon in the form of diamond nanocomposites
because of the strength and chemical inertness of these forms.
• Nanorobot also called as Nanobots , Nonoids, Nanites , Nanomachines or
Nanomites.
(Saniotis .,2018)

9. Component of Nanorobotics

10. Nanorobotics Challenges
(Guo ,2013)

11. Nanorobotics Models
Source : Nanotech Art Gallery

12. SPECIFICATIONS OF NANOROBOTS
• Carbon atoms in a diamond structure
• Hydrogen, oxygen, nitrogen, silicon .
• Proteins and Polynucleotides
• Diamond
• Silver
• Ti and Ni layers

13. Nanosensors
• Sensing of local pressure, temperature through infrared capability, proximity to
surfaces through ultrasound, pH changes, and specific protein structures through
functionalized surface probes would provide useful feedback data.
• wireless capsule endoscopy.
• The imaging module usually includes the functions:
• i) Capturing images and video sequences as the robot navigates, and transmitting
them to an external data recording device,
• ii) Detecting abnormal appearance,
• iii) Detecting important landmarks that can help the positioning and navigation
subsystem.
(Bouge ., 2012)

14. Nanosensors
Provides real-time information about
antibodies to antigens, cell receptors to
their glands etc
Used for drug detection
To detect chemical vapors at low
concentration based on surface stress

15. Sensors Uses in Nanorobot
Proximity Sensor
Range Sensor
Tactile Sensors

16. Sensors Uses in Nanorobot
Proximity Sensor
• A proximity sensor is a sensor able to detect the presence of nearby
objects without any physical contact.
• A proximity sensor often emits an electromagnetic field or a beam of
electromagnetic radiation (infrared, for instance), and looks for
changes in the field or return signal.

17. Sensors Uses in Nanorobot
Range Sensor
• Range Sensor is implemented in the end effector of a robot to
calculate the distance between the sensor and a work part.
• The values for the distance can be given by the workers on visual
data. It can evaluate the size of images and analysis of common
objects.
• The range is measured using the Sonar receivers & transmitters or
two TV cameras.

18. Sensors Uses in Nanorobot
Tactile
Sensors
Force Sensor
Touch
Sensor

19. Sensors Uses in Nanorobot
Force Sensor
• The force sensor is included for calculating the forces of several
functions like the machine loading & unloading performed by a
robot.
• This sensor will also be a better one in the assembly process for
checking the problems.
• There are several techniques used in this sensor like Joint Sensing,
Robot – Wrist Force Sensing, and Tactile Array Sensing.

20. Sensors Uses in Nanorobot
Cantilever Sensor
• Cantilevers, typically made of silicon nitrite coated with gold on one
surface.
• The cantilever bends in response to the change in surface stress
upon binding of target molecules from a body fluid such as serum.
(Bouge ., 2012)

21. Sensors Uses in Nanorobot
Tactile Pressure Sensor
• A tactile sensor is a device that measures the force and pressure
applied between the sensor and an object.
• Tactile sensors are composed of two thin, flexible substrates that
have electrically conductive materials deposited in rows and
columns. A layer of pressure-sensitive material is applied to the
inner surface of each of the intersecting conductive layers.
(Nathan et al ., 2005)

22. Case Study for sensors using in Nanorobotics
PZT (Piezoelectric Lead Zirconate Titanate) Nano Active Fiber Composites (NAFCs)-Based
Acoustic Emission Sensor

23. Case Study for sensors using in Nanorobotics
( Guo .,2013 )

24. • (Left) Manipulation of nanofiber using MM3A® Nanorobot from Kleindiek®,
(right) schematic representation of automated weaving process
• (1) placement of the fibers and folding in the warp direction,
• (2) fiber placement in the weft, and
• (3) unfolding of the warp.
( Guo .,2013 )

25. Case Study for sensors using in Nanorobotics
i)
ii)
( Guo .,2013 )

26. Actuators
What is Actuator?
• Actuation is the process of conversion of energy to mechanical form. A device that
accomplishes this conversion is called actuator.
• Actuator plays a very important role while implementing control. The controller
provides command signal to the actuator for actuation.
• The control codes aims at “deriving the actuator when an event has occurred”
Role of Actuator in Robotics?
• Actuators are used in order to produce mechanical movement in robots.
• Actuators are the muscles of robots. There are many types of actuators available
depending on the load involved. The term load is associated with many factors
including force, torque, speed of operation, accuracy, precision and power
consumption.

27. Actuators (Mover) for Nanorobotics
• Piezoelectric materials have been used as actuators or sensors in bulk or thin film
forms.
• Nanoscale piezoelectric materials can generate voltages under the peristaltic action
of the gastrointestinal tract and convert mechanical energy into electrical energy.
This could be one solution to the power and propulsion subsystem.
(Feng et al .,2015)

28. Bio-Nano actuator
• The classical actin-myosin power stroke that converts chemical energy of ATP to
mechanical work of muscle is probably the oldest known.
• More recently, the microtubule motor protein families kinesins and dyneins have
been identified.
• The kinesins constitute a superfamily of protein motors similar in structure to
myosin that are involved in motion of the cytoskeleton of cells.
(Mojaraat et al .,2017)

29. Power supply of Nanorobotics
• Battery made of a single nano wire which is 7000 times thinner than
human hair is used.
• Body heat
• Power from the bloodstream (Blood Glucose)
• Physical connection (Piezoelectric Material)
• Induced magnetic
(Deepa et al .,2018)

30. Power supply of Nanorobotics
• Rechargeable thin-film batteries enable the use of arbitrarily shaped batteries with
thickness less than 50 nm , and have been used in micro-robotic applications.
• Vibration, thermal gradients. The transmitted power uses magnetic fields to induce
electricity wirelessly, where the human body is ‘‘transparent’’ to magnetic fields .
(Deepa et al .,2018)

31. Cameras and Lasers Used in Nanorobotics
• Disposable micro camera for navigation and view of internal images.
• It will be accessed by CMOS (complementary metal oxide semiconductor) sensors for
transmission of images
• Laser made out of nanoroids and a semiconductor chip is used.
• Laser can be used for removing clots and blocks and minor surgeries and wounds.

32. Structure of Nanorobotics
• Molecular sorting rotor
• Propellers
• Fins
• Sensors
Felfoul et al ., 2016

33. Design architecture of Nanorobotics
Molecular sorting rotor
• A class of nanomechanical device capable of selectively binding (or
releasing) molecules from/ to solution, and of transporting these
bound molecules against significant concentration gradients.
• Made up of carbon nanotubes.
• Nanotube with nanogears used for changing the direction of
movement.
Propeller
• Like that in nanorobots it is used to drive forward against the blood
stream.
Fins
• A fin is a surface used for stability and/or to produce lift and thrust or
to steer while traveling in water, air, or other fluid media.
• Fitted along with the propellers used to propel the device
Felfoul et al ., 2016

34. Nanorobotic - Manipulation
SPM
• Atomic Force Microscopy (AFM)
• Scanning Tunneling Microscopy (STM)
NEMS
• Photo Lithography
• Soft lithography
• 3D Laser Lithography
• Steriolithography
• Two Photon Lithography
Software
• Nano – CAD
• DCG Systems’ n Prober Solution(Instrument)
• MM3A nanomanipulator (Instrument)

35. Base work of Atomic Manipulation
1979, Gerd Binnig and Heinrich Rohrer, STM manipulated zenon atoms
form the word IBM (image originally created by IBM Corporation

36. AFM- Nanomanipulation
• Nanoparticle from one place to another by using a single-tip AFM.
• AFM is used either as a manipulation tool or an imaging tool, but not
both at the same time. As pushing a ball in macro world, the
nanoparticle will rotate away from the direction of pushing in case that
the end-effector is not exactly pushing on the particle center.
Chen et al ., 2013

37. Nanomanipulation
Chen et al ., 2013

38. AFM pushing or pulling nano objects
(a) : Pushing or Pulling Strategies
(b) : Pick-and-place with a single AFM probe.
(c) : Pick-and-place with a dual-probe nanotweezer
Chen et al ., 2013

39. AFM pushing or pulling nano objects
• Pick-and-place nanomanipulation using a nanotweezer formed by two AFM
cantilevers with protruding tips.

40. Different types of microgripper configuration
(a) The most widely used microgripper which has parallel clamping jaws.
(b) A gripper with a closed configuration is designed to hold microobjects more
strongly in grasping operation.
(c) A gripper with a tiny contact area is designed to reduce tip-microobject
adhesion forces.
(d) A gripper constructed from two AFM tips is adopted in the developed 3DMS.

41. NEMS
• It is a trend to manufacture ever smaller mechanical, optical and
electronic products and devices.
• Integrating electrical and mechanical devices functionality into the
nano-scale.
• Three Building Blocks in NEMS Technology
Deposition (Chemical Vapour Deposition)
Lithography (Photolithography & Soft lithography)

42. Photo Lithography and Soft lithography
Photo lithography Soft lithography Mitthra et al .,2016

43. 3D Laser Lithography

44. Steriolithography
Lena et al .,2013

45. Automated Nano assembly
• CAD – Guided automated Nano manufacturing algorithm generate nano
devices Using AFM.
AFM Image
Tip Path Planner
CAD MODEL
Simulation and Real-
time Operation
Augmented
Reality Interfaces
AFM

46. Automated Nano assembly
Initial Position destination
Find Corresponding Point
Find Starting Pushing Point
Calculate Pushing step
Plan the trajectory

47. DCG Systems’ n Prober Solution
• Eight probe nanomanipulator encoded positioners may be placed with 2nm
resolution probe steps.
• The XYZ encoded center stage provides step and repeat capability, while
allowing the probes to remain in registration while the sample is moved to the
next bit .
http://www.dcgsystems.com

48. MM3A nanomanipulator

49. How Nanorobotic Work
Injection
Navigation
&
Positioning
Detection
Destruction

50. Injection
• Nanorobots are introduced into the body by surgery.
• So the nanorobots are made smaller than the blood vessels as it
can travel.
• The nanorobot is injected in femoral artery

51. Navigation & Positioning
• Magnetic Resonance Imaging (MRI) device
• Ultrasonic signals
• Radioactive dye
• X-rays, Radio waves, microwaves or heat
• Nanorobots movement depend upon Speed of blood
• Onboard systems, or internal sensors, might also play a large role
in navigation.
• Chemical sensors and spectroscopic sensor

52. NANOROBOTIC DEVICES USING NATURE’S COMPONENTS
• VIRAL PROTEIN
LINEAR MOTORS
• ROTAXANES
• CATENANES
• DNA TWEEZERS
• ATP SYNTHASE
• KINESIN , MYOSIN
• DYNENIN AND FLAGELLA
Protein DNA
Future
Inorganic

53. Application
• Bioengineered Nanorobotics for Cancer Therapy
• A DNA nanorobot functions as a cancer therapeutic
• CP nanorobot core with the aptamers designed for closing and locking
the nanotube.
• Nanorobots dragged towards the tumor site by flagellated bacteria
• MagnetoSperm

54. Nanorobot functions as a cancer therapeutic
Chen et al .,2018
• The growth of tumors
depends on a sufficient
supply of nutrients and
oxygen provided by the
tumor blood vessels
• This thrombin carried
Nano robot could lead to
thrombosis in tumor
vessels
• DNA origami sheet
containing poly-A
oligonucleotides
• poly-T oligonucleotide-
modified thrombin

55. Nanorobot functions as a cancer therapeutic
Case Study - 3
Woo et al .,2016

56. A DNA Origami Nanorobot Controlled by Nucleic Acid
Hybridization (Case Study – 4)
Torelli et al .,2014

57. Nanorobotics as Disease Detection (Case Study – 5)
Felicetti et al .,2018

58. Bioengineered Nanorobotics for Cancer Therapy
Case Study - 1
Lenaghan et al .,2013

59. Ozone Layer Depletion
• Chlorofluorocarbons (CFCs), halons
and other molecules are responsible
for the degradation of the ozone
layer.
• One chlorine molecule in CFC can
exhaust roughly 100,000 molecules
of ozone while it is in the
stratosphere.
• Nanorobots could remove CFCs from
the stratosphere.
• Sodium containing balloon type
nanorobots
( Mcfareland et al .,1992)

60. Breaking of Kidney Stones
• Kidney stones can be intensely painful.
• Doctors break up kidney stones using ultrasonic frequencies but
this is not always effective .
• A Nanorobot could break up a kidney stones using a small laser.
Nano technology is very quick to break kidney stones

61. Nanorobots and Space Exploration
• Detect the preexisting microbes
( if they exist)
• Inherit the capability of self-
replication
• Convert atmospheric Carbon
Dioxide into Oxygen which will
enhance the probability of
habitation in planet MARS

62. Nanorobotics – Red blood cells
• Nibble away at arteriosclerotic deposits
• widening the affected blood vessels
• Restore artery walls and artery linings
to health
• Prevent most heart attacks

63. Swarm of Nanorobotics

64. Nanorobotics Pollen Transmitter

65. Other Medical Nanorobotics

66. Future of Nanorobotics
• In supercomputer: Nanites could mean faster computers, less
pollution and cheaper energy .
• To monitor potentially dangerous microorganisms in the ocean.
• Use in Defence System.
• In brain’s growth.
• They could produce a stain-resistant trousers, to the most
speculative extrapolations, such as selfreplicating nanorobots
• In space technology
• Nanorobots can be used to actively repair damaged suit materials
while an astronaut is in the field.
• Measurement of toxic elements in environment.

67. Advantages
• Small Size.
• Inexpensive(if mass produced).
• No maintenance
• Automated
• Fast process & results are accurate.
• Painless Treatment
• Easily Disposable
• Rapid elimination of disease.
• Involves less psychological strain
• Harmful ray attack is reduced.

68. Disadvantage
• Expensive technology.
• Very complicate design (Practical implementation is some what
difficult).
• initial design cost is very high.
• Hard to program.
• Limited external control mechanisms.
• Some times robots goes out of control in human body.
• Should be Accurate if not harmful effect occurs.
• may affect human health by introducing toxicity in blood.
• risk of cancer.

69. Conclusion
• Nanorobots can theoretically destroy all common diseases of the 20th century,
thereby ending much of the pain and suffering.
• Although research into nanorobots is in its preliminary stages, the promise of
such technology is endless.
• Nanobots are going to revolutionize the medical industry in future.
• The nanorobots are used in heart surgery, due to this number of risks and side
effects behind is reduced.
• The same technique is used in various treatments like cancer, breaking kidney
stones, breaking liver stones, parasite removal only with slight modification.
• Within ten year several advancement technologies should be made from this
nanorobotics.
• Nanomachines are largely in the research-and-development phase

70. Reference
• Pratik R.B., 2007. A Survey on Nanorobotics Technology: International Journal of Computer Science & Engineering
Technology 7, 243-248.
• Requicha,A “Nanorobotics,” in Handbook of Industrial Robotics, 2nd ed. New York: Wiley, 1999, pp. 199–210.
• Thangavel, K., A. Balamurugan, M. Elango, P. Subramanian, M. Sentrayan . 2014. A Survey on Nano-Robotics In
Nano-Medicine. J.Nanoscience and Technology. 5: 525–528
• Nithin, M., A.N. christensen, R.O.Grandy , F. mondada, M. Doringo . 2017. Mergeable nervous systems for robots.
Nature Communication. 8: 439
• yamaan, S ., V.Dinesh. 2014. Nanorobotic Applications In Medicine: Current Proposals And Designs. J.Robot surg.
123: 454
• Arancha, C., H.Tad,C.Adriano 2015. Nanorobots as Cellular Assistants in Inflammatory Responses. Research Gate
Publication. 152: 258
• Arthur, S., H.Henneberg ,A.R.Sawalma. 2018. Integration of Nanobots Into Neural Circuits As a Future Therapy for
Treating Neurodegenerative Disorders. Frontiers in .3:147
• Aristides A.G., G.Requicha . 2003. Nanorobots, Nems, and Nanoassembly. IEEE Invited paper .0018-921

71. THANKYOU