SSRN Id3028565

International Conference on Recent Advances in Management, Architecture, Technology and Engineering
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NANOROBOTS CONTROL
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ACTIVATION FOR STENOSED
CORONARY OCCLUSION
R.K. Shunmuga Priya1, T.Rashmi Anns2, S.Kadhirunnisa3, Christo Ananth4
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P.G. Scholars, Department of M.E. Communication Systems,
Francis Xavier Engineering College, Tirunelveli 1,2,3
Associate Professor, Department of ECE,
Francis Xavier Engineering College, Tirunelveli4
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Abstract: Key words: Cardiology, CMOS,
This paper presents the study of

nanorobots control activation for
er medical nanorobotics, mobile nanorobot,
molecular machine, multi-sensorial
simulators,nanoelectronics,nanomanufac
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stenosed coronary occlusion, with the turing design, NEMS, photonics.
practical use of chemical and thermal
gradients for biomedical problems. The Introduction
recent developments on nanotechnology
new materials allied with electronics The advent of nanotechnology is
device miniaturization may enable expected to enable automated
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nanorobots for the next few years. New molecular machines with embedded
possibilities for medicine are expected nanoscopic devices providing new tools
with the development of nanorobots. It for medical procedures.The present work
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may help to advance the treatment of a is an innovative approach to advance the

wide number of diseases: cardiovascular study of biomedical treatments using
problems, neurosurgery, cancer, diabetes nanorobots for coronary atherosclerosis
and new cell therapies. The problems. To evaluate efficient ways of
implementation of new methodologies to activation and control of nanorobots,
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help on manufacturing analyses and This work demonstrates how chemical

system design for the development of and thermal parameters could be
nanoscale molecular machine is one of successfully applied to achieve a suitable
the most important fields for research. control strategy for nanorobots, and
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The use of 3D physically based trigger their actuation upon target areas.
simulation in conjunction with clinical We used computer aided design tools
data may provide ways to design such as Computational Fluid Dynamics
practical approaches for control and (CFD) including the main parameters
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transducers development. required for the investigation at

nanoscopic levels. The simulation
included its visualization with 3D real
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This preprint research paper has not been

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time analyses using the software

Nanorobot Control Design (NCD) to Figure 1: The coronary arteries are one
perform a predefined set of tasks, based of the most common sites for the
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on environment sensing and trigger localization of atherosclerotic plaques.
behaviors. Simulation studies based on
numerical results defining design . In order to build electronics at
strategies, capabilities and nanoscales, firms are collaborating to
limitations,provide a better produce new nanoproducts. Such
understanding on nanorobots behavior companies include IBM, PARC,
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and manufacturing feasibilities. Hewlett Packard, Bell Laboratories, and
Intel Corp., to name a few.The use of
Medical Applications nanorobots may advance biomedical
intervention with minimally invasive
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Nanorobots are expected to surgeries , and help patients who need
enable new treatments for patients constant body functions monitoring, or
suffering from different diseases, and
will result in a remarkable advance in
the history of medicine. Recent
developments in the field of
er ever improve treatments efficiency
through early diagnosis of possible
serious diseases. Nanorobots will be
applied in chemotherapy to combat
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biomolecular computing,have cancer ,through precise chemical dosage
demonstrated the feasibility of administration, and a similar approach
processing logic tasks by bio-computers. could be taken to enable nanorobots to
This is a promising first step to enable deliver anti-HIV drugs. Nanorobots
future nanoprocessors with increased could be used to process specific
chemicalreactions in the human body as
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complexity. Studies targeted at building

biosensors and nano-kinetic ancillary devices for injured organs.
devices,required to enable medical Monitoring diabetes and controlling
nanorobotics operation and locomotion, glucose levels for patients will be a
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have also been progressing.In recent possible application of nanorobots

years, the potential of nanotechnology .Nanorobots might be used to seek and
has indeed motivated many governments break kidney stones.Another important
to devote significant resources to this possible feature of medical nanorobots
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new field. will be the capability to locate

atherosclerotic lesions in stenosed blood
vessels, particularly in the coronary
circulation, and treat them either
mechanically, chemically or
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pharmacologically. Christo Ananth et al.

[1] proposed a method in which the
minimization is per-formed in a
sequential manner by the fusion move
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algorithm that uses the QPBO min-cut

algorithm. Multi-shape GCs are proven
to be more beneficial than single-shape
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GCs. Hence, the segmentation methods interactive segmentation method for

are validated by calculating statistical liver and tumor segmentation. In the
measures. The false positive (FP) is preprocessing stage, the CT image
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reduced and sensitivity and specificity process is carried over with mean shift
improved by multiple MTANN. Christo filter and statistical thresholding method
Ananth et al. [2] proposed a system, this for reducing processing area with
system has concentrated on finding a fast improving detections rate. Second stage
and interactive segmentation method for is liver segmentation; the liver region
liver and tumor segmentation. In the pre- has been segmented using the algorithm
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processing stage, Mean shift filter is of the proposed method. The next stage
applied to CT image process and tumor segmentation also followed the
statistical thresholding method is applied same steps.
for reducing processing area with Finally the liver and tumor
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improving detections rate. In the Second regions are separately segmented from
stage, the liver region has been the computer tomography image. Christo
segmented using the algorithm of the
proposed method. Next, the tumor
region has been segmented using
Geodesic Graph cut method. Results
er Ananth et al. [4] proposed a system in
which the cross-diamond search
algorithm employs two diamond search
patterns (a large and small) and a
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show that the proposed method is less halfway-stop technique. It finds small
prone to shortcutting than typical graph motion vectors with fewer search points
cut methods while being less sensitive to than the DS algorithm while maintaining
seed placement and better at edge similar or even better search quality. The
localization than geodesic methods. efficient Three Step Search (E3SS)
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This leads to increased algorithm requires less computation and

segmentation accuracy and reduced performs better in terms of PSNR.
effort on the part of the user. Finally Modified objected block-base vector
Segmented Liver and Tumor Regions search algorithm (MOBS) fully utilizes
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were shown from the abdominal the correlations existing in motion

Computed Tomographic image. Christo vectors to reduce the computations. Fast
Ananth et al. [3] proposed a system, in Objected - Base Efficient (FOBE) Three
which a predicate is defined for Step Search algorithm combines E3SS
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measuring the evidence for a boundary and MOBS. By combining these two
between two regions using Geodesic existing algorithms CDS and MOBS, a
Graph-based representation of the new algorithm is proposed with reduced
image. The algorithm is applied to image computational complexity without
segmentation using two different kinds degradation in quality. Christo Ananth et
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of local neighborhoods in constructing al. [5] proposed a system in which this

the graph. Liver and hepatic tumor study presented the implementation of
segmentation can be automatically two fully automatic liver and tumors
processed by the Geodesic graph-cut segmentation techniques and their
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based method. This system has comparative assessment. The described

concentrated on finding a fast and adaptive initialization method enabled
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fully automatic liver surface maximum overlap wavelet transform

segmentation with both GVF active (IMOWT) as a pre-processing step. The
contour and graph-cut techniques, coefficients derived from IMOWT are
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demonstrating the feasibility of two subjected to 2D histogram Grouping.
different approaches. The comparative This method is simple, fast and
assessment showed that the graph-cut unsupervised. 2D histograms are used to
method provided superior results in obtain Grouping of color image. This
terms of accuracy and did not present the Grouping output gives three
described main limitations related to the segmentation maps which are fused
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GVF method. The proposed image together to get the final segmented
processing method will improve output. This method produces good
computerized CT-based 3-D segmentation results when compared to
visualizations enabling noninvasive the direct application of 2D Histogram
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diagnosis of hepatic tumors. The Grouping.
described imaging approach might be IMOWT is the efficient
valuable also for monitoring of
postoperative outcomes through CT-
volumetric assessments.
Processing time is an important
er transform in which a set of wavelet
features of the same size of various
levels of resolutions and different local
window sizes for different levels are
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feature for any computer-aided diagnosis used. IMOWT is efficient because of its
system, especially in the intra-operative time effectiveness, flexibility and
phase. Christo Ananth et al. [6] proposed translation invariance which are useful
a system in which an automatic anatomy for good segmentation results. Christo
segmentation method is proposed which Ananth et al. [8] proposed a system in
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effectively combines the Active which OWT extracts wavelet features

Appearance Model, Live Wire and which give a good separation of different
Graph Cut (ALG) ideas to exploit their patterns. Moreover the proposed
complementary strengths. It consists of algorithm uses morphological operators
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three main parts: model building, for effective segmentation. From the
initialization, and delineation. For the qualitative and quantitative results, it is
initialization (recognition) part, a pseudo concluded that our proposed method has
strategy is employed and the organs are improved segmentation quality and it is
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segmented slice by slice via the OAAM reliable, fast and can be used with
(Oriented Active Appearance method). reduced computational complexity than
The purpose of initialization is to direct applications of Histogram
provide rough object localization and Clustering. The main advantage of this
shape constraints for a latter GC method, method is the use of single parameter
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which will produce refined delineation. and also very faster. While comparing
It is better to have a fast and robust with five color spaces, segmentation
method than a slow and more accurate scheme produces results noticeably
technique for initialization. Christo better in RGB color space compared to
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Ananth et al. [7] proposed a system all other color spaces. Christo Ananth et
which uses intermediate features of al. [9] presented an automatic
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segmentation method which effectively registrations between low resolution

combines Active Contour Model, Live images are very important to the
Wire method and Graph Cut approach reconstruction of a high resolution
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(CLG). The aim of Live wire method is image. The proposed feature distribution
to provide control to the user on scheme results in far lower network
segmentation process during execution. traffic load.
Active Contour Model provides a To achieve the maximum
statistical model of object shape and performance as with the full distribution
appearance to a new image which are of feature vectors, a set of requirements
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built during a training phase. In the regarding abstraction, storage space,
graph cut technique, each pixel is similarity metric and convergence has
represented as a node and the distance been proposed to implement this work in
between those nodes is represented as C++ and QT. Christo Ananth et al. [11]
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edges. In graph theory, a cut is a discussed about an important work
partition of the nodes that divides the which presents a metal detecting robot
graph into two disjoint subsets. For
initialization, a pseudo strategy is
employed and the organs are segmented
slice by slice through the OACAM
er using RF communication with wireless
audio and video transmission and it is
designed and implemented with Atmel
89C51 MCU in embedded system
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(Oriented Active Contour Appearance domain. The robot is moved in particular
Model). Initialization provides rough direction using switches and the images
object localization and shape constraints are captured along with the audio and
which produce refined delineation. images are watched on the television
This method is tested with .Experimental work has been carried out
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different set of images including CT and carefully. The result shows that higher
MR images especially 3D images and efficiency is indeed achieved using the
produced perfect segmentation results. embedded system. The proposed method
Christo Ananth et al. [10] proposed a is verified to be highly beneficial for the
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work, in this work, a framework of security purpose and industrial purpose.

feature distribution scheme is proposed The mine sensor worked at a constant
for object matching. In this approach, speed without any problem despite its
information is distributed in such a way extension, meeting the specification
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that each individual node maintains only required for the mine detection sensor. It
a small amount of information about the contributed to the improvement of
objects seen by the network. detection rate, while enhancing the
Nevertheless, this amount is sufficient to operability as evidenced by completion
efficiently route queries through the of all the detection work as scheduled.
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network without any degradation of the The tests demonstrated that the robot
matching performance. Digital image would not pose any performance
processing approaches have been problem for installation of the mine
investigated to reconstruct a high detection sensor. On the other hand,
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resolution image from aliased low however, the tests also clearly indicated
resolution images. The accurate areas where improvement, modification,
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specification change and additional automation. Two different variants of

features to the robot are required to serve hybrid approaches have been employed
better for the intended purpose. Valuable in this work. The proposed schemes
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data and hints were obtained in have been implemented in both
connection with such issues as control simulation and experimentations with a
method with the mine detection robot real robot, and the results demonstrate
tilted, merits and drawbacks of mounting the usefulness of the proposed concept.
the sensor, cost, handling the cable Christo Ananth et al. [13] discussed
between the robot and support vehicle, about a model, a new model is designed
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maintainability, serviceability and for boundary detection and applied it to
easiness of adjustments. object segmentation problem in medical
These issues became identified as images. Our edge following technique
a result of our engineers conducting both incorporates a vector image model and
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the domestic tests and the overseas tests the edge map information. The proposed
by themselves, and in this respect the technique was applied to detect the
findings were all the more practical.
Christo Ananth et al. [12] discussed
about Vision based Path Planning and
Tracking control using Mobile Robot.
er object boundaries in several types of
noisy images where the ill-defined edges
were encountered. The proposed
techniques performances on object
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This paper proposes a novel segmentation and computation time were
methodology for autonomous mobile evaluated by comparing with the popular
robot navigation utilizing the concept of methods, i.e., the ACM, GVF snake
tracking control. Vision-based path models. Several synthetic noisy images
planning and subsequent tracking are were created and tested.
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performed by utilizing proposed stable The method is successfully tested

adaptive state feedback fuzzy tracking in different types of medical images
controllers designed using the Lyapunov including aortas in cardiovascular MR
theory and particle-swarm-optimization images, and heart in CT images. Christo
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(PSO)-based hybrid approaches. The Ananth et al. [14] discussed about the
objective is to design two self-adaptive issue of intuitive frontal area/foundation
fuzzy controllers, for x-direction and y- division in still pictures is of awesome
direction movements, optimizing both its down to earth significance in picture
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structures and free parameters, such that altering. They maintain a strategic
the designed controllers can guarantee distance from the limit length
desired stability and, simultaneously, can predisposition of chart cut strategies and
provide satisfactory tracking results in expanded affectability to seed
performance for the vision-based situation. Another proposed technique
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navigation of mobile robot. for completely programmed handling

The design methodology for the structures is given taking into account
controllers simultaneously utilizes the Graph-cut and Geodesic Graph cut
global search capability of PSO and calculations. This paper addresses the
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Lyapunovtheory-based local search issue of dividing liver and tumor locales

method, thus providing a high degree of from the stomach CT pictures. The
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absence of edge displaying in geodesic according to the Patterns for Next

or comparable methodologies confines generation Database systems (PANDA)
their capacity to exactly restrict object framework for pattern representation and
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limits, something at which chart cut management. The proposed scheme use
strategies by and large exceed 2-D Wavelet Transform that involves
expectations. A predicate is block-based low-level feature extraction
characterized for measuring the from images. An expectation–
confirmation for a limit between two maximization algorithm is used to
locales utilizing Geodesic Graph-based cluster the feature space to form higher
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representation of the picture. The level, semantically meaningful patterns.
calculation is connected to picture Then, the 2-component property of
division utilizing two various types of PANDA is exploited: the similarity
nearby neighborhoods in building the between two clusters is estimated as a
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chart. Liver and hepatic tumor division function of the similarity of both their
can be naturally prepared by the structures and the measure components.
Geodesic chart cut based strategy. This
framework has focused on finding a
quick and intuitive division strategy for
liver and tumor division.
er Experiments were performed on a large
set of reference radiographic images,
using different kinds of features to
encode the low-level image content.
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In the pre-handling stage, Mean Through this experimentation, it is
movement channel is connected to CT shown that the proposed scheme can be
picture process and factual thresholding efficiently and effectively applied for
technique is connected for diminishing medical image retrieval from large
preparing zone with enhancing databases, providing unsupervised
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discoveries rate. In the Second stage, the semantic interpretation of the results,
liver area has been divided utilizing the which can be further extended by
calculation of the proposed strategy. knowledge representation
Next, the tumor district has been methodologies.
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portioned utilizing Geodesic Graph cut

strategy. Results demonstrate that the Biomedical Flows
proposed strategy is less inclined to
shortcutting than run of the mill diagram The bloodstream keeps the
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cut techniques while being less delicate human body alive. In the blood,
to seed position and preferable at edge suspended in the plasma, is found the
restriction over geodesic strategies. This white blood cells, red blood cells, and
prompts expanded division exactness platelets. The plasma represents 55% of
and decreased exertion with respect to the blood volume which is 8% of the
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the client. At long last Segmented Liver body weight, with the size of red blood
and Tumor Regions were appeared from cells is about 7.5 µm in diameter and 2
the stomach Computed Tomographic µm thick. Platelets are 2 to 4 µm in
picture. Christo Ananth et al. [15] diameter.The heart keeps theclosed
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discussed about efficient content-based circulatory system working

medical image retrieval, dignified continuously. The bloodstream flows
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with the pumping system comprised of a in aorta and arteries vessels.However,

closed system of blood vessels. For the velocity under certain circumstances
mammals and human,this system is can even achieve up to 120cm/sec during
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basically comprised of 2 pumps a systolic phase. The distances are large
dynamically synchronized. The heart compared to the water molecules, and
performs a key role for the human then physical processes in the turbulent
wellbeing, delivering O2 to large range flow are based on the Navier-Stokes and
of tissues, whichreturns CO2 to the other continuum equations.The fluid is
lungs. The blood is pumped from the left incompressible. Thus, the fluid velocity
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ventricle through the arteries and v satisfies the continuity equation ∇ ⋅ v
arterioles to the capillaries (fig. 1). = 0 and the Navier-Stokes equation:
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where η is the fluid’s viscosity, r its
er density, P is the pressure and f is the

external force, per unit mass, imposed
on the fluid.The Reynolds number,
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defined as
Figure 2: View of the NCD simulator
workspace showing the inside view of Re = Lρ v /η
the occluded LAD coronary artery, red
blood cells and nanorobots. for objects of size L with velocity v,
characterizes this behavior by giving the
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After that, the blood flows from venules ratio of inertial to viscous forces. For
into the veins back to the right nanoscale robots operating in fluids of
atrium completing the systemic ordinary viscosities, Re is low of around
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circulation. In the right atrium the 500 . As an example, water has density
blood is pumped through the lungs. The of 1 g/cm3 and viscosity of 1 centipoise,
lungs equilibrate the O2 and CO2 in the or 10-2 g/cm-sec. Thus a nanorobot of
alveolar air . Although the bloodstream size 1mm moving at 1 mm/sec in water
presents in most cases laminar flow, in has Re=10-3, much less than 1 and
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the heart we have turbulent flow. The hence viscous forces dominate. As
sounds produced by the heart are the boundary conditions, the fluid velocity v
result of diastolic and systolic pressures, matches the velocity of each object in
which comes from the partially the fluid at the object’s surface. We also
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constricted vibrating arteries motions. impose a constant input velocity along

Blood waveforms can also be analysed the pipe as a boundary condition to
using Fourier models to quantify the maintain the fluid flow. In practice, such
dynamics of blood pressure and flow. a condition would be maintained by a
The fluid in the Left Anterior pressure gradient imposed on the fluid.
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Descending (LAD) moves with velocity

~38cm/sec (fig. 2), as is typical of flow Manufacturing Technology
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wavelength . Nanorobots using

A nanorobot must be equipped temperature sensors open new medical
with the necessary devices for possibilities for clinical diagnosis, as
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monitoring the most important aspects of well as for ubiquitous data collection,
its operational workspace. Depending on with pervasive patient monitoring.
the case, different gradients on CMOS as a thermoelectric sensor has
temperature, concentration of chemicals advantage of linear self-generated
in the bloodstream, and electromagnetic response with system integration without
signature, are some of relevant requiring bias or temperature
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parameters when monitoring patients. stabilization. Thus the infrared array
Teams of nanorobots may cooperate to could be integrated on a single chip
perform predefined complex tasks on within amplifiers and signal processing
medical procedures. For such aims, capabilities. Such approach allows a fast
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computing processing, energy supply, pace towards miniaturization with no
and data transmission capabilities can be loss of efficiency due electromagnetic
addressed through embedded integrated
circuits, using advances on technologies
derived from VLSI design . CMOS
VLSI design using deep ultraviolet
er noise. CMOS could be operated at very
low voltage levels, which is also a
positive aspect, presenting good
functionality and requiring little energy
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lithography provides high precision and for nanorobots. Cantilever and bridge
a commercial way for manufacturing types are also valid techniques for
nanodevices and nanoelectronics. The possible different ways to implement
CMOS industry may thrive successfully CMOS thermoelectric sensors.
the pathway in the assembly process of Nanowires are suitable for fabricating
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manufacturing nanorobots, where the CMOS based on integrated

jointly use of nanophotonic and nanodevices.Carbon nanotubes are able
nanotubes may even accelerate further to improve performance with low power
the actual levels of resolution ranging consumption for nanosensors.Its
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from 248nm to 157nm devices . To particular high precision make it quite

validate designs and to achieve a useful for applications in infrared
successful implementation, the use of supersensitive sensors, with applications
VHDL has become the most such as target oriented temperature
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commonmethodology utilized in the detection,and measurement in changes

industry of integrated circuits. of the body temperature.Nanosensors
present important electrical properties,
Temperature Sensor high thermal conductance and fast
frequency response.The power
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Integrated nanothermoelectric consumption with NEMS is three times

sensors could be implemented as CMOS lower if compared with traditional
devices with promising uses for pattern MEMS thermal sensors, where for
identification Such approach may permit MEMS the operating values range in
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a large production of infrared thermal terms of mW. Nanowires can be

sensors applied into different ranges of configured as two-terminal devices
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electrically designed to work as high or applications in medical, industrial,

low resistance diodes. Crossed nanowire environmental issues, and much more.
p-n junctions can function successfully Factors like low energy consumption
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as logic gates from crossed nanowire and high-sensitivity are among some of
field-effect transistors. Therefore, advantages of nanosensors. Nanosensor
microwire pitch incorporated in actual manufacturing array process can uses
CMOS integrated designs can be electrofluidic alignment to achieve
reduced to the nanowire pitch by using integrated CMOS circuit assembly as
on-off masks aligned diagonally to multi-element . Passive and buried
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produce a one-to-one microwire to electrodes should be used to enable
nanowire correspondence. cross-section drive transistors for signal
processing circuitry readout. The passive
and buried aligned electrodes must be
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electrically isolated to avoid loss of
Chemical Sensor processed signals. Control feedback to
Application ranges from

biomedical uses, automotive or chemical
industry with detection of air to liquid
er switch the electronic sensor between
active or turned off sensing are quite
indicated for nanorobot medical
monitoring operations. The use of
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element patterns recognition through nanowire for integrated sensors is to
embedded software programming. achieve new breakthroughs in high
Through the use of nanowire significant speed sensing and control technologies.
costs of energy demand for data For chemical sensor device the range for
transferring and circuit operation can the CMOS operation is ~190MHz.
decrease around 60%. CMOS sensors
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Control of data transmission is the most

using nanowires as material for circuit suitable path for save the nanorobot's
assembly can achieve maximal energy when the sensor is in operation,
efficiency for applications regarding thus sample techniques can be used with
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chemical changes, enabling medical time interval of 80 ns for active

applications.Due resistivity circumstances. Some of limitations to
characteristics, nanocrystallites and improve actual CMOS and MOSFET
mesoscopic nanowires performance is methodologies are quantum-mechanical
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impressive if compared with larger tunnelling for operation of thin oxide

sensors enabled technologies. Sensors gates, and subthreshold slope.
with suspended arrays of nanowires Surpassing any expectations the
assembled into silicon circuits can semiconductor branch has moved
drastically decrease self-heating and forward to keep circuit advancing.
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thermal coupling for CMOS Smaller channel length and lower

functionality. Nanometer chemical voltage circuitry for higher performance
sensors using integrated circuits may are being achieved with new materials
generate huge profits with low cost for aimed to attend the growing demand of
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massively production of commercially high complex VLSIs. New materials

devices with a wide range of such as strained channel with relaxed
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SiGe layer are quoted to beat self- established Seebeck effect . Temperature
heating and improve performance. changes or light variations for different
Recent developments on 3D circuits and kinds of workspace could sharply
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FinFETs double-gates have achieved variates depending on the application.
astonishing results and according to the Here, specifically on the aspect light, it
semiconductor roadmap should improve does not exist inside the human body.
even more. To advance further Thus, considering a broader design
manufacturing techniques, Silicon-On- choice, the energy generated by kinetic
Insulator (SOI) technology has been vibration is more appropriated. It is more
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used for assembly high performance suitable for a larger variety of
logic sub 90nm circuits. Circuit design applications for biomedical problems or
approaches to solve problems with even environmental monitoring. A
bipolar effect and hysteretic variations device for power generation using
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based on SOI structures has been integrated circuits allied with Li-ion
demonstrated successfully. Altogether, it batteries is a good choice to provide
is turning feasible 90nm and 45nm
CMOS devices as an
breakthrough in terms of technology
actual
devices into products that can be utilized

er electrical sources for the nanorobot
operation. A system with resonance
frequency as µPG (micro power
generator) is suitable for power supply.
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strategically. Bloodstream flow vibrations once
captured is translated with
piezoelectricity, into energy source for
Energy Supply the nanorobot operation. Due operational
The most effective way to keep aspects such as integration and power
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the nanorobot operating continuously is density, it is a more efficient approach

to establish the use of power generated than electrostatic or electromagnetic
from the available sources in the induction . The energy generated is
environment where it must be working. saved in ranges of ~1µW while the
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Some possibilities to power it can be nanorobot can stay in inactive modus,

provided from ambient energy. Kinetic just becoming active when signal
energy can be generated from patterns requires so. Allied with the
bloodstream due motion interaction with power source devices, in order to save
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designed devices embedded outside the energy using such resource wisely, the
nanorobot. Electromagnetic radiation nanorobots need to perform strategically
from light could be another option for defined actions in the workspace.
energy generation in open workspaces , Therefore the team of nanorobots can be
but not for medical nanorobotics. prepared to acquire and transmit more or
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Temperature displacements could less information depending on changes

likewise generate radiation developing in determined medical target. Some of
pre-established voltages. Cold and hot the typical tasks may require the
fields from in series connected nanorobot to spend low power amounts,
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conductors may also be useful to once strategically activated. For

produce energy through the well- communication sending RF signals
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~1mW is required. The collected data could be used for extremely low power
can be expressed in bits pattern signals, consumption with nanorobots
what permits to keep the power communicating actively for some bit
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consumption with data transmission low. longer distances through sonar sensors.
For the nanorobot active sonar
Data Transmission communication, frequencies may reach
up to 20µW@8Hz as resonance rates
The application of devices and and 3V supply. Thus, strategically
sensor implanted inside the human body positioned static sensors for acquiring
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to transmit data about the health of wireless data transmission from mobile
patients can enable great advantages on nanorobots injected inside the patient
continuous medical monitoring.For bodies comprise a good choice to
communication in liquid workspaces, monitoring predefined patterns for
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depending on the application, it is worth biomedical applications. To accomplish
to quote acoustic, light, RF, and that, acoustic nanosensors may be
chemical signals as possible choices for
communication and
transmission.Chemical signal is quite
useful for nearby communication among
data
er exchanging communication,
strategic data information should be
transmitted when some new event was
registered from nanorobots as mobile
and
pe
nanorobots for some teamwork device inside the patient’s body. In our
coordination .Acoustic communication design, an electromagnetic reader is
by other hand is more appropriated for applied to launch waves and detect the
long distance communication and current status of nanorobots inside the
detection with low energy consumption patient. This transponder device emits
ot
if compared to light communication magnetic signature to the passive CMOS

approaches. Although optical sensors embedded in the nanorobot,
communication permits faster rates of which enable sending and receiving data
data transmission, its energy demand through electromagnetic fields. The
tn
makes it not ideal for nanorobots.Works nanorobots monitoring data convert the
with RFID (Radio Frequency wave propagation generated by the
Identification Device) has been emitting devices through a well defined
developed as integrated circuit for protocol. According with a last set of
rin
medicine. Prevision of low cost polymer event recorded in pattern arrays,

electronics for tiny magnetic sensors and information can be reflected back by
transducers chips are expected to wave resonance . For nanorobot passive
achieve low costs as 1 cent for circuit, data transferring, possible ranges for
what makes its use even more attractive . data communication are ~4.5 kHz
ep
Using integrated sensors for data transfer frequency with approximate 22 µs

is the better answer to read and write delays. While for receiving data from the
data in implanted devices. The teams of nanorobots should be achieved with such
nanorobots should be equipped with passive process, sonar communication is
Pr
single-chip RFID CMOS based sensors. to be used for active communication

CMOS with submicron SoC design among nanorobots to perform
71

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coordinated behaviors due some more simulate the nanorobot with sensory
complex collective task to be fulfilled. capabilities allowing it to detect and
identify the nearby possible obstacles in
iew
System Implementation its environment, as well as the
biomedical target for its task. A variety
The simulation consists of of sensors are possible . For instance,
adopting a multi-scale view of the chemical detection can be very selective,
environment. It has the physical e.g., for identifying various types of cells
morphology with physiological flow by markers on their surfaces. Acoustic
ev
patterns, this allied with the nanorobot sensing is another possibility, using
orientation, drive mechanisms, sensing different frequencies to have
and control. Thus, wavelengths comparable to the object
these simulations are used to achieve sizes of interest.Sensor design and
r
high-fidelity control modeling of capabilities depend on the details of the
nanorobots in a real physical context. environment and task. Thus, the
The simulation includes: the NCD
(Nanorobot Control Design) simulator
for the nanorobot sensing and actuation;
and CFD (Computational Fluid
er nanorobot requires transducers
capabilities and smart sensors directly
related to that specific biomedical
application. In present study, the
pe
Dynamics) software for the patient nanorobot is able to detect obstacles over
parameters. a range of about 1mm, and within an
angular resolution equivalent to a
Nanorobot Design diameter of 100nm at that range. The
biomolecules are too small to be
ot
The nanorobot design is detected reliably: instead the robot relies

comprised of integrated nanoelectronics on chemical contact sensors to detect
and components such as molecular them. This description of interaction
sorting rotors and a robot arm capabilities allows evaluating different
tn
(telescoping manipulator) , derived from nanorobot sensor based action. It also

biological models. The nanorobot helps to choose the kind of low-level
exterior shape consists of a diamondoid control to maximize the information
material, to which may be attached an acquired for an effective real time
rin
artificial glycocalyx surface that performance. The nanorobot kinematics

minimizes fibrinogen (and other blood can be predicted using state equations,
proteins) adsorption and bioactivity, positional constraints, inverse kinematics
ensuring sufficient biocompatibility to and dynamics, while some individual
avoid immune system attack. Different directional component performance can
ep
molecule types are distinguished by a be simulated using control system

series of chemotactic sensors whose models of transient and steady-state
binding sites have a different affinity for response. The nanorobots can use a
each kind of molecule. These sensors RFID CMOS macrotransponder system
Pr
also detect obstacles which might for their positioning, which allow
require a new trajectory planning.We information about the nanorobot
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position, independent of nanorobot data and diagnose gives previous

orientation . Such a system could knowledge about the general localization
involve externally generated signals of the stenosis (in large, small or
iew
from beacons placed at fixed positions microvessels), thus it requires to inject
outside the skin. the appropriate nanorobot type, which is
preprogrammed to be activated only at
Modular Integration the pre-specified target region. The
virtual environment developed is
Graphic interfaces enabling inhabited by plasma, red blood cells,
ev
detailed design are progressing rapidly nanorobots, different molecules whose
to produce 3D nano-structure prototypes. concentrations are being monitored, and
The Nanorobot Control Design (NCD) is the blood vessel (Fig. 2). The biomedical
multithread software. It is comprised of physical parameters were implemented
r
collision detection and physically based with Computational Fluid Dynamics
simulation .We used parallel processing (CFD); thus, the blood flow pulse is
techniques where the nanorobots react
adaptively to any stimulus produced by
their partners’ decisions, with the model
visualization in real time. Ongoing
er simulated in a stenosed LAD coronary
artery model, differing in the degree of
stenosis severity. By solving the flow
governing equations it is computed the
pe
developments in hardware and blood velocity profiles (Fig. 3). It was
distributed processing allow the also defined and calculated various
increasing number of nanorobots and the signaling functions, known to be
level of detail for the simulator. Virtual indicative of stenosis, caused by an
reality techniques provide an intuitive atherosclerotic plaque. Such parameters
ot
way to interact with nanoscale include time-averaged wall shear stress,

components.The NCD simulator was wall shear stress gradients and
used for the 3D investigation of a oscillatory shear index . Christo Ananth
stenosed Left Anterior Descending et al. [16] discussed about E-plane and
tn
(LAD) coronary artery (Fig. 1). The H-plane waveguides (Microwave

NCD simulator consists of several Engineering) applicable to image
modules that simulate the physical processing. Christo Ananth et al. [17]
conditions, run the nanorobot control discussed about principles of electronic
rin
programs determining their actions, devices to explain this feature.

provide a visual display of the
environment in 3D, and record the Simulation Discussion
history of nanorobot behaviors for later
analysis.The approach used aims to Nanorobots may be considered as the
ep
trigger the process of medical molecular most suitable tool for specialists to solve
machine activation. This trigger will turn several problems in medicine in the
the nanorobot “on”, switching it from coming few year, here including
“seek mode” to “repair mode”. It may cardiology interventions and medical
Pr
also cause other close nanorobots switch analyses.In our study, the nanorobot
to a“higher awareness mode”. Clinical includes external sensors to inform it of
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collisions and to identify when it has

encountered a chemical signal or abrupt
changes of temperature for targeted
iew
areas. As a practical approach for
medicine, thermal and chemical
parameters from the patient’s body are
used for the nanorobot activation.Hence,
in order to simulate various levels of
inflammation, it was used different wall
ev
temperatures in the atherosclerotic
plaque region, and calculated the
temperature distribution in the stenosed Figure 6: Vein inside view without the
coronary artery. Significant temperature red blood cells. The target plaque is
r
gradients were found in the recirculation represented by the pink spheres
zone, following the stenosis.The surrounding the vessel wall. The
nanorobots swim in a near-wall region
transcardiac concentration gradient of
some soluble adhesion molecules has
been recently found to be correlative
with the progression of coronary
er searching for theatherosclerotic lesion
pe
atherosclerosis . Therefore, their
concentration in the blood vessel is
alsomonitored, using a uniform
distribution release from the plaque. In a
similar manner, the concentrations of
ot
some specific pro-inflammatory

cytokines is monitored, whose elevated
concentrations are known as an evidence Figure 7: The atherosclerotic lesion was
of formation of atherosclerotic lesions. reduced due nanorobots activation. The
tn
Christo Ananth et al. [18] gave a brief temperatures in the region turn in
outline on Electronic devices and expected levels.
circuits which is the basis for formation
of patterns. temperature, signaling values, pro-
rin
The parameters generated from inflammatory cytokines and soluble

the CFD simulation, namely velocities, adhesion molecules concentrations, are
transferred to the NCD simulator to be
included into the nanorobots operating
environment. As the nanorobot should
ep
perform a pre-defined task in a specific

target area, the trigger must be activated
when the nanorobot is as close as
possible to the target. The nanorobot
Pr
motion control in the artery keeps it

near-wall region. It takes the advantage
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of the blood flow velocity profile in such CMOS resolution ranging from 45nm
areas, which shows significantly lower devices. The aim in this study was to
velocities. Thus, the rapid activation show an innovative framework for
iew
could result in lower demand of energy enabling designs and models of medical
(Fig. 6). Optimization of control nanorobots. Meanwhile nanoelectronics
algorithms and activating triggers is the manufacturing methodologies may
key for rapid behavior response in advance progressively, the use of
minimal energy cost. The optimal trigger computational nanomechatronics and
values are defined running the virtual reality may also help in the
ev
nanorobots control programs. Therefore, process of transducers and actuators
the investigated stenosed artery models investigation. Thus, our study points
provide important information useful to towards possible ways to advance
nanorobot manufacturing design in terms nanotechnology as diagnostic and
r
of sensors and actuators. The nanorobots treatment tool using nanorobots for
activation goal is to decrease the artery cardiology patients.
occlusion (Fig. 7).
Conclusion
er References
[1] Christo Ananth, G.Gayathri, M.Majitha Barvin, N.Juki
Parsana, M.Parvin Banu, “Image Segmentation by Multi-
shape GC-OAAM”, American Journal of Sustainable Cities
and Society (AJSCS), Vol. 1, Issue 3, January 2014, pp 274-
pe
A study with the ways to 280
establish a trigger and control behavior [2] Christo Ananth, D.L.Roshni Bai , K.Renuka, C.Savithra,
A.Vidhya, “Interactive Automatic Hepatic Tumor CT Image
for nanorobots in cardiology was Segmentation”, International Journal of Emerging Research
adopted as medical case in our work. in Management &Technology (IJERMT), Volume-3, Issue-1,
January 2014,pp 16-20
The use of thermal and chemical
[3]Christo Ananth, D.L.Roshni Bai, K.Renuka, A.Vidhya,
ot
parameters applied in the treatment of C.Savithra, “Liver and Hepatic Tumor Segmentation in 3D
stenosed blood vessels is the most CT Images”, International Journal of Advanced Research in
natural process for nanorobot transducer Computer Engineering & Technology (IJARCET), Volume
3,Issue-2, February 2014,pp 496-503
effective development. The approach
tn
[4] Christo Ananth, A.Sujitha Nandhini, A.Subha Shree,

presented in this paper, has successfully S.V.Ramyaa, J.Princess, “Fobe Algorithm for Video
combined a precise physical simulation Processing”, International Journal of Advanced Research in
Electrical, Electronics and Instrumentation Engineering
to establish the environment for (IJAREEIE), Vol. 3, Issue 3,March 2014 , pp 7569-7574
operation of nanorobots. A system to [5] Christo Ananth, Karthika.S, Shivangi Singh, Jennifer
rin
study nanorobots behavior is described, Christa.J, Gracelyn Ida.I, “Graph Cutting Tumor Images”,
International Journal of Advanced Research in Computer
and the ways to achieve their control Science and Software Engineering (IJARCSSE), Volume 4,
inside the human body is also presented. Issue 3, March 2014,pp 309-314
The NCD and CFD have demonstrated [6] Christo Ananth, G.Gayathri, I.Uma Sankari, A.Vidhya,
P.Karthiga, “Automatic Image Segmentation method based
extreme potential for scientific
ep
on ALG”, International Journal of Innovative Research in

investigation of nanomanufacturing Computer and Communication Engineering (IJIRCCE), Vol.
2, Issue 4, April 2014,pp- 3716-3721
strategies, medical nanorobotics
application, and nanorobot mobility [7] Christo Ananth, A.S.Senthilkani, S.Kamala Gomathy,
J.Arockia Renilda, G.Blesslin Jebitha, Sankari @Saranya.S.,
considerations. The jointly use of “Color Image Segmentation using IMOWT with 2D
Pr
nanophotonic and nanotubes may even Histogram Grouping”, International Journal of Computer
Science and Mobile Computing (IJCSMC), Vol. 3, Issue. 5,
accelerate further the actual levels of May 2014, pp-1 – 7
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[8] Christo Ananth, A.S.Senthilkani, Praghash.K, Chakka

Raja.M., Jerrin John, I.Annadurai, “Overlap Wavelet
Transform for Image Segmentation”, International Journal of
Electronics Communication and Computer Technology
iew
(IJECCT), Volume 4, Issue 3 (May 2014), pp-656-658
[9] Christo Ananth, S.Santhana Priya, S.Manisha, T.Ezhil
Jothi, M.S.Ramasubhaeswari, “CLG for Automatic Image
Segmentation”, International Journal of Electrical and
Electronics Research (IJEER), Vol. 2, Issue 3, Month: July -
September 2014, pp: 51-57
[10] Christo Ananth, R.Nikitha, C.K.Sankavi, H.Mehnaz,
ev
N.Rajalakshmi, “High Resolution Image Reconstruction with
Smart Camera Network”, International Journal of Advanced
Research in Biology, Ecology, Science and Technology
(IJARBEST), Volume 1,Issue 4,July 2015, pp:1-5
[11] Christo Ananth, B.Prem Kumar, M.Sai Suman, D.Paul
Samuel, V.Pillai Vishal Vadivel, Praghash.K., “Autonomous
r
Mobile Robot Navigation System”, International Journal of
Advanced Research in Biology, Ecology, Science and
Technology (IJARBEST), Volume 1,Issue 4,July
2015,pp:15-19
[12] Christo Ananth , Mersi Jesintha.R., Jeba Roslin.R.,
Sahaya Nithya.S., Niveda V.C.Mani, Praghash.K., “Vision
based Path Planning and Tracking control using Mobile
Robot”, International Journal of Advanced Research in
Biology, Ecology, Science and Technology (IJARBEST),
er
pe
Volume 1,Issue 4,July 2015, pp:20-25
[13] Christo Ananth, S.Suryakala, I.V.Sushmitha Dani,
I.Shibiya Sherlin, S.Sheba Monic, A.Sushma Thavakumari,
“Vector Image Model to Object Boundary Detection in Noisy
Images”, International Journal of Advanced Research in
Management, Architecture, Technology and Engineering
(IJARMATE), Volume 1,Issue 2,September 2015, pp:13-15
ot
[14] Christo Ananth,” Geo-cutting Liver Tumor”,

International Journal of Advanced Research in Management,
Architecture, Technology and Engineering (IJARMATE),
Volume 2,Issue 3, March 2016,pp:122-128
tn
[15] Christo Ananth, S.Shafiqa Shalaysha, M.Vaishnavi,

J.Sasi Rabiyathul Sabena, A.P.L.Sangeetha, M.Santhi,
“Realtime Monitoring Of Cardiac Patients At Distance Using
Tarang Communication”, International Journal of Innovative
Research in Engineering & Science (IJIRES), Volume 9,
Issue 3,September 2014,pp-15-20
rin
[16] Christo Ananth, S.Esakki Rajavel, S.Allwin Devaraj,

M.Suresh Chinnathampy. "RF and Microwave Engineering
(Microwave Engineering)." (2014): 300,ACES Publishers
[17] Christo Ananth, S.Esakki Rajavel, S.Allwin Devaraj,
P.Kannan. "Electronic Devices." (2014): 300, ACES
Publishers.
ep
[18] Christo Ananth,W.Stalin Jacob,P.Jenifer Darling Rosita.

"A Brief Outline On ELECTRONIC DEVICES &
CIRCUITS." (2016): 300.
[19] Freitas Jr. R.A., “Nanomedicine, Vol. I:
BasicCapabilities”, Landes Bioscience, 1999.
Pr
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International Conference on Recent Advances in Management, Architecture, Technology and Engineering

This paper presents the study of

may help to advance the treatment of a is an innovative approach to advance the

help on manufacturing analyses and This work demonstrates how chemical

transducers development. required for the investigation at

This preprint research paper has not been

time analyses using the software

complexity. Studies targeted at building

have also been progressing.In recent possible application of nanorobots

new field. will be the capability to locate

pharmacologically. Christo Ananth et al.

algorithm that uses the QPBO min-cut

This preprint research paper has not been

GCs. Hence, the segmentation methods interactive segmentation method for

This leads to increased algorithm requires less computation and

were shown from the abdominal the correlations existing in motion

of local neighborhoods in constructing al. [5] proposed a system in which this

based method. This system has comparative assessment. The described

This preprint research paper has not been

fully automatic liver surface maximum overlap wavelet transform

effectively combines the Active which OWT extracts wavelet features

This preprint research paper has not been

segmentation method which effectively registrations between low resolution

work, in this work, a framework of security purpose and industrial purpose.

This preprint research paper has not been

specification change and additional automation. Two different variants of

performed by utilizing proposed stable The method is successfully tested

navigation of mobile robot. for completely programmed handling

Lyapunovtheory-based local search issue of dividing liver and tumor locales

This preprint research paper has not been

absence of edge displaying in geodesic according to the Patterns for Next

portioned utilizing Geodesic Graph cut

discussed about efficient content-based circulatory system working

This preprint research paper has not been

with the pumping system comprised of a in aorta and arteries vessels.However,

er density, P is the pressure and f is the

constricted vibrating arteries motions. impose a constant input velocity along

Descending (LAD) moves with velocity

This preprint research paper has not been

wavelength . Nanorobots using

manufacturing nanorobots, where the CMOS based on integrated

from 248nm to 157nm devices . To particular high precision make it quite

commonmethodology utilized in the detection,and measurement in changes

Integrated nanothermoelectric consumption with NEMS is three times

a large production of infrared thermal terms of mW. Nanowires can be

This preprint research paper has not been

electrically designed to work as high or applications in medical, industrial,

Application ranges from

Control of data transmission is the most

chemical changes, enabling medical time interval of 80 ns for active

impressive if compared with larger tunnelling for operation of thin oxide

thermal coupling for CMOS Smaller channel length and lower

massively production of commercially high complex VLSIs. New materials

This preprint research paper has not been

devices into products that can be utilized

the nanorobot operating continuously is density, it is a more efficient approach

Some possibilities to power it can be nanorobot can stay in inactive modus,

Temperature displacements could less information depending on changes

conductors may also be useful to once strategically activated. For

This preprint research paper has not been

if compared to light communication magnetic signature to the passive CMOS

medicine. Prevision of low cost polymer event recorded in pattern arrays,