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Basic Capabilities
Nanomedicine, Volume I:
Basic Capabilities
LANDES BIOSCIENCE
AUSTIN, TEXAS
U.S.A.
NANOMEDICINE, VOLUME I: BASIC CAPABILITIES
LANDES BIOSCIENCE
Austin, Texas, U.S.A.
Copyright © 1999 Landes Bioscience
ISBN: 1-57059-645-X
While the authors, editors and publisher believe that drug selection and dosage and the specifications and usage of equipment and
devices, as set forth in this book, are in accord with current recommendations and practice at the time of publication, they make no
warranty, expressed or implied, with respect to material described in this book. In view of the ongoing research, equipment
development, changes in governmental regulations and the rapid accumulation of information relating to the biomedical sciences,
the reader is urged to carefully review and evaluate the information provided herein.
To Nancy, Barbara, and Bob
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
Nanomedicine • Volume I
5.3.1 General Design Considerations 129 6.4.2 Inductive and Radiofrequency Power
5.3.1.1 Dimple Size 129 Transmission 162
5.3.1.2 Keyhole Passage 129 6.4.3 Tethered Power Transmission 165
5.3.1.3 Extensibility 129 6.4.3.1 Electrical Tethers 165
5.3.1.4 Reactivity 129 6.4.3.2 Electromagnetic Tethers 166
5.3.2 Metamorphic Surface Configurations 130 6.4.3.3 Hydraulic and Acoustic Tethers 167
5.3.2.1 Accordion Model 130 6.4.3.4 Gear Trains and Mechanical Tethers 167
5.3.2.2 Parasol Model 130 6.4.3.5 Chemical Tethers 169
5.3.2.3 Telescoping Model 132 6.4.3.6 Power Tether Configurations In Vivo 169
5.3.2.4 Flexible Fabric Model 132 6.4.4 Dedicated Energy Organs 169
5.3.2.5 Block Exchange Model 133 6.5 Design Energetics Assessment 170
5.3.3 Metamorphic Power and Control 133 6.5.1 Power in Biological Cells 170
5.3.4 Engulf Formations 134 6.5.2 Thermogenic Limits in vivo 170
5.3.5 Reconfiguring Surface-Penetrating Elements 134 6.5.3 Nanorobot Power Scaling 172
5.3.6 Presentation Semaphores 135 6.5.4 Selection of Principal Power Source 173
5.3.7 Chromatic Modification 135 6.5.5 Electrical vs. Mechanical Systems 173
5.4 Metamorphic Bumpers 136 6.5.6 Power Analysis in Design 174
5.4.1 Nanojunction Mechanisms 136 6.5.7 Global Hypsithermal Limit 175
5.4.2 Transbumper Communication 137
5.4.3 Bumper Mechanics 137 Chapter 7. Communication 177
7.1 Nanorobot Communications Requirements 177
Chapter 6. Power 139 7.2 Communication Modalities 177
6.1 Nanodevice Energy Resources 139 7.2.1 Chemical Broadcast Communication 177
6.2 Energy Storage 139 7.2.1.1 Ideal Messenger Molecule 178
6.2.1 Gravitational Energy Storage 139 7.2.1.2 Diffusion-Limited Broadcast Rate 179
6.2.2 Mechanical Energy Storage 139 7.2.1.3 Instantaneous Stationary Source
6.2.2.1 Pendulums and Springs 139 in Stationary Medium 179
6.2.2.2 Flywheels 139 7.2.1.4 Instantaneous Stationary Source
6.2.2.3 Pressurized Fluids 140 in Flooded Tube 180
6.2.3 Chemical Energy Storage 140 7.2.1.5 Continuous Stationary Source in Stationary
6.2.4 Electric and Magnetic Energy Storage 141 Medium 180
6.2.5 Nuclear Energy Storage 142 7.2.1.6 Continuous Mobile Source
6.3 Power Conversion 142 in Stationary Medium 180
6.3.1 Thermal Energy Conversion Processes 142 7.2.1.7 Continuous Stationary Source
6.3.2 Mechanical Energy Conversion Processes 144 in Nonstationary Medium 180
6.3.3 Acoustic Energy Conversion Processes 145 7.2.1.8 Assessment of Chemical Broadcast
6.3.4 Chemical Energy Conversion Processes 146 Messaging 180
6.3.4.1 Human Chemical Energy Resources 146 7.2.2 Acoustic Broadcast Communication 181
6.3.4.2 Biological Chemomechanical 7.2.2.1 Acoustic Radiators 181
Power Conversion 147 7.2.2.2 Free-Tissue Acoustic Channel Capacity 181
6.3.4.3 Artificial Chemomechanical 7.2.3 Electromagnetic Broadcast Communication 182
Power Conversion 148 7.2.4 Nanomechanical Communication 183
6.3.4.4 Glucose Engine 149 7.2.5 Cable Communication 184
6.3.4.5 Chemoelectric Cells 152 7.2.5.1 Electrical Cables 184
6.3.5 Electrical Energy Conversion Processes 153 7.2.5.2 Infrared and Optical Cables 184
6.3.6 Photonic Energy Conversion Processes 155 7.2.5.3 Acoustic Cables and Transmission Lines 184
6.3.7 Nuclear Energy Conversion Processes 156 7.2.5.4 Mechanical Cables 184
6.3.7.1 Radionuclides 156 7.2.5.5 Chemomessenger Cables 185
6.3.7.2 Nuclear Fusion 159 7.2.6 Communicytes 185
6.3.7.3 Exothermal Nuclear Catalysis 159 7.3 Communication Networks 186
6.4 Power Transmission 160 7.3.1 Fiber Networks 186
6.4.1 Acoustic Power Transmission 160 7.3.2 Mobile Networks 187
Nanomedicine • Volume I
Figure 3.14. Pin Cushion Model for a Reconfigurable Figure 6.2. Bacterial Flagellar Proton Gradient
Artificial Molecular Receptor 90 Chemomechanical Motor 148
Figure 3.15. Relative Dimensions of Some Typical Proteins 90 Figure 6.3. Sussmann-Katchalsky
Figure 3.16. Schematic of Large-Molecule Shuttle Pump Chemomechanical Turbine 149
Using Fragmentable Binding Ring Figure 6.4A. Glucose Engine Combustion Chamber
and Iris Diaphragms 91 (top cutaway) 150
Figure 6.4B. Glucose Engine Combustion Chamber
4. Nanosensors and Nanoscale Scanning (side cutaway) 151
Figure 4.1. Schematic of Broadband Chemical Figure 6.4C. Glucose Engine 3-D Electrodynamic
Concentration Sensor Array Using 5 Suspension (2-D schematic) 151
Receptor Units with Steric Probes 94 Figure 6.5. Schematic of Oxyglucose Biofuel Cell
Figure 4.2. Schematic of Narrowband with Proton Exchange Nanomembrane 154
Chemical Concentration Nanosensor Array Figure 6.6. Submicron Direct-Current Electrostatic Motor 155
Using Receptors of a Single Type 95 Figure 6.7. Schematic of Semiconductor-Junction
Figure 4.3. Chemical Concentration Sensor Nucleoelectric Transducer 158
Using Counting Rotors 95 Figure 6.8. Safety Zone for Human Exposure to Ultrasound 161
Figure 4.4. Schematic of Box-Spring Figure 6.9. Received Acoustic Power vs. Acoustic Frequency
Omnidirectional Accelerometer 98 for Various Path Lengths in the Human Body 162
Figure 4.5. Spherical Nanopendulum Sensor Figure 6.10. Received Acoustic Power vs. Acoustic Frequency
for Angular Displacement for Various Receiver Volumes
and Rotational Velocity 101 and Reflection Losses 163
Figure 4.6. Single-Proton Massometer Sensor Figure 6.11. Received Acoustic Power vs. Acoustic Frequency
Using Coiled Suspension-Spring Cantilever 103 for Various Absorption Coefficients
Figure 4.7. Two-Dimensional Representation in Human Tissue 163
of a Three-Dimensional Micro-Kelvin Figure 6.12. Occupational Exposure Limits
Piston-Based Coiled-Cylinder to Electromagnetic Radiation as Equivalent
Temperature Sensor 107 Plane-Wave Power Density 164
Figure 4.8. Thermal Expansion Temperature Sensor 108 Figure 6.13. Estimated Total Attenuation Factor αE
5. Shapes and Metaphoric Surfaces (Scattering + Absorption) for Electromagnetic
Radiation Passing Through Human Tissue 165
Figure 5.1. Regular Tessellations that Fill A Plane
Figure 6.14. Recommended Maximum Total
Using Only One Kind of Polygon 125
Nanomachinery Power Consumption
Figure 5.2. Semiregular and Nonuniform Periodic (Using
in Isolated Cells and in Human Tissue 172
More Than One Kind of Polygon) Tessellations 126
Figure 6.15. Maximum Temperature Change Produced
Figure 5.3. Stationkeeping on Monoaxially Deforming
by Nanorobot Power Released in Isolated Cells
Surfaces Using Metamorphic Bumpers 126
and in Human Tissue 172
Figure 5.4. Uniform Space Filling Using One Kind
of Polyhedron: Triangular, Square, 7. Communication
and Hexagonal Prisms 127 Figure 7.1. Acoustic Pressure (Ap) at the Surface
Figure 5.5. Uniform Space Filling Using of a Cylindrical Vibrating Piston Acoustic
Only the Truncated Octahedron 127 Radiator of Radius R and Input Power Pin
Figure 5.6. Uniform Space Filling Using for ∆Pmin ~ 10-6 atm in Water at 310 K 182
Only the Rhombic Dodecahedron 127 Figure 7.2. Bones of the Right Hand, Palmar Surface 189
Figure 5.7. Uniform Space Filling Using Figure 7.3. Cross-Section of the Human Ear 199
Only the Rhombo-Hexagonal Dodecahedron 128 Figure 7.4. Cross-Section of the Cochlear Duct 200
Figure 5.8. Uniform Space Filling Using Figure 7.5. The Human Eyeball 201
Only the Non-Regular Octahedron 128 Figure 7.6. The Human Retina 203
Figure 5.9. Solid and Folding Geometry Figure 7.7A. A Selection of Possible Dermal Display Screens 205
of the Regular Octahedron 128 Figure 7.7B. A Dermal Display Screen in Use 206
Figure 5.10. Solid Geometry
of the Space Filling Trapezohedron 128 8. Navigation
Figure 5.11. Accordion Model 130 Figure 8.1. Human Arterial System 210
Figure 5.12. Schematic of Parasol Model 131 Figure 8.2. Human Venous System 211
Figure 5.13. Schematic of Multiplane Parasol Configuration 132 Figure 8.3. Vein Valve Architecture 211
Figure 5.14. Telescoping Model: Various Configurations 132 Figure 8.4. Metarterioles, Venules, and Lymph Capillaries 213
Figure 5.15. Flexible Fabric Model: Coiled Pleat Configuration 132 Figure 8.5. Details of a Lymph Capillary 215
Figure 5.16. Block Exchange Model 133 Figure 8.6. Main Trunks of the Human Lymphatic System 216
Figure 5.17. Schematic Representation Figure 8.7. Lymphatic Drainage Regions 216
of a Watertight Block Surface Reconfiguration: Figure 8.8. Main Organs of the Human Lymphatic System 217
Removing an Embedded Sensor Element 134 Figure 8.9. Details of a Lymph Node 217
Figure 5.18. Schematic of Presentation Semaphore Mechanism 135 Figure 8.10. Two Patterns for the Junction
of the Lumbar Lymphatic Trunks 218
6. Power Figure 8.11. Sagittal Section Through Mouth,
Figure 6.1. Pressure-Driven Actuators Nasal Cavity, Pharynx and Larynx 220
for Acoustomechanical Power Transduction 145 Figure 8.12. Lung Lobes and the Bronchial Tree 220
Basic Capabilities • Figures
Figure 8.13. Expanded View of the Respiratory Lobules 221 9. Manipulation and Locomotion
Figure 8.14. Expanded View of the Alveolus 221 Figure 9.1. Schematic of Reciprocating Positive
Figure 8.15. Expanded View of the Alveolar Wall 221 Displacement Pump 283
Figure 8.16. Overview of the Alimentary System Figure 9.2. Diagrammatic Representation
from Mouth to Rectum 223 of the Structure of a Biological Cilium 286
Figure 8.17. Midplane Section of a Terminal Portion Figure 9.3. Two-Dimensional Representation
of the Submaxillary Salivary Gland 223 of Segmented 3-D Manipulator
Figure 8.18. Cross.Section of the Esophagus 224 Using Ball Joints 287
Figure 8.19. Layers of the Stomach Lining 224 Figure 9.4. Schematic of the Acrosomal Process in Thyone 287
Figure 8.20. Layers of the Small Intestine 225 Figure 9.5. Flexible Ribbed Orthotropic Tube Manipulator 288
Figure 8.21. Expanded View of the Surface of the Small Intestine 226 Figure 9.6. Schematic Design of Tri-Chambered
Figure 8.22. Anterior View of the Human Skeleton 228 Pneumatic Manipulator 288
Figure 8.23. Internal Cellular Structure of Bone 228 Figure 9.7. Range of Motion of “Pneumatic Snake”
Figure 8.24. Cross-Section of Spinal Cord 229 Manipulator with Direct Segment Control 289
Figure 8.25. Diagram of Diarthrodial Joint 229 Figure 9.8. Schematic Cross-Section
Figure 8.26A. Geometric Arrangement of Hexagonal Lobules of a Telescoping Nanomanipulator 289
in the Liver 232 Figure 9.9. External Shape and Range of Motion
Figure 8.26B. Plate Structure of a Liver Lobule 233 of a Telescoping Nanomanipulator 290
Figure 8.26C. Schematic of Flow Geometry Across Figure 9.10. Two-Dimensional Schematic of the Range
a Liver Lobule 233 of Motion of a Stewart Platform Manipulator 290
Figure 8.27. Expanded View of Hepatocyte Neighborhood 233 Figure 9.11. Grasping Effectors (schematic) 291
Figure 8.28. Distribution of Isotherms in a Human Body Figure 9.12. Viscosity of Human Blood as a Function
Placed in Cold or Hot Environment 239 of Shear Rat, at Hct = 45% 301
Figure 8.29. Blood Pressure Profiles Recorded Figure 9.13. Viscosity of Nanorobot-Rich Human Blood
at Various Distances Along the Aorta 243 at High Shear Rate 301
Figure 8.30. Pressure-Velocity Distribution Figure 9.14. Establishment of Parabolic Velocity Profile
in Microvasculature 244 in Poiseuille Tube Flow 302
Figure 8.31. Micropressure Distribution Profile Figure 9.15. Blunted Velocity Profile in Whole Blood Flow 303
While Passing Through Two Different Tissues 245
Figure 9.16 (A). Dimensionless Velocity Profiles
Figure 8.32. Hematocrit Distribution Profile
in Microvasculature as a Function in Flowing Aqueous Nanorobot Suspensions:
of Vessel Diameter 245 Effect of Concentration 304
Figure 8.33. Structure and Orientation Figure 9.16 (B). Dimensionless Velocity Profiles
of an MHC Class I Glycoprotein Molecule 248 in Flowing Aqueous Nanorobot Suspensions:
Figure 8.34. Structure and Orientation Effect of Particle Size 304
of an MHC Class II Glycoprotein Molecule 248 Figure 9.16 (C). Dimensionless Velocity Profiles
Figure 8.35. Structure of ABO Blood System Red Cell in Flowing Aqueous Nanorobot Suspensions:
Surface Carbohydrate Antigens 250 Effect of Fluid Flow Rate 304
Figure 8.36. Schematic Cutaway View Figure 9.16 (D). Dimensionless Velocity Profiles
of a Typical Human Cell 255 in Flowing Aqueous Nanorobot Suspensions:
Figure 8.37. Fluid Mosaic Model of the Lipid Bilayer Effect of Nanorobot Shape 304
Membrane, with Embedded Proteins 255 Figure 9.17. Reduction of Hematocrit (Hct)
Figure 8.38. Schematic of Polyribosome 259 and Blood Viscosity in Narrow Blood Vessels 305
Figure 8.39. Schematic of Rough and Smooth Endoplasmic Figure 9.18 (A). Disturbed Flow Steamlines
Reticulum, and the Golgi Complex 260 in Progressively High.Angle Blood Vessel
Figure 8.40. Mitochondrial Shape Changes in Living Cells 263 Bifurcations: Axisymmetric-Constricted Tube
Figure 8.41. Mitochondrial Structure 264 with No Bifurcation 307
Figure 8.42. Morphologically Distinct Mitochondrial Cristae 264 Figure 9.18 (B). Disturbed Flow Steamlines in Progressively
Figure 8.43. Schematic of Microfilaments High-Angle Blood Vessel Bifurcations:
in the Erythrocyte Cell Cortex 265 45˚ Bifurcation 307
Figure 8.44. Cytoskeletal Network in the Cell 265 Figure 9.18 (C). Disturbed Flow Steamlines
Figure 8.45. Endoplasmic Reticulum Surrounds the Nucleus 268 in Progressively High-Angle Blood Vessel
Figure 8.46. Nuclear Pores and the Perinuclear Space 268
Bifurcations: 90˚ Bifurcation 307
Figure 8.47. Schematic of Chromatin Distribution
Figure 9.18 (D). Disturbed Flow Steamlines
in the Nucleus 269
Figure 8.48. Schematic of Human Nucleolus Structure 270 in Progressively High-Angle Blood Vessel
Figure 8.49. Schematic Topology Bifurcations: 150˚ Bifurcation 307
of Nuclear Transcript Domains 270 Figure 9.19. Hydrodynamic Interaction
Figure 8.50. MLS Model of Human Chromosome 15 of Approaching Flagellates 307
in Its Condensed State During Mitosis 271 Figure 9.20. Flexible Oar 309
Figure 8.51. Human Chromosome 15 Figure 9.21A. Invaginating Torus 309
in Its Relaxed State Between Cell Divisions 271 Figure 9.21B. Sticky Spheroids 309
Nanomedicine • Volume I
Figure 9.22. Viscous-Lift Helicopter Design 309 Figure 10.2. Schematic of Nanomechanical Rod Logic
Figure 9.23. The Metachronal Ciliary Array Data Storage Registers 344
of the Paramecium 310
Figure 10.3. Schematic of Programmable Logic Array (PLA)
Figure 9.24. Schematic of Screw Drive 310
Finite State Machine Implementing
Figure 9.25. Flagellar Corkscrew 311
Figure 9.26. Protoplasmic Streaming in a Monopodal Rod Logic for a Nanomechanical
Amoeba with Velocity Profiles at Three Loci 317 Central Processing Unit 344
Figure 9.27. Schematic of Neutrophil Cytoambulation 317 Figure 10.4. Schematic Diagram of a Single
Figure 9.28. Schematic of Leukocyte Diapedesis 318 Displacement Cycle Aynchronous-Input
Figure 9.29. Schematic of Metamorphic Screw Drive Nanomechanical OR Gate 345
for Cytopenetration 321
Figure 10.5. Linear Atomic Relay Switch 346
Figure 9.30. Schematic of Solvation Wave Drive
for Cytopenetration 322 Figure 10.6. Rotational Molecular Relay Switch 347
Figure 9.31. Schematic of Vesicle Fusion Figure 10.7. Hinging Molecular Relay Switch 347
for Cytopenetration 322 Figure 10.8. Molecular Shuttle Switch 347
Figure 9.32. Vesicle Carried Along Microtubule Track Figure 10.9. Two-Terminal Molecular Resonant
by Kinesin Transport Molecule 324 Tunneling Device (RTD) 347
10. Other Basic Capabilities Figure 10.10. Molecular Electrostatic Logic Device 349
Figure 10.1. Schematic of Nanomechanical NAND Gate 344 Figure 10.11. Phase Diagram for Water and Ice 354
TABLES
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
Nanomedicine • Volume I
Table 8.14. Blood Group Systems and Antigen Collections Table 9.5. Conservatively Estimated Force, Power,
Recognized in 1997 251 and Power Density for Hovering and Flying
Table 8.15. Complete Listing of Recognized Human Spherical Nanorobots as a Function
Platelet Alloantigen (HPA) Systems 253 of Size and Velocity 333
Table 8.16. Unique and Shared Antigenic Surface
10. Other Basic Capabilities
Markers of Hepatopoietic and Hemopoietic
Table 10.1. Van der Waals Equation Gas Constants 355
Human Cells 253
Table 10.2. Gas Molecules Packed into a Pressure Vessel:
Table 8.17. Approximate Quantification of the Components
Number Density as a Function of Pressure
of a Typical 20-micron Human Cell 256
at 310 K, using the van der Waals Equation 355
Table 8.18. Mass % Biochemical Composition of Cell
Table 10.3. Biological and Biochemical Effects of High Pressure 357
and Organelle Membranes 257
Table 10.4. Organic Compounds Affecting Eukaryotic
Table 8.19. Some Species of Stable RNAs
Cell Division at Specific Phases of Mitosis 363
and their Localizations in Human Cells 272
Table 10.5. Inhibitors of Protein or RNA Synthesis 364
9. Manipulation and Locomotion Table 10.6. Summary of Biochemical Composition and Net
Table 9.1. Hamaker Constant for Various Materials 276 Digestion Breakdown Products of a Representative
Table 9.2. Henry’s Law Constants 282 4-micron3 Bacterium 371
Table 9.3. Mechanical Strength of Nanomedical Materials 295 Table 10.7. Molal Freezing and Boiling Point Constants 374
Table 9.4. Absolute Viscosity of Some Common Materials 300 Table 10.8. Molar Heats of Fusion and Vaporization 374
FOREWORD
K. Eric Drexler, Ph.D.
Institute for Molecular Manufacturing
T
he coming ability to carry out targeted medical procedures discovery of antibiotics. The comprehensive development of
at the molecular level will bring unprecedented power to nanomedicine will dominate medical technology research during
the practice of medicine. Within a few short decades we can the first half of the 21st century, and perhaps beyond.
expect a major revolution in how the human body is healed. These are not high-risk predictions, but merely the extension of
Nanomedicine lays the foundations for understanding this revolution currently-observable progress in biological and medical research.
and points to where it is taking us. Advances in understanding living systems in general, and the
Throughout science and technology, the race to obtain complete human body in particular, have arrived at astounding speed over
control of the structure of matter is gaining speed and focus. From the past three decades and show no signs of slowing down. The
chemistry to biotechnology, from applied physics to software, completion of the Human Genome Project, once thought almost
increasing resources are being brought to bear on the goal of impossibly ambitious, is now widely regarded as both routine and
nanotechnology. The term nanotechnology is used to describe a destined to revolutionize medicine. What was visionary a short time
variety of nanoscale technologies. More precise for present purposes ago is now a minimum baseline expectation.
is molecular nanotechnology: the ability to construct objects with We can expect this now-familiar pattern to be repeated in the
atomic-scale control. In lay terms, this is often called "building field of nanomedicine. So often a goal, achievable in theory but
atom-by-atom"; more accurately, it means being able to bond considered at first to be far too difficult, within a few decades
every atom into a specific, designed location within a larger structure. becomes first an active goal, and then an achievement.
It is easy to see that such an ability could lead to, for example, Given its revolutionary potential, it is not too soon to examine
the construction of stronger, more reliable materials, and smaller, the goals and potential consequences of nanomedicine. Provided
faster computer chips. One can also anticipate improved versions of that this work is firmly grounded in today's science—assuming no
the molecular machines found in nature, similar to today's work in new scientific principles, but only the gradual accumulation and
redesigning enzymes. More advanced work should eventually application of new data—we can be confident that our calculations
enable the building of molecular machine systems -- micron-scale and will give reasonable, even conservative, results.
even macro-scale systems of novel molecular machines, performing Of course, not all physicians will choose to join in examining
complex operations as do the natural molecular machine systems in the future of medicine. This is not only understandable, but quite
living things. Such systems could in principle manufacture large reasonable for those who must treat patients today, with the methods
numbers of atomically-precise products—a process known as available today. Nor is the medical researcher, working to improve
molecular manufacturing. today's pharmaceuticals, spurred on by the knowledge that his or
For those with a medical or biological background, a description of her success—no matter how dramatic—will eventually be superseded.
such powerful technological abilities at the molecular scale raises In both cases, what can be done today, or next year, is the most
questions regarding the potential for applications in living systems, appropriate focus.
including the human body. The responsible use of technology But only a fraction of today's physicians and researchers need look
demands that these interactions be considered in advance of widespread ahead for the entire field of medicine to benefit. Those practitioners
deployment. who plan to continue their careers into the timeframe when
For millennia, physicians and their predecessors have worked to nanomedical developments are expected to arrive—e.g., younger
aid the human body in its efforts to heal and repair itself. Slowly at physicians and researchers, certainly those now in medical and
first, and with accelerating speed, new methods and instruments graduate programs—can incrementally speed the development process,
have been added to the physician's toolkit -- microsurgical techniques while simultaneously positioning their own work for best effect, if
for physically removing problematic tissue and reconfiguring healthy they have a sound idea of where the field of medicine is heading.
tissue, antibiotics for jamming the molecular machinery of unwanted Those farther along in their careers will be better able to direct
bacteria, gene chips for rapid identification of genetic sequences. research resources today, if the goals of nanomedicine are better
In most cases, however, physicians must chiefly rely on the body's understood. Nanomedicine helps us to frame the research issues that
self-repair capabilities. If these fail, external efforts are hopeless. We must be addressed, and to take better-directed steps on the path
cannot today put the component parts of human cells exactly where toward medical nanotechnology.
they should be, and configure them as they should be to form a Finding the right theoretician to describe the foundations of such
healthy physiological state. There are no tools for working, precisely a field is difficult. The research requires a high degree of
and with three-dimensional control, at the molecular level. multidisciplinary ability—not the typical result of academic programs
Nanomedicine points the way to these advances, which will arm which reward specialization. A multidisciplinary group might serve,
physicians with the most important new tools in medicine since the but would likely fail to provide the necessary conceptual integration.
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
Nanomedicine • Volume I
Rather, the ideal author would be a careful researcher with a broad increasingly—if the economic and environmental costs can be
scientific background—in particular, one willing and able to tackle handled responsibly—the answers have been provided by the customer,
a daunting task requiring a decade of concentrated full-time research, here, the patient.
constructing a technical exposition that may ultimately span thousands There is a growing body of humanitarian, religious, and political
of pages and citations. Robert Freitas brings all these qualities and work in the field of bioethics. A purpose of the present volume is to
more to this challenging project. help frame the issues with a better understanding of what will be
Some aspects of the book will initially seem controversial. For possible technically and economically. Thus, it can provide an
example, the advent of nanomedicine will redefine the very concept essential ingredient for responsible ethical discussions while itself
of "disease" (Section 1.2.2). Today's medicine is limited to removing staying within the bounds of scientific and engineering analysis.
tissue, replacing it with transplants and artificial materials, or helping it Leaving aside the substantive ethical debates to come, the technical
repair itself. Current repair techniques require that the tissue be case presented in Nanomedicine is sure to spark controversy on its
metabolizing and functioning, so inactive or structurally intact but own. Those who disagree with the thrust of this book may find
non-functioning tissue is declared "dead." Nanotechnology will let segments which, taken out of context, appear unsupported or
us repair non-functioning tissue, leading us to reexamine the concept overstated. This is almost unavoidable in the writing of any book,
of clinical death used in medicine today. much less one as ambitious as Nanomedicine. Yet the ideas in this
This process of redefinition itself is not new in the field of medicine. book are supported, as presented in their intended context, and
It has happened many times before and is central to the goal of criticisms of them will be most valuable if they keep this context
extending the frontiers of health into new territory. The advance of linked to the discussion.
the physician's reach down to control at the nanoscale is just one Both the author and publisher of Nanomedicine have graciously
more step on the long evolutionary pathway of medical history. agreed to publish the entire book online, accessible at no charge, to
Also controversial will be the question of how nanomedical better enable debate on, and evolution of, this work. Published
techniques should be used. Science discovers natural laws and facts, critiques, to serve the advance of knowledge, should include a
and technology extends the limits of what was possible with unaltered reference to the online location of this material, enabling readers to
natural systems. But science and technology do not speak to the
probe questions in more depth. Online tools now allow third-party
issues of what is morally or ethically correct—they can only help to
frame the context of those discussions. Seemingly simple questions annotation of online texts, enabling all concerned parties to contribute
such as who is sick and who is well, how much we can do for them, to a reasoned discussion of the technical issues raised here. Robert
and how much it will cost, require a fundamental understanding of Freitas and I invite readers of this volume to participate in this
the underlying scientific and technical limits of what is possible. discussion, with the goal of furthering the evolution of knowledge
Beyond that, the dialogue must include value judgments, and in the new and vital field of nanomedicine.
PREFACE & ACKNOWLEDGMENTS
M
olecular nanotechnology has been defined as the References [####] are used in this book to denote the source of:
three-dimensional positional control of molecular
structure to create materials and devices to molecular 1. a direct quotation (enclosed in quotes),
precision. The human body is comprised of molecules, hence the
2. a lightly or heavily paraphrased passage (footnoted but not
availability of molecular nanotechnology will permit dramatic
enclosed in quotes), or
progress in human medical services. More than just an extension of
“molecular medicine,” nanomedicine will employ molecular 3. a specific datum.
machine systems to address medical problems, and will use molecular
knowledge to maintain and improve human health at the molecular Citations are also employed to indicate sources of additional
scale. Nanomedicine will have extraordinary and far-reaching information on a given topic, especially literature review papers. The
implications for the medical profession, for the definition of disease, author apologizes in advance for any inadvertent instances of
for the diagnosis and treatment of medical conditions including unattributed usage of previously published material; such events should
aging, for our very personal relationships with our own bodies, and be few but should be brought to the author’s immediate attention for
correction in a future edition of this work. An attempt was made to cite
ultimately for the improvement and extension of natural human primary sources whenever possible, but some references are made to
biological structure and function. secondary sources believed by the author to be reliable. Unreferenced
Nanomedicine, the book, will be published in three Volumes over in-text attributions to specific named people generally refer to com-
the course of several years. The present Volume is the first in this ments made by a technical reviewer of the manuscript, as a personal
series. Readers wishing to keep abreast of the latest developments may communication.
visit the nanomedicine website maintained by the Foresight Institute
(http://www.foresight.org/Nanomedicine/index.html) and may visit Acknowledgments
http://www.nanomedicine.com, the first commercial Internet Naturally I am replete with gratitude to many people and organiza-
domain exclusively devoted to nanomedicine and the online home tions, but my first thanks must go to K. Eric Drexler. I honor Eric
of this document. To date, the author has expended ~19,000 for his original vision of the revolution in future medicine that
man-hours, plus ~1000 man-hours by reviewers, a total of ~10 molecular nanotechnology will inevitably bring; for patiently yet
man-years of effort. doggedly pursuing that vision during the long hard years when this
To hold the book to a manageable length, most technical position was not yet scientifically popular; and for describing the
discussions have been greatly abbreviated, usually omitting lengthy inspirational concept of cellular repair machines in his popular
historical surveys and extensive derivations or proofs of formulas, writings8,9 and then offering detailed technical engineering analysis
but providing useful pointers to the relevant specialist literature. of molecular machine components, devices, and systems in
Equations are presented, whenever possible, with sufficient qualifica-
Nanosystems,10 a textbook which has established high standards
tions to enable the reader to determine the extent of applicability in
of scholarship and has paved the way for all future
a given circumstance; however, complete derivations are rarely
provided. Care should be taken in applying these mathematical research in this area.
relationships, since in some cases their applicability to submicron Next, I would like to thank the following 77 people for providing
systems, while anticipated, has not yet been definitively established useful references, preprints, publications or information, helpful
by experiment. With more than 270 mathematical equations in this discussions or newsgroup postings, personal communications, or
Volume, it was impossible to maintain strict usage consistency of other assistance related to the project: Rehal Bhojani, Forrest Bishop,
variables across Chapters, although some effort was made to achieve Frank Boehm, Jonathan Boswell, Robert J. Bradbury, Claud A.
such consistency within individual Chapters. Clarity is enhanced by Bramblett, Donald W. Brenner, Fred and Linda Chamberlain, Thomas
defining all variables and constants near or immediately after each M.S. Chang, M.D., Scott R. Chubb, Sharon Churchill, Philip G.
usage in an equation. In this book, the symbol “~” signifies “approxi- Collins, Andrew Czarn, Jerry A. Darsey, Thomas Donaldson, K. Eric
mately,” and scientific exponential notation appears throughout. Drexler, William L. Dye, Mark Dyer, Robert I. Eachus, James von
Cubic volumes are sometimes specified as, for example, (1 nm)3 to Ehr, James C. Ellenbogen, Gregory M. Fahy, David R. Forrest, Berry
signify a 1 nm3 block. Conversions among various units (which were Fowler, M.D., John Gilmore, James L. Halperin, Jie Han, Barbara and
chosen to maximize interdisciplinary understanding) are summarized Danny Haukedalen, Dan Heidel, Tad Hogg, Neil Jacobstein, Ted
in Appendix A; common abbreviations, measurement units, and pre- Kaehler, Jeffrey D. Kooistra, Tobias A. Knoch, Markus Krummenacker,
fixes employed in the text may also be found in Appendix A. Ronald G. Landes, M.D., Kevin Leung, Eric W. Lewis, M.D.,
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
Nanomedicine • Volume I
James B. Lewis, David Mathes, Ralph C. Merkle, the following physical address: Robert A. Freitas Jr., Institute for
Richard Nakka, Philippe Van Nedervelde, Vik Olliver, Michael Park, Molecular Manufacturing, 555 Bryant Street, Suite 253, Palo Alto,
Christine L. Peterson, Christopher J. Phoenix, Frederik Pohl, Virginia CA 94301 USA; or electronically to the author at the following
Postrel, Patrick Salsbury, Tilman E. Schaffer, J. David Schall, Nadrian Internet address: rfreitas@imm.org.
C. Seeman, Paul E. Sheehan, Brian Shock, John A. Sidles, Richard My special thanks go to Robert J. Bradbury and Markus
Smith, Jeffrey Soreff, Edmund Storms, Carey Sublette, Richard P. Krummenacker for particularly lengthy and detailed Chapter
Terra, Tihamer Toth-Fejel, James M. Tour, Werner Trabesinger, Robert reviews, and for illuminating the often shadowy boundaries between
E. Tuzun, Ty S. Twibell, Francisco Valdes, William Ware, James Brent biotechnology and nanotechnology; to Jeffrey Soreff for his stunningly
Wood, Christian P. Worth; four anonymous referees of early versions insightful commentary and analysis of the most difficult technical
of my now-published “respirocytes”1400 paper; and, finally, the one concepts (on occasions almost too numerous to count), for his
person whose name I have inadvertently but inexcusably omitted. advice on equations and technical phraseology, and for several capsule
I also thank Conrad Schneiker153 for his highly useful summary descriptions of recent research results that are reported in Chapter 2;
of the early history of nanotechnology, which I leaned on rather to Chris Phoenix for reading the entire manuscript with alacrity; to
heavily in Section 1.3.2; Roy Porter, from whose excellent history of Ralph C. Merkle for his many years of sage technical advice and his
medicine2204 I borrowed extensively in Section 1.2.1; W.J. Bishop, unwavering encouragement when it was needed most; and to K.
whose fine book on the history of surgery2158 provided most of the Eric Drexler and Ralph C. Merkle for generously contributing the
material for the first six paragraphs of Chapter 1, and substantial Foreword and Afterword, respectively, to this Volume.
material for Section 1.2.1 as well; and the Foresight Institute for My very special thanks go to James L. Halperin, Ralph C. Merkle,
establishing and maintaining the first nanomedicine website, under many anonymous Senior Associates of the Foresight Institute, and
the technically-savvy webmastering of James B. Lewis. other friends, family, and colleagues who generously provided
I extend my heartfelt thanks to the 48 individuals listed below financial support which enabled the author to complete this Volume;
who reviewed or commented on all or part of various Chapters in and to the Foresight Institute for establishing the Nanomedicine
Volume I (total number in parentheses): Douglas Berger, M.D. (1), Book Fund.
Forrest Bishop (2), Robert J. Bradbury (8), David Brin (1), Fred I thank my publisher, Ronald G. Landes, M.D., for having the
Chamberlain (2), Linda Chamberlain (1), Gino J. Coviello (2), perspicacity to recognize the potential significance of nanomedicine,
Andrew Czarn (1), Thomas Donaldson (1), K. Eric Drexler (6), the trust in the author to impose no major constraints on substance,
William L. Dye (2), Martin Edelstein (1), Gregory M. Fahy (2), length or time, the fortitude to publish an unusual book of uncertain
Steven S. Flitman, M.D. (1), Tim Freeman (1), Thomas W. Gage marketability in a difficult business environment, and the audacity
(2), Al Globus (2), J. Storrs Hall (2), Jan H. Hoh (1), Christopher to dare to present the material contained herein to medical and
Jones (3), Tanya Jones (2), Ted Kaehler (1), Tobias A. Knoch (1), publishing colleagues for their serious consideration. I also applaud
Markus Krummenacker (7), Sarma Lakkaraju (1), Ronald G. Cynthia Dworaczyk, Michelle Wamsley, Penny King, and the rest
Landes, M.D. (10), Eugene Leitl (1), James B. Lewis (8), James of the staff of Landes Bioscience for their excellent and professional
Logajan (5), David Mathes (4), Thomas McKendree (3), Ralph work on this project, and Andreas Passens for the cover art.
C. Merkle (10), Hans Moravec (1), Max More (1), Kenneth Finally, and most importantly, I wish to thank my wife, Nancy
Philipson, M.D. (1), Christopher J. Phoenix (10), Virginia Postrel Ann Freitas, and my parents, Robert A. Freitas Sr. and Barbara Lee
(1), Edward M. Reifman, D.D.S. (1), Edward A. Rietman (6), Freitas, without whose help, understanding, and encouragement this
Markus Roberts (1), Patrick Salsbury (3), Salvatore Santoli (3), Bruce book could not have been written.
Smith (4), Steven S. Smith (1), Jeffrey Soreff (8), Tihamer Toth-Fejel
(3), James M. Tour (1), and Steven C. Vetter (1). These reviewers
are to be lauded for undertaking a difficult task and should be held Robert A. Freitas Jr.
blameless for any errors that remain in the manuscript; the author Research Fellow
is solely responsible for all errors of fact or judgement within these Institute for Molecular Manufacturing
pages. Reports of errata may be transmitted by mail to the author at 15 April 1999
No new findings will ever be made if we rest content with the findings of the past. Besides, a man who follows
someone else not only doesn’t find anything, he is not even looking. “But surely you are going to walk in your
predecessors’ footsteps?” Yes indeed, I shall use the old road, but if I find a shorter and easier one I shall open
it up. The men who pioneered the old routes are leaders, not our masters. Truth lies open to everyone. There
has yet to be a monopoly of truth. And there is plenty of it left for future generations too.
— Seneca, the Younger (4 BC - 65 AD)
We are like children standing on the shoulders of a giant, for we can see all that the giant can see, and a little
more.
— Guy de Chauliac, Chirurgia Magna, 1362
The human mind is often so awkward and ill-regulated in the career of invention that it is at first diffident,
and then despises itself. For it appears at first incredible that any such discovery should be made, and when
it has been made, it appears incredible that it should so long have escaped men’s research. All which affords
good reason for the hope that a vast mass of inventions yet remains, which may be deduced not only from the
investigation of new modes of operation, but also from transferring, comparing, and applying these already
known, by the method of what we have termed literate experience.
— Francis Bacon, Novum Organum: Aphorisms on the Interpretation of Nature and the Empire of Man, 1620
CHAPTER 1
T
he history of disease is vastly older than that of humankind from the New Stone Age period reveal that Neolithic man suffered
itself. Indeed, disease and parasitism have been from arthritis, congenital dislocations and fractures, sinusitis,
inseparable companions to life since the dawn of life on Earth. tuberculosis of the spine, and tumors.2158
Fossilized bacteria similar to those responsible for many infections that In considering the question of how our earliest ancestors dealt
afflict people today have been found in geological formations that are with these conditions, we are on somewhat uncertain ground, since
500 million years old. Fossil shells dating from an era almost equally little direct evidence has been preserved. Anthropologists point out
remote show clear evidence of disturbance by injury and parasites. that in pre-Neanderthal hunter-gatherer tribes, a sick or lame person
Examination of the skeletons of long-extinct dinosaurs and other is a serious handicap to a group on the move. In the event of major
great reptiles show that these creatures suffered from fractures, bone illness or mortal wounds, sufferers may either leave the group, be
tumors, arthritis, osteomyelitis, dental caries and other diseases that abandoned, or, as with lepers in medieval Europe, may be ritually
still plague us in the 20th century. While available fossil evidence is expelled, becoming “culturally dead” before they are biologically
largely limited to changes observable in bones and teeth, it is dead. Early hunter-gatherer hominid bands were more likely to
probably safe to assume that disease processes were equally prevalent in abandon their seriously sick than to succor them,2204 although
the soft organs and tissues that have not been geologically preserved, Cro-Magnons and Neanderthals evidently were the first to care for
and that the general pattern of disease has not changed in its their wounded and disabled, and to bury their dead.2341-2343
essentials during the hundreds of millions of years that animal life But moderate wounds, bruises, fractures, or foreign bodies such
has existed on this planet.2158 as arrowheads or thorns are tangible things that demand attention.
Since its first appearance on the prehistoric stage millions of years Thus the art of surgery must first have originated as a response to
ago, the human body has also been constantly subject to immediate crises. The first and most obvious course of action of a
assault and injury, invasion by parasites, extremes of heat and cold, wounded man would be to protect the site of injury from the influence
and infections. Early man probably suffered from a number of of external forces or agents. For this there was, and remains to this
diseases due to nutritional factors and body chemistry disorders. day, only one means — the application of a dressing. Many observa-
For example, the poor condition of the teeth of an 18-year old tions were made and many substances tried, and in time a body of
Australopithecus who lived 1.75 million years ago, found at Olduvai experience was accumulated and passed on orally to others for use in
Gorge by Louis Leakey2187,2188 in 1959, suggests that the hominid similar emergencies, eventually creating a considerable sum of
had a disease that lasted for many months — most likely gastro- inherited empirical knowledge. It is believed that the art of dressing
enteritis due to malnutrition — with three major attacks of the disease wounds long constituted the whole of medicine — the use of internal
at the ages of two, four, and four and a half.2186 Diseases that may remedies or herbs, and use of the knife or fire, came much later. 2158
date back more than 25 million years to the ape ancestors of modern Present-day primitive and folk medicines provide additional clues
apes and man2190,2191 are amoebic dysentery, malaria,2189 pinworm to early medical practice. For example, many early peoples
infections, syphilis, yaws,2199 and yellow fever. Diseases which may developed effective methods to control bleeding — the use of
have appeared and evolved with man2198 include leprosy and cobwebs is an ancient folk remedy, as is the application of
typhoid; certain modern diseases such as cholera, measles,2196,2197 tourniquets, packing with absorbent materials, the laying on of snow
mumps, smallpox, whooping cough, and the common cold require or, at the other temperature extreme, the application of
large concentrated populations to support them, thus probably could cautery by hot knife or spear.2158,2204 The Masai and Akamba tribes
not have existed in the prehistoric era.2186,2191-2195 treated sword wounds by slapping on a poultice of cow dung and
As for cancer, Java man, first discovered by Dutch anatomist dust. The suturing of wounds is practiced by some primitive peoples
Eugene Dubois in 1891 and considered to be half a million years and may have been known to prehistoric man. Bone needles
old, had a morbid growth on his femur. It is likely that bone cancer and furnished with an eye have been found in paleolithic
other forms of cancer have existed from the earliest times. The deposits in France and England, and some Indian tribes suture with
remains of Neanderthal, a competing species to Homo sapiens that threads of sinew or bone needles (the needles are left in and the thread
roamed through Europe, Africa, and the Near East during the last is twisted around them). One of the strangest suturing techniques,
glacial period ~75,000 years ago, show clear evidence of arthritis, observed among primitive tribal cultures in such widely separated
tooth loss, and suppurative bone disease. (The high rate of broken places as India, East Africa and Brazil, is the sealing of wounds,
bones and early death suggests that Neanderthals engaged in more especially abdominal wounds, using termites or ants. The edges of
close-quarter combat with large animals than did modern humans, the wound are drawn closely together and the insect is allowed to
who had figured out safer strategies.2329) Human bones unearthed bite through them both, firmly securing the flesh on two sides. Once
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
2 Nanomedicine • Volume I
1.2.1 The Evolution of Scientific Medicine bones of the skull, getting gradually deeper and deeper, or by drilling a
A study of the history of “scientific” or Western medical series of small holes in a circle in the skull, then cutting the small
practice suggests a continuity in certain aspects of the medical bridges between to remove a disk of bone. Skulls have been found
paradigm292 even since ancient times — as for instance the basic with multiple holes. The additional fact that some hole edges show
precepts of observation and diagnosis, followed by treatment — callus formation (evidence of healing) indicates survival of the patient.
but reveals changes in attitudes, techniques, and instrumentalities, and Trephined skulls have been found in Western Europe, including
a gradual evolution in the epistemology and ontology of medical England, North Africa, Asia, the East Indies, New Zealand, and the
logic. Figure 1.1 presents a simple model of this historical progression, Americas from Alaska in the north down through the continent to
the details of which will soon become clear. Note that 2010 is marked Peru in the south. The practice was probably regarded as therapeutic,
as a possible date for the first applications of nanomedicine. These either to remove a depressed fracture, to try to cure mental illness, or
will most likely be ex vivo applications only — in vivo nanomedical to relieve severe headache or epilepsy, presumably by letting out the
treatments may come much later. demon possessing the patient.
Another important reason to study the history of medicine3192 is to
gain a deeper appreciation of the long, hard struggle to 1.2.1.2 Ancient Mesopotamian Medicine
improve human health, a struggle that is expected finally to The first written records, which came from ancient Babylon and
culminate in victory in the 21st century. If the ~10 billion people Egypt, contain the earliest references to medical care,
that have ever lived survived an average of 40 years and spent 5% of obviously codifying earlier practices no record of which has
their lives in sickness or physical misery from disease, then ~200 survived. The medicine of the Sumerians of Mesopotamia from ca.
trillion man-hours of suffering have been paid to achieve this 3000 BC was primarily religious. The Mesopotamian peoples saw
remarkable result, a not inconsiderable price. the hands of the gods in everything. Disease was caused by spirit
There is no pretense to completeness here. For example, invasion, sorcery, malice, or the breaking of taboos, and
Chinese, Indian and Islamic contributions are omitted, not sickness was both judgement and punishment. An Assyrian text circa
because they are unimportant, but because they did not 650 BC describes epileptic symptoms within a demonological frame-
significantly alter the evolutionary pathway of the Western medical work: “If at the time of the possession, his mind is awake, the demon
paradigm. A great deal of physiology, pathology, neurology, can be driven out; if at the time of his possession his mind is not so
systematics, and many other important medical-related disciplines aware, the demon cannot be driven out.” Headaches, neck pain,
are also neglected in the interest of brevity. Much of the following intestinal ailments and impotence were read as omens. The appropriate
discussion, including most of the anecdotal quotations, is remedy was to identify the demons responsible and expel them by
liberally and appreciatively drawn from comprehensive works by spells or incantations.
W.J. Bishop,2158 Roy Porter,2204,2205 William H. McNeill,2206 and But medicine also had an empirical component, with some
the Cecil Textbook of Medicine.2207 sicknesses being ascribed to cold, dust and dryness, putrefaction,
malnutrition, venereal infection and other natural causes. The
1.2.1.1 Prehistoric Medicine
Babylonians drew on an extensive pragmatic materia medica — some
The elementary nature of prehistorical medical practice has
already been mentioned. There is direct evidence that Stone Age man 120 mineral drugs and twice that number of vegetable items are
used a natural fungus as a treatment for intestinal parasites.3244 Besides listed in surviving tablets. Alongside various fats, oils, honey,* wax,
basic wound-tending, the practice of circumcision is an age-old form and milk, were many active ingredients that included mustard,
of simple surgery with a rational, if sometimes controversial, hygienic oleander and hellebore (a plant in the buttercup family that is a
basis. violent gastrointestinal poison, hence acts as a powerful purgative,
An even more dramatic surgical operation, for which there is though it is lethal in high doses). Colocynth, senna and castor oil
considerable prehistoric fossil evidence, is trephining the skull to were used as laxatives, while wound dressings were compounded
remove a round piece of bone from it. This can be done using flint with dried wine dregs, salt, oil, beer, juniper, mud or fat, blended
instruments, either by gradually scratching through the skin and with alkali and herbs. With the discovery of distillation, the
*Honey also was known to the ancients as a preservative agent. The corpses of military leaders who had died far from home and needed to be transported long distances were
often immersed in honey to prevent decomposition. Famous historical examples from later Greek and Roman times include the Spartan commander Agesilaus (d. 362 BC) and
Alexander the Great (d. 323 BC).2333,3259
4 Nanomedicine • Volume I
Mesopotamians made essence of cedar and other volatile oils. should eat fried ox liver — possibly a tried-and-tested procedure,
Turpentine, asafetida, henbane, myrrh, mint, poppy, fig, and since liver is rich in Vitamin A,749 lack of which causes the illness.
mandrake are also mentioned. Dog dung and other fecal Eye disorders were also common, for example:
ingredients were used to drive off demons. “To drive away inflammation of the eyes, grind the stems of the juniper
Surgical conditions such as wounds, fractures and abscesses were of Byblos, steep them in water, apply to the eyes of the sick person and he
also treated by Mesopotamian surgeons. Practitioners were priests, will be quickly cured. To cure granulations of the eye, prepare a remedy
and after 2000 BC, they were ruled by the strict laws of cyllyrium, verdigris, onions, blue vitriol, powdered wood, and mix
included in the Code of Hammurabi. The Code laid down and apply to the eyes.”
rewards for success and severe punishment for failure, and
contained laws relating to medical practice which show that For stomach ailments, a decoction of cumin, goose-fat and milk
medicine and surgery were highly organized professions. Fees were was recommended, but other remedies sound more exotic, including a
regulated on a sliding scale of rewards based on the patient’s rank, drink prepared from black ass testicles. A mixture of vulva and penis
and severe penalties were laid down for failure: extracts and black lizard was supposed to cure baldness. Also good
for hair growth was a compound of hippopotamus, lion, crocodile,
“Concerning the wounds resulting from operations it is
written: if a physician shall produce on anyone a severe wound with a
goose, snake and ibex fat — merely assembling these ingredients
bronze operating knife and cure him, or if he shall open an abscess with might promise a hair-raising experience! Egyptian medicine credited
the operating knife and preserve the eye of the patient, he usually shall many vegetables and fruits with healing properties, and also tree
receive 10 shekels of silver [more than a craftsman’s annual pay]; if it is products such as sycamore bark and resins such as myrrh, frankincense
a slave, his master shall usually pay 2 shekels of silver to the physician.” and manna. As in Mesopotamia, plant extracts — notably senna,
“If a physician shall make a severe wound with an operating knife and colocynth and castor oil — were employed as purgatives, and oil of
kill him, or shall open an abscess with an operating knife and destroy camomile to improve digestion. Recipes included ox spleen, pig’s
the eye, his hands shall be cut off.” brain, stag’s horn, honey-sweetened tortoise gall, and the blood and
“If a physician shall make a severe wound with a bronze fats of various animals. Antimony, copper salts, alum, and other
operating knife on the slave of a free man and kill him, he shall minerals were recommended as astringents or disinfectants. Con-
replace the slave with another slave. If he shall open an abscess with a taining ingredients from leeks to lapis lazuli — including garlic, on-
bronze operating knife and destroy the eye, he shall pay the half of the ion, tamarisk, cereals, spices, condiments, resins, gums, dates, helle-
value of the slave.” bore, opium and cannabis — compound drugs were administered in
The Hammurabic Code also mentions the Gallabu, or the form of pills, ointments, poultices, fumigations, inhalations,
barber-surgeons, whose province was minor surgery, including gargles and suppositories; they might even be blown into the ure-
dentistry and the branding of slaves. If Herodotus (ca. 485-425 thra through a tube. Among the most interesting of the healers whose
BC) may be believed, Babylonian medicine must have declined in the names have been recorded for posterity are Peseshet, head female phy-
5th century BC. Herodotus states that there were no physicians, but sician or overseer, proof of the existence, as in Mesopotamia, of female
that the people brought their sick into the marketplace in order healers; and Iri, Keeper of the Royal Rectum, presumably the
that passers-by might make suggestions or offer cures. pharaoh’s enema expert.
The Edwin Smith Papyrus (ca. 1600 BC), discovered by its
1.2.1.3 Ancient Egyptian Medicine American namesake at Luxor in 1862, may be the world’s earliest
The civilization of ancient Egypt dates from around 3000 BC. surviving surgical text, and contains material probably derived from
As in Mesopotamia, ancient Egyptian medicine was religious- even more ancient times. The “book of wounds” comprises 48 case
empirical. An examination of the preserved bodies of members of reports, which commence with the top of the head and proceed
the Royal family has provided much information on the diseases of systematically downward — nose, face, ears, neck and chest,
ancient Egypt, including congenital deformities such as clubfoot, mysteriously stopping in mid-sentence at the spine, presumably
dental caries, gallstones, bladder and kidney stones, rheumatoid when the scribe was interrupted at his work. The only surgical
arthritis, mastoiditis, numerous eye diseases, and bone fractures, conditions treated were wounds, fractures, abscesses, and circumcisions.
some of which show treatment by quite sophisticated splinting. Other In the Papyrus, the method of presentation is first to set out the
evidence suggests that the average ancient Egyptian was title or the chief symptom, followed by the further symptoms, and
extremely diseased. For example, a weaver who died in the 11th then the examination, diagnosis, prognosis, and treatment. The
century BC, aged 14-18 years, evidently suffered from schistosomiasis, advice given is entirely rational, as will be seen by the following
tapeworm likely associated with malnutrition, anthracosis of the directions for the treatment of a fractured humerus:
lungs presumably due to environmental pollution from cooking
and heating, pulmonary silicosis, and possibly malaria and fleas. “Instructions concerning a Break in his Upper Arm. If thou examinest
a man having a break in his upper arm, and thou findest his upper arm
The Ebers Papyrus (ca. 1550 BC), deriving from Thebes, is the
hanging down, separated from its fellow, thou shouldst say concerning
principal medical document and may be the oldest surviving medical
him: One having a break in his upper arm. An ailment which I will treat.”
book. Over 20 meters long, it deals with scores of diseases and
proposes remedies involving spells and incantations, but also “Thou shouldst place him prostrate on his back, with something folded
between his two shoulder blades; thou shouldst spread out with his two
includes many rational treatments. The Ebers Papyrus covers 15
shoulders in order to stretch apart his upper arm until that break falls
diseases of the abdomen, 29 of the eyes, and 18 of the skin, and, into its place. Thou shouldst make for him two splints of linen, and
perhaps unsurprisingly to the modern consumer, lists no fewer than thou shouldst apply for him one of them both on the inside of his arm,
21 cough treatments. About 700 drugs and 800 formulations are and the other of them both on the underside of his arm. Thou shouldst
mentioned, mainly involving herbs but also including mineral and bind it with ymrw [an unidentified mineral substance], and treat it
animal remedies. For example, to cure night blindness the patient afterward with honey every day until he recovers.”
Basic Capabilities • The Prospect of Nanomedicine 5
An interesting point in the case histories is that after the diagnosis unlike Egypt, no state medical bureaucracy, nor were there
the writer gives a decision about his further course of action. The examinations or professional qualifications. Those calling themselves
verdict may take one of three forms: (1) an ailment which I will doctors (iatroi) had to compete with bone-setters, exorcists, root-
treat; (2) an ailment with which I will contend; and (3) an ailment cutters, incantatory priests, gymnasts, and showmen, exposed to
not to be treated. Like modern military triage, the “hopeless” patient is the quips of playwrights and the criticism of philosophers. Medicine
left to his inevitable fate. This guarded attitude on the part of the was open to all.
medical man was widespread in antiquity. While present-day doctors Empedocles (fl. 450 BC) may have been the first to advance
generally do everything possible to alleviate symptoms to the very some of the key physiological doctrines in Greek medicine, including
end, even when the patient has no chance of recovery, the view in innate heat as the source of living processes such as digestion, the
ancient times was that hopeless cases were not to be touched. This cooling function of breathing, and the notion that the liver makes
attitude was entirely practical. A doctor in attendance at the courts the blood that nourishes the tissues. His contemporary, Alcmaeon
of ancient Egypt might expect rich rewards if his patient recovered, of Croton (fl. 470 BC), believed that the brain, not the heart, was
but if a patient died under his care, the unfortunate physician ran a the chief organ of sensation. Alcmaeon’s examination of the eyeball
grave risk of impalement. led him to discern the optic nerve leading into the skull, a genuine
observational basis. He gave similar explanations for the sensations
1.2.1.4 Ancient Greek Medicine of hearing and smelling, because the ear and nostrils suggested passages
By 1000 BC the communities later collectively known as the leading to the brain. Most of such knowledge depended heavily on
Greeks were emerging around the Aegean Sea. How much medical wound observation and animal dissection, for in the classical period
knowledge they took from Egypt remains controversial, but the the dignity of the human body forbade dissection.
contrasts between the two are striking. Little is known of Greek All we know for sure of Hippocrates (ca. 460-377 BC), who
medicine before the appearance of written texts in the 5th century “taught all that were prepared to pay,” is that he was born on the
BC. Archaic Greece had its folk healers, including priest healers island of Cos and lived a long and virtuous life. The sixty or so
employing divination and herbs. From early times (the first Olympic works comprising the Hippocratic Corpus (ca. 440-340 BC) derive
games were recorded in 776 BC), the love of athletics produced from a variety of hands, and, as with the books of the Bible, they
instructors in exercise, bathing, massage, gymnastics and diet. The became jumbled up, fragmented, then pasted together again in
Homeric epics (ca. 600 BC) offer glimpses of early Greek medicine. antiquity. What is now called the Corpus was gathered around 250
Scholars count 147 cases of battle wounds in the Iliad, including BC in the Library at Alexandria, with further texts added later still.
106 spear thrusts, 17 sword slashes, 12 arrow shots, and 12 sling Some volumes are philosophical, others are teaching texts or case
shots. Among the arrow wound survivors was King Menelaus of notes. What unites them all is the conviction that health and
Sparta, whose physician extracted the arrow, sucked out the blood disease are capable of explanation by reasoning about nature,
and applied a salve. As with other medical interventions in Homer, independently of supernatural interference. Man is governed by the
this shows no Egyptian influence, supporting the idea that, even if same physical laws as the cosmos, hence medicine must be an
Greek practice owed much to Egypt, it rapidly went its own way. understanding, empirical and rational, of the workings of the body
Various Greek gods and heroes were identified with health and in its natural environment. Anticipating modern medicine, appeal
disease, the chief being Asclepius, who even had the power to raise to reason, rather than to rules or to supernatural forces, gives
the dead. A heroic warrior and blameless physician, Asclepius was Hippocratic medicine its distinctiveness. It was also patient- rather
the son of Apollo, sired upon a mortal mother, who was taught than disease-centered; the Hippocratics specialized in medicine by
herbal remedies by Chiron and then generously used them to heal the bedside, prizing trust-based clinical relations:
humans. Incensed at being cheated of death, Hades, the ruler of the “Make frequent visits; be especially careful in your examinations,
underworld, appealed to the supreme god, Zeus, who obligingly counteracting the things wherein you have been deceived at the changes.
dispatched Asclepius with a thunderbolt, though he was later Thus you will know the case more easily, and at the same time you will
elevated to godhood. A different version appears in Homer, who also be more at your ease. For instability is characteristic of the humours,
portrays Asclepius as a tribal chief and a skilled wound healer whose and so they may also be easily altered by nature and by chance.”
sons became physicians and were called Asclepiads, and from whom “...Keep a watch also on the faults of the patients, which often make
all Asclepian practitioners descended. As the tutelary god of medicine, them lie about the taking of things prescribed. For through not taking
Asclepius is usually portrayed with a beard, staff and snake — the disagreeable drinks, purgative or other, they sometimes die. What they
origin of the caduceus symbol of the modern physician, with its have done never results in a confession, but the blame is thrown upon
two snakes intertwined, double-helix like, on a winged staff. The the physician.”
god was often shown accompanied by his daughters, Hygeia (health
The Hippocratics promulgated the idea of “vis medicatrix
or hygiene) and Panacea (cure-all).
naturae,” or the power of nature to cure itself, and thus the belief
For all that, Hippocratic medicine, the foundation of Greek
that there was a natural tendency for things to get better on their
written medicine, explicitly grounds the art upon a quite different
basis — a healing system independent of the supernatural and built own. This tendency could be aided by providing a beneficial
upon natural philosophy. The beginnings of true medical science in environment for the patient and by improving physical function
the West were established when the reliance on superstition that with a regimen of suitable diet, lifestyle, and exercise — the diatetica.
underpinned tribal medicine was replaced by civilized and rational In extreme cases, further aids to recovery could be sought.
curiosity about the cause of illness. The growth of civilized thought Stubbornly offending “humors” could be removed with the help of
allowed for argument on medical cause and cure, with great doctrinal venesection (phlebotomy or bloodletting) and purgatives, sudorifics
multiplicity. The separation of medicine from religion reveals applied to induce sweating, and diuretics to increase urination. But
another distinctive feature of Greek healing: its openness, a quality the Hippocratic physician was extremely reluctant to administer
characteristic of Greek intellectual activity in general, owing to drugs of any kind, because the physician’s goal was to aid nature in
political diversity. There was no imperial Hammurabic Code and, healing the body.
6 Nanomedicine • Volume I
Hippocratics scorned heroic interventions and left risky the scholarly world, eventually containing, it was said, 700,000
procedures to others. Their Oath (Chapter 31) explicitly forbade manuscripts, and other facilities including an observatory, zoological
cutting, even for stones, and other texts reserved surgery for those gardens, lecture halls and rooms for research.
used to handling war wounds. Surgery was regarded as an inferior The two earliest teachers at the Alexandrian medical school were
trade, the work of the hand rather than the head, a fact reflected in also its greatest — Herophilus of Chalcedon (ca. 330-260 BC) and
its name: “surgery” derives from the Latin “chirurgia,” which comes his contemporary, Erasistratus of Chios (ca. 330-255 BC). Their
from the Greek “cheiros” (hand) and “ergon” (work); surgery was writings having been lost, we know about them only through later
handiwork. Hippocratic surgical texts were thus conservative in physicians. Herophilus was the first to dissect cadavers in public.
outlook, encouraging a tradition in which doctors sought to treat He was a student of Praxagoras of Cos (fl. 340 BC), who had
complaints first through management, occasionally through drugs, improved Aristotelian anatomy by distinguishing arteries from veins,
and finally, if need be, by surgical intervention. but who saw the arteries as air tubes, similar to the trachea and
The art of diagnosis involved creating a profile of the patient’s bronchi, a common error because arteries are devoid of blood in
lifestyle, work and dietary habits, partly by asking questions and corpses. Herophilus observed that the coats of arteries were much
partly by the use of trained senses: thicker than those of the veins, thus he speculated that the arteries
were filled not with air but with blood. Herophilus wrote at least
“When you examine the patient, inquire into all particulars; first how
the head is...then examine if the hypochondrium [abdomen beneath
eleven treatises, discovering and naming the prostate and the
lower ribs] and sides be free of pain, for...if there be pain in the side, duodenum (from the Greek for twelve fingers, the length of gut he
and along with the pain either cough, tormina [painful intestinal colic] found). He also wrote on the pulse as a diagnostic guide and on
or bellyache, the bowels should be opened with clysters [enema].... The therapeutics, ophthalmology, dietetics, and midwifery. He recognized
Physician should ascertain whether the patient be apt to faint when he the brain as the central organ of the nervous system and the seat of
is raised up, and whether his breathing is free...” intelligence, extending the knowledge of the parts of the brain, certain
of which still bear titles translated from those given by him. He was
Hippocratics prided themselves on their clinical acuity, being
the first to grasp the nature of the nerves, which he distinguished as
quick to pick up telltale symptoms, as with the facies hippocratica,
motor and sensory, though he did not separate them clearly from
the facial look of those dying from long-continued illness or cholera: “a
tendons. Erasistratus surmised that every organ is formed of a three-
protrusive nose, hollow eyes, sunken temples, cold ears that are drawn fold system of “vessels” — veins, arteries, and nerves, dividing
in with the lobes turned outward, the forehead’s skin rough and indefinitely. These, plaited together, were postulated to make up
tense like parchment, and the whole face greenish or black or blue- the tissues. In the brain, Erasistratus observed convolutions, noting
grey or leaden.” Experience was condensed into aphorisms, as for that they were more elaborate in man than in animals and associating
instance: “When sleep puts an end to delirium, it is a good sign.” this with higher intelligence. He distinguished between cerebrum
The technique most prized among Hippocratics was the art of and cerebellum, and is often regarded as an early mechanist because
prognosis — a secular version of the priestly and oracular prognos- of his model of bodily processes — for instance, digestion involved
tications of earlier medicine, and bearing some analogy to the 20th the stomach grinding food. He was opposed to intrusive remedies
century weatherman, who can give a bright or gloomy forecast but such as venesection, and his favorite therapeutic measures were
is powerless to change it. Noted one Hippocratic text:2240 regulated exercise, diet, and the vapor bath — very much in the
Hippocratic tradition.
“It appears to me a most excellent thing for the physician to cultivate
Prognosis; for by foreseeing and foretelling, in the presence of the sick,
the present, the past, and the future, and explaining the omissions which 1.2.1.6 Ancient Roman Medicine
patients have been guilty of, he will be the more readily believed to be Roman tradition held that one was better off without doctors.
acquainted with the circumstances of the sick; so that men will have According to Cato (234-149 BC), citizens had no need of professional
confidence to entrust themselves to such a physician....Thus a man will physicians because Romans were hale and hearty, unlike the effete
be the more esteemed to be a good physician...from having long anticipated Greeks. Apparently Romans enjoyed bad-mouthing Greek physicians.
everything; and by seeing and announcing beforehand those who will Thus the Romans despised medicine as a profession but this did
live and those who will die.” not prevent them from making use of Greek physicians or even of
The ultimate significance of Hippocratic medicine was twofold. the services of their own slaves. Galen of Pergamum (130-200 AD)
First, it carved out a lofty role for the selfless physician which would tells us that in his time, large cities such as Rome and Alexandria swarmed
serve as a lasting model for professional identity and conduct. Second, with specialists who also travelled about from place to place.
it taught that an understanding of sickness required an understanding Martial (40-104 AD) mentions some of them in an epigram:
of nature. “Cascellius extracts and repairs bad teeth; you, Hyginus, cauterize
ingrowing eyelashes; Fannius cures a relaxed uvula without cutting;
1.2.1.5 Ancient Alexandrian Medicine Eros removes brand marks from slaves; Hermes is a very Podalirius
Soon after the death of Aristotle (d. 322 BC) and his most for ruptures.” Under the Empire, military medicine was highly
famous pupil, Alexander the Great (d. 323 BC), a great medical organized — every cohort had its surgeon, and surgeons of a higher
school was founded in Egypt at the court of King Ptolemy, at his grade were attached to the legions as consultants. Army surgeons
capital, Alexandria, at the mouth of the Nile. The King’s main ranked as noncombatants and enjoyed many privileges.
cultural creations were the Alexandrian Library* and the Museum In the Roman empire, the earliest scientific teacher was a Greek,
(Sanctuary of the Muses), which installed Greek learning in a new Asclepiades of Bithynia (124-40 BC). Asclepiades ridiculed the
Egyptian environment — Archimedes, Euclid, and the astronomer Hippocratic expectant attitude as a mere “meditation on death,”
Ptolemy were soon to teach there. The Library became a wonder of and urged active measures that the cure might be “seemly, swift and
*Part of the Library was wrecked by fire in 48 BC during riots sparked by the arrival of Julius Caesar. Much later, Christian leaders encouraged the destruction of the Temple
of Muses. As legend has it, in 415 AD the last resident scholar, the female mathematician Hypatia, was hauled out of the Museum by Christian fanatics and beaten to death
(or her flesh was ripped off using clamshells, by another account). The 7th century Muslim conquest of the city resulted in the final destruction of the Library.
Basic Capabilities • The Prospect of Nanomedicine 7
sure.” Though outside the mainstream, his medical practice is example, in England the Venerable Bede (ca. 672-735) and his monks
interesting as a modification of the atomic or corpuscular theory, possessed many medical writings, and knowledge of plant remedies
according to which disease results from an irregular or inharmonious was extensive, but the English healer used chants and charms,
motion of the corpuscles of the body. His pupils were numerous, predicated on the belief that certain diseases and bad luck were caused
constituting the Methodical school, but his available therapeutic by darts shot by elves, while other ailments involved a “great worm,”
tools were few — he trusted mainly to changes of diet, friction, bath- a term applied to snakes, insects, and dragons.
ing, exercise, and occasionally emetics, bleeding, and wine. He was By contrast with the naturalist focus of Hippocratic and
also the first to use music in the treatment of the insane. Galenic medicine, healing became more authoritarian and intertwined
Back in the mainstream, Galen of Pergamum (130-200 AD) with religion, for the rising Church taught that there was a super-
provided the final medical synthesis of antiquity and the effective natural plan and purpose to everything, including sickness and death.
medical standard for the next 13 centuries. His first medical Christian and Jewish healing traditions became more prominent.
appointment was as surgeon to the Roman gladiators. He later Disease could be cured by prayers or by invoking the names of saints,
traveled to Rome and wrote extensively on anatomy, physiology by exorcism, by amulets or number magic, or by transferring the
and practical medicine. His fame is due in part to his prolific pen sickness to animals, plants, or to the soil. Certain maladies such as
— some 350 authentic titles ranging in topic from the soul to blood- leprosy were associated with the Almighty’s punishments for sin,
letting polemics survive, about as much as all Greek medical writings according to the Book of Leviticus:
together. Galen was a flamboyant character. One of his party tricks, “When a man shall have in the skin of his flesh a rising [a swelling], a
revealing his genius for self-advertisement as well as experiment, was to scab, or bright spot, and it be in the skin of his flesh like the plague [the
sever the nerves in the neck of a pig. As these were severed, one by spots] of leprosy...and the plague in sight be deeper than the skin of his
one, the pig continued to squeal; but when Galen cut one of the flesh it is a plague of leprosy: and the priest shall look on him, and
laryngeal nerves the squealing stopped, impressing the crowd. pronounce him unclean.”
Galen justified venesection in terms of his elaborate pulse lore.
Such polluting diseases were curable by the Lord alone,
Written in the early 170s, his sixteen books on the pulse were
encouraging some Jewish people to reject human medicine in favor
divided into four treatises, each four books long. In one of these
of the divine, citing the fate of King Asa (ca. 914-874 BC), who
treatises, he explains how to take the pulse and to interpret it, raising
“sought not the Lord, but his physicians,” and whose foot sores
key questions, for example: How was it possible to tell whether a
consequently worsened, and he died. On the other hand, while Jewish
pulse was full, rapid, or rhythmical? Such questions he resolved partly
dietary rituals (e.g. kosher food) are principally expressions of religious
from experience and partly by reference to earlier authorities. Galen
precepts about pollution and purification, a useful practical effect is
developed a characteristic physiological scheme that remained in
to limit exposure to foodborne diseases such as trichinosis.2215
vogue until the 17th century. It supposes three types of so-called
Many of the distinguished surgeons of the Middle Ages were
spirits associated with three types of the activity of living things.
clerics, but the practice of medicine and surgery by members of the
These were the natural spirits formed in the liver and distributed by
Church was not favored by the hierarchy. Many laws were passed
the veins, the vital spirits formed in the heart and distributed by the
against the practice of medicine for worldly profit. In 1215 the
arteries, and the animal spirits formed in the brain and distributed
Fourth Lateran Council forbade all sub-deacons, deacons, or priests
by the nerves. Galen’s system was an admirable if factually flawed
to practice that part of surgery that had to do with burning and
working hypothesis, based on much experimental evidence, and he
cutting. Finally, Pope Honorius III (d. 1216) prohibited all persons
presented his work as “perfecting” the legacy of Hippocrates.
in holy orders from practicing medicine in any form, which meant
As in Greece, medicine remained personal in Rome. No medical
that the educated classes were prohibited from performing any type
degrees were conferred or qualifications required. In the absence of
of surgery.
colleges and universities, the private face-to-face nature of medical
In Europe in the Middle Ages, practitioners unsuccessfully sought
instruction encouraged fluidity and diversity, Students attached
to cure wounds by treating only the weapons that caused them,
themselves to an individual teacher, sitting at his feet and
using an ointment on the offending knife or sword known as a
accompanying him on his rounds. Many different sorts of medical
weapon salve. Physicians practiced urine-gazing (uroscopy), but
care were available, and self-help was universal. Celsus’ On Medicine
proper chemical analysis of urine did not develop until the 18th
was written for a non-professional readership as willing to wield the
century. Medieval medicine is the source of many humorous
scalpel as the plough. Disease explanations changed little. Public
“remedies” in contemporary diatribes against modern medicine — such
authorities still ascribed famines and pestilences to the gods, and
as being strapped into a halter and walked around a pigsty three
Galen was silent on contagion. The essential trilogy of classical
times for mumps, drinking water from the skull of a bishop to treat
medicine remained dietetics, exercise, and drugs, accompanied by
rheumatism, or nuzzling a mouse to cure the common cold.2216
light surgery.
But we must recognize that such treatments were not put forth as
reasonable science. Rather, they serve as a reminder of the results of
1.2.1.7 Medicine in the Middle Ages injecting mystical or religious elements into medicine as a substitute
The passage from the glorious days of Rome to the Middle Ages for good science.
was often violent, especially in the West, with wave after wave of The Middle Ages are also remarkable for their plagues, which
barbarian onslaughts from the East. These culminated in the sack became more numerous as people crowded closer and closer
of the Eternal City by Alaric’s Goths in 410 AD, which together in urban centers of increasing population density. Plague
effectively ended the western empire and frayed the thread of learned records from China during this period often show 50%-70%
medicine. Thus Galen had no effective successor. Indeed, medieval mortality rates, and China probably served as the original source of
medicine may be summed up as a corrupted version of Galenism. the greatest of the bubonic plagues that swept through Europe in
The true scientific tradition did not reappear in the West until the the 14th century, known as the Black Death. The disease broke out
16th century, after a lengthy incubation in the Islamic world. For in 1346 among the armies of a Mongol prince who laid siege to the
8 Nanomedicine • Volume I
trading city of Caffa in the Crimea. This compelled his withdrawal, and Treatise, he recounts how, during his first campaign as a greenhorn
but not before the disease had entered Caffa, whence it rapidly spread military surgeon in Turin in 1537, he had run out of boiling oil, the
by ship throughout the Mediterranean. established treatment for gunpowder wounds, just after French
The initial shock in 1346-1350 was severe. Die-offs varied widely, troops had captured the castle of Villaine. So in place of boiling oil,
with some small communities experiencing total extinction and he applied:
others, such as Milan, being spared entirely. The lethal effect of the
“...a digestive of yolk of eggs, oil of roses, and turpentine. In the night I
plague may have been enhanced by the fact that it was could not sleep in quiet, fearing some default in not cauterizing, that I
propagated not solely by the bites of fleas carried on infected should find those to whom I had not used the burning oil dead
rodents, but also was transmitted person to person as a result of impoisoned; which made me rise very early to visit them, where beyond
inhaling bacillus-filled droplets that had been coughed or sneezed my expectation I found those to whom I had applied my digestive medicine,
into the air by an infected individual. Lung infections of this kind to feel little pain, and their wounds without inflammation or tumour,
were observed to be 100% lethal in Manchuria in 1921, the only having rested reasonable well in the night; the other to whom was used
time modern medicine has directly observed airborne plague the said burning oil, I found them feverish with great pain and tumour
communication, so it is tempting to assume a similar mortality for about the edges of their wounds. And then I resolved with myself never
pneumonic plague in 14th century Europe. Mortality rates for so cruelly to burn poor men wounded with gunshot.”
sufferers from bubonic infection transmitted by flea bite varies from Pare also went on to show that bleeding after amputations should
30% to 90%. All told, the best estimate of European plague- be arrested, not by the terrible method of the indiscriminate use of
induced mortality is that about one-third of the population died the red-hot cautery, but by simple tying of the blood vessels. His
during the initial five-year period. most famous phrase, so reminiscent of the old Hippocratic school
The plague returned in the 1360s, the 1370s, and thereafter, of thought, was: “I dressed the wound, and God healed him.”
and European population declined irregularly as a result, reaching a In 1633 appeared the earliest book on first-aid for the injured,
low point in England sometime between 1440-1480.2210 People by one Stephen Bradwell, although the proffered advice sounds
learned to minimize infection risk via quarantine, a practice which impractical and a bit odd to modern ears. For example, the treatment
stemmed from Biblical passages prescribing the ostracism of lepers. for the “Biting of a Madde Dogge” is to throw the patient into
Plague sufferers were treated as though they were temporary lepers, water. “In doing this, if he cannot swim, after he hath swallowed a
with a standard 40-day quarantine for people and incoming ships good quantity of water, take him out again. But if he be skilful in
at all major ports. However, since the role of fleas and rats in disease swimming, hold him under the water a little while till he have taken
propagation remained unknown until the end of the 19th century, in some pretty quantity.” This procedure may not be wholly
quarantine measures were often ineffectual. Through the 17th irrational — standard 20th century first aid for dog bites includes a
century, occasional plague outbreaks that carried off up to a third thorough cleansing of the wound with water.
or a half of a city’s population in a single year were considered Venesection remained a popular 17th century universal remedy. As
normal.2211 For example, Venetian statistics show that in 1575-77 described by the surgeon Richard Wiseman (1622-1676), “a
and again in 1630-31, a third or more of the city’s population died gentleman of about thirty years of age coming out of Hertfordshire
of plague.2212 through Tottenham and riding upon the causeway near an inn, one
Pre-modern medicine was powerless against bubonic plague. emptying a chamber pot out of the window as he was passing by,
Before antibiotics reduced the disease to triviality in 1943, the average his horse started and rushed violently between a signpost and a tree
mortality rate was 60%-70% of those affected, despite all that the which supported part of the sign. The poor gentleman was beaten
best hospital care could accomplish.2213 The last recorded outbreak off his horse and lay stunned upon the ground.” A barber-surgeon
of plague that ran its course without benefit of penicillin and was hastily summoned but nothing much was done for the injured
related antibiotics (which destroy the infection rapidly) occurred in man until Wiseman arrived, whereupon:
Burma in 1947, with 78% lethality.2214
“I found the gentleman lying upon the ground, the people and chirurgeon
gazing upon him. I felt his pulse much oppressed, the right brow bruised
1.2.1.8 Renaissance and Pre-Modern Medicine and inquired whether they had bled him blood. The chirurgeon replied
While internal medicine languished through the Middle Ages, that he had opened a vein in his arm but it would not bleed. I replied,
the surgeons of the Renaissance gained wide experience during the we must make him bleed through it by splitting his veins. Turning his
many religious wars of the period. They had many new problems to head on one side, I saw the jugular vein on the bruised side turgid and
face, including the treatment of wounds caused by firearms. The opened it. He bled freely. After I had taken about twelve ounces, the
French had employed gunpowder at the siege of Puiguillaume in blood ran down from his arm which had been opened before and would
1338, and cannon were used by the English at the Battle of Crecy not bleed. We bled him till he came to life, and then he raved and
in 1346. Gunshot wounds at that time were caused by large missiles struggled with us.”
of low velocity that caused ragged wounds and carried pieces of The patient’s injuries were dressed and he was subjected to
clothing into the tissues. These wounds were severe and very liable further bleedings, but evidently made a good recovery.
to become septic. The universal belief among contemporary surgeons Even by the 18th century, the traditional surgeon’s day-to-day
was that gunpowder itself was venomous. To neutralize the effect of business eschewed high-risk operations like amputations; rather, it
this venom, the general practice was to cauterize the wound by was a round of minor procedures such as venesection, lancing boils,
injecting boiling oil. dressing skin abrasions, pulling teeth, managing whitlows, trussing
The first man to break away from this old doctrine was Ambroise ruptures, and treating skin ulcers. The fatality rates of these procedures
Pare (1510-90). Pare came to Paris in 1532 as an apprentice to a were low, for surgeons understood their limits, and the repertoire of
barber-surgeon and then moved to the great Hotel Dieu as resident operations they attempted was small, because of the well-known
surgeon. In that immense medieval hospital, the only one in Paris risks of trauma, blood loss, and sepsis. Internal disorders were treated
at the time, he gained great experience, and in 1536 he began his not by the knife but by medicines and management, since major
career as a military surgeon. As described in his book The Apologie internal surgery was unthinkable before anesthetics and antiseptic
Basic Capabilities • The Prospect of Nanomedicine 9
the cowpox pustule, and surmising it would be safer than inoculation usable for routine monitoring on humans. Blood pressure was
from smallpox pustules directly, since in humans cowpox was benign, measured using the familiar inflatable band wrapped around the
Jenner tried the experiment, and it worked. In 1798 he published upper arm, called the sphygmomanometer, whose basic design was
his discovery in An Inquiry into the Causes and Effects of the Variolae established in 1896 by Scipione Riva-Rocci (1863-1937). The
Vaccinae. By 1799 over 5000 individuals had been vaccinated in hypodermic syringe was invented in 1853.
England and abroad the practice was taken up remarkably swiftly, Biochemistry also began to play an increasing diagnostic
being made compulsory in Sweden and supported by Napoleon, function. In the 18th century, Matthew Dobson (d. 1784) developed
who had his army vaccinated. For the first time in history, organized tests for diabetes. In 1827, Richard Bright (1789-1858) showed
medicine began to contribute to human population growth in a show the kidney complaint subsequently called Bright’s disease could
statistically significant fashion. be diagnosed by a single, simple chemical test. Chemical analysis
The Napoleonic Wars spurred new attempts to treat battle- was crucial to Alfred Becquerel’s (1814-1862) urinalysis studies in
wounded soldiers in a more timely manner. Traditionally, the 1841, establishing the average amounts of water, urea, uric acid,
wounded were left on the field unattended until the end of battle, lactic acid, albumin, and inorganic salts secreted over 24 hours, and
but Napoleon’s chief surgeon Dominique Jean Larrey (1766-1842) correlating these with various disease conditions. In 1859, Alfred
introduced the use of rudimentary carts called ambulances volantes Garrod (1819-1907) devised a simple chemical test pathognomonic
(little more than horsedrawn rickshaws) as the first “ambulances” to for gout.
evacuate and transport wounded soldiers from the field to nearby
aid stations, even while the battle raged on. In 1792, Larrey organized 1.2.1.9 Fully Invasive Surgery
the first air evacuation, by hot air balloon. The fully invasive surgery of the 19th and 20th centuries rests
The use of ambulances didn’t catch on until the late 1800s; until upon the triple foundation of anatomy, anesthesia, and asepsis. Each
then, anyone injured in the streets of Paris, London, New York or has an interesting story, described below, presaging the emergence
Boston depended on the kindness of strangers or a nearby business of the rational-scientific approach to medical treatment.
shop for a place to rest until a doctor could be summoned.2287 The
first “modern” ambulance appeared in the city of Cincinnati in 1865, 1.2.1.9.1 Anatomy
but the first true city ambulance system was developed in association In surgical practice, lack of accurate anatomical knowledge had
with Bellevue Hospital in New York City in 1866, receiving 1500 long been a great obstacle. Dissection of the human body was first
requests for transport in its first three years of service.2294 These practiced systematically at the great medical school of Alexandria,
horse-drawn ambulances, usually provided by local mortuaries, carried which flourished from about 300 BC until the death of the last
a driver and a surgeon, who was on board mainly to pronounce a ruler of Ptolemaic Egypt, Cleopatra, in 30 BC. After the decline of
patient’s death at the scene or upon arrival at the hospital, since Alexandria, dissection was carried on at a few other centers in the
little could be done for the seriously injured.2287 The surgeon kept Middle East, but in the first two centuries of the Christian era human
meticulous notes on the ride, recording the time of the call, transport bodies were replaced on the dissection table by those of apes and
and arrival times, and any other details that “a coroner’s jury might other animals. The anatomical knowledge gained by Galen and others
possibly require”.2294 from the dissection of animals was an adequate guide for the simple
The period also saw the development of many simple diagnostic operative procedures carried out at this time because the abdomen,
tools that are taken for granted today. For example, a French physician, the chest, and the head were rarely opened by the surgeon’s knife.
Rene Theophile Hyacinthe Laennec (1781-1826), in his Treatise Anatomical demonstrations of a kind were introduced into some
On Mediate Auscultation (1819), described pathological lesions found Italian medical schools early in the 14th century but their main
in the chest at autopsy and showed how they correlated with disease purpose was to serve as an aid in memorizing what Galen had written a
detected in living patients, establishing for the first time the modern thousand years before. During the late Middle Ages, and for a long
concept of clinicopathological correlation, the cornerstone of modern time after, the procedure was for the professor to read from some
diagnosis. Laennec also developed an instrument that he named a second- or third-hand manuscript version of Galen while a demon-
“stethoscope” to assist him in his examination of patients, especially strator pointed to the part under discussion with a wand. As the
female patients, against whose chests the direct placing of a male text of Galen was often based on the dissection of an ape or pig,
ear was socially taboo. The original device was a straight wooden there were naturally many occasions when the anatomical
tube; by mid-century rubber tubing was introduced to create a flexible structure under examination did not correspond with Galen’s
monaural stethoscope, and in 1852 an American physician, George description.
P. Cammann (1804-1863), devised our familiar two-ear instrument. Some of the great artists took up the scientific study of anatomy,
The clinical thermometer is of like vintage. Galileo (1564-1642) but the true founder of modern anatomy was Andreas Vesalius
invented the first thermometer in the late 16th century, but it was (1514-1564), a native of Brussels who studied medicine in Paris
not applied to medicine. Early medical thermometers in the 18th and later taught surgery and anatomy at Padua and Bologna. Vesalius
century were a foot long and difficult to use at the bedside, and was filled with a passionate desire for anatomical study, and many
were reportedly carried under the arm “as one might carry a gun.” stories are told of the great risks which he took in obtaining material,
The short clinical thermometer was devised by Sir Clifford Allbutt including, it is reported, graverobbing. On one occasion he stole
(1836-1925) in the 1860s, and was widely used during the American the skeleton of a criminal which was hanging on a gallows outside
Civil War (1861-1865). The classical work in temperature diagnostics the city wall of Louvain and the trophy proved of great value in his
was Carl Wunderlich’s (1815-1877) The Temperature in Diseases, studies. His public dissections during his seven years in Padua drew
published in 1868, which presented data on nearly 25,000 patients enormous crowds of students. In 1543 he published his 355-page
and analyzed temperature variations in 32 diseases, showing that great work, De Humani Corporis Fabrica Libri Septem (On the Fabric of
temperature readings could differentiate fevers. Other devices the Human Body), the outstanding and precise illustrations in which
emerged later to measure pulse and blood pressure. In 1854, Karl were copied and plagiarized by scholars for more than 100 years,
Vierordt (1818-1884) created the sphygmograph, a pulse recorder and could be used for teaching even today. For the first time in the
Basic Capabilities • The Prospect of Nanomedicine 11
history of medicine, doctors had at their disposal a detailed and been adjusted I was prepared to receive a shock of pain of extreme violence
accurate anatomical text with illustrations from the hand of a great and so much had I overrated it, that the first incision did not even
artist. This book is the foundation stone of anatomy — indeed of make me wince although I had declared that it was not my intention to
all modern medicine — because without a sound knowledge of the restrain such impulse, convinced that such effort of restraint could only
structure of the body there can be no real understanding of the lead to additional exhaustion. At subsequent moments, therefore I did
body’s functions in health and disease. cry out under the pain, but was allowed to have gone through the
operation with great firmness.”
A tremendous shortage of dead human bodies for dissection, to
teach anatomy, remained a problem for centuries. In Edinburgh in “The forcing up of the staff prior to the introduction of the gorget gave
1827, an old man died in William Hare’s (1792-1870) boarding- me the first real pain, but this instantly subsided after the incision of
house; assisted by his lodger William Burke (1792-1829), the two the bladder was made, the rush of urine appeared to relieve it and
men bypassed the grave and sold the body directly to anatomists. soothe the wound.”
Spurred by success, they turned to murder, luring victims and “When the forceps was introduced the pain was again very considerable
suffocating them to avoid signs of violence. Sixteen were done to and every movement of the instrument in endeavoring to find the stone
death and their bodies sold, fetching 7 pounds apiece, before Burke increased. Still, however, my mind was firm and confident, and,
and Hare were brought to justice in 1829. Hare turned King’s although anxious, I was yet alive to what was going on. After several
evidence and Burke was hanged. The last cadaver was found in the ineffectual attempts to grasp the stone I heard the operator say in the
dissecting room of a respected anatomist, Robert Knox (1791-1862). lowest whisper, “It is a little awkward, it lies under my hand. Give me
Despite his cries of innocence, an incensed crowd burned down his the curved forceps,” upon which he withdrew the others. Here, I think,
I asked if there was anything wrong — or something to that purport —
house and he fled to London, his career in ruins, and eventually
and was reanimated by the reply conveyed in the kindest manner, “Be
Knox died in obscurity. patient, Sir, it will soon be over.” When the other forceps was introduced I
To help pass the English Anatomy Act of 1832 (which awarded had again to undergo the searching for the stone and heard Mr. Cline
to doctors the “unclaimed bodies” of paupers) and to dispel public say, “I have got it.” I had probably by this time conceived that the worst
concern about dissection, the body of the great English philosopher was over; but when the necessary force was applied to withdraw the
and jurist, Jeremy Bentham (1748-1832), in accordance with his stone the sensation was such as I cannot find words to describe. In addition
directions, was dissected in the presence of his friends. The skeleton to the positive pain there was something peculiar in the feel. The bladder
was then reconstructed, supplied with a wax head to replace the embraced the stone as firmly as the stone was itself grasped by the forceps; it
seemed as if the whole organ was about to be torn out. The duration,
original (which had been mummified), dressed in Bentham’s own
however, of this really trying part of the operation was short and when
clothes and set upright in a glass-fronted case. Both this effigy and the words “Now, Sir, it is all over” struck my ear, the ejaculation of
the head are preserved at University College, London, to this day. “Thank God! Thank God!” was uttered with a fervency and fulness of
heart which can only be conceived....I never heard what was the precise
1.2.1.9.2 Anesthesia duration of the operation but conceive it to have been between twelve
Pain did not prevent surgery but made it almost unbearable, and fifteen minutes.”
and the accompanying trauma often proved dangerous. Before the And now, a woman’s point of view. In 1810, Napoleon’s famed
anesthetic era, which commenced in the late 1840s, surgical operations military doctor Dominique Jean Larrey performed a radical
were agonizing. Of course, if the patient had a broken leg or a mastectomy without anesthetic on the popular female novelist Fanny
major wound, there was no choice but submit to a surgeon’s knife. Burney (1752-1840). Burney later wrote a long account of the
But non-emergency elective operations would only be undergone if operation which, despite the excruciating agony, she believed had
the condition itself was so painful or life-threatening that the victim nevertheless saved her life:
could even consider allowing surgery. In this event, patients would
choose a surgeon with the best reputation for quickness — a limb “M. Dubois placed me upon the Mattress, & spread a cambric
might be removed or a bladder stone evacuated in a couple of minutes. handkerchief upon my face. It was transparent, however, & I saw through
Progress in technique was often rapid. For example, in 1824, Astley it that the Bed stead was instantly surrounded by the 7 men and my
nurse. I refused to be held; but when, bright through the cambric, I saw
Cooper (1768-1841) took 20 minutes to amputate a leg through
the glitter of polished steel — I closed my eyes...
the hip joint; ten years later, James Syme (1799-1870) was doing it
in just 90 seconds. “Yet — when the dreadful steel was plunged into the breast — cutting
In pre-anesthetic days, operations were rushed through at through veins — arteries — flesh — nerves — I needed no injunctions
lightning speed and under conditions of appalling difficulty. The not to restrain my cries. I began a scream that lasted unintermittingly
during the whole time of the incision — & I almost marvel that it
most hardened surgeons had to steel themselves to perform operations
rings not in my Ears still! so excruciating was the agony.
which they knew would cause agony to their patients and nerve-
wracking distress to themselves. It is hard for any 20th century “When the wound was made, & the instrument was withdrawn, the
inhabitant of an industrialized nation to imagine what a major pain seemed undiminished, for the air that suddenly rushed into those
surgical operation must have meant to the patient in the days before delicate parts felt like a mass of minute but sharp & forked poniards
anesthesia. The following is a personal account by a male patient [small pointed daggers], that were tearing at the edges of the wound.
who suffered the removal of a stone from the bladder by Henry But when again I felt the instrument, describing a curve, cutting against
Cline (1750-1827), surgeon to St. Thomas’s Hospital and one of the grain, if I may so say, while the flesh resisted in a manner so forcible
the leading operators of the day, on 30 December 1811, just three as to oppose & tire the hand of the operator, who was forced to change
decades before the widespread adoption of anesthesia: from the right to the left — then, indeed, I thought I must have
expired, I attempted no more to open my eyes....The instrument the
“My habit and constitution being good it required little preparation of second time withdrawn, I concluded the operation over — Oh no! presently
body, and my mind was made up. When all parties had arrived I the terrible cutting was renewed — & worse than ever, to separate the
retired to my room for a minute, bent my knee in silent adoration and bottom, the foundation of the dreadful gland from the parts to which it
submission, and returning to the surgeons conducted them to the apartment adhered...yet again all was not over....”
in which the preparations had been made. The bandages &c. having
12 Nanomedicine • Volume I
This chilling account continued for several more pages. the gas to himself and had one of his own teeth pulled out by a
When did the practice of anesthesia begin? The Herbal of colleague. Afterwards, Wells wrote: “I didn’t feel it so much as the
Dioscorides (ca. 40-90 AD) contains specific directions for giving a prick of a pin.” His former partner, William Thomas Green Morton
decoction (boiled extraction) of mandragora “to such as shall be cut (1819-1868), also introduced ether into his dental practice in 1846.
or cauterized,” one of the earliest references to surgical anesthesia. By February 1847, the Lancet and other medical journals were
Bernard de Gordon (ca. 1260-1308) tells us that the Salernitans reporting anesthetic operations from all parts of Great Britain, and
rubbed up poppy seed and henbane and used them as a plaster to ether had been used in most European countries. In June 1847 the
deaden the sensibility of a part to be cauterized. Arnold of Villanova news reached South Africa and a leg was amputated painlessly by
(1235-1311) gives the following recipe: W.G. Atherstone of Grahamstown.
“To produce sleep so profound that the patient may be cut and will feel Sir James Young Simpson (1811-1870), professor of surgery at
nothing, as though he were dead, take of opium, mandragora bark, and Edinburgh, introduced chloroform in 1847. Tradition has it that
henbane root equal parts, pound them together and mix with water. Simpson had been testing chemicals with his assistants when
When you want to sew or cut a man, dip a rag in this and put it to his somebody upset a bottle of chloroform; upon bringing in dinner,
forehead and nostrils. He will soon sleep so deeply that you may do what Simpson’s wife found them all asleep. Unlike ether, chloroform did
you will. To wake him up, dip the rag in strong vinegar.”
not irritate the lungs or cause vomiting, and was powerful and easy
Some of the surgical textbooks of the Middle Ages contain to administer. In April 1853, Queen Victoria (1819-1901) took
references to anesthetic sponges which were prepared by soaking chloroform for the birth of Prince Leopold; John Snow (1813-1858)
them in various herbs reputed to have soporific properties. The administered the anesthetic. Protests followed — some objections
favorite herb for this purpose was the mandrake. Another simple were religious (e.g., the Bible taught that women were supposed to
method of producing analgesia used intermittently from early times bring forth in “travail and pain”*) but most were medical, putatively on
was compression. Writing in 1564 about the various uses of the grounds of safety but ringing with naturophilia (Section 1.3.4): “In
tourniquet, the French surgeon Ambrose Pare noted that “it much no case could it be justifiable to administer chloroform in perfectly
dulls the sense of the part by stupefying it.” Amusingly, reliable ordinary labor,” complained the Lancet. Incredibly, some early 19th
witnesses claim that as late as the 19th century, a method of anesthesia century surgeons believed that using anesthesia for an operation
practiced at the Imperial Court of China was to “knock the patient would weaken a patient’s character.
out by a sudden blow on the jaw.” Of course, general anesthesia could indeed prove dangerous, and
The almost complete absence of any mention of pain-relieving deep unconsciousness was unnecessary for less invasive procedures, so
drugs in medical literature of the post-medieval period is not easy the search was on for substances that would numb a particular area
to explain. It is, however, probable that the action of crude concoctions for local surgery. Cocaine was isolated in 1859 and was first used in
employed in early times was very uncertain, and that drugged sleep ophthalmologic procedures by Carl Koller (1857-1944). Cocaine
often ended in death. The active ingredients of the many herbs used became the first widely-used local anesthetic, synthesized in 1885
in medicine had not been isolated and it would have been very by the Merck drug company.
difficult to regulate dosages reliably.
The story of inhalation anesthesia begins in 1799 when Sir 1.2.1.9.3 Germ Theory and Antisepsis
Humphry Davy (1778-1829) recorded the effects produced by the By the middle of the 19th century, pain had been banished from
inhalation of nitrous oxide. He breathed various concentrations of surgical operations, but one grave danger still faced every
the gas and noted that a headache and the pain associated with the patient submitting himself to the surgeon’s knife. This was the ever-
cutting of a wisdom tooth were relieved. Demonstrations of the present risk of sepsis (infection). Hospital diseases such as erysipelas,
effects of nitrous oxide were frequently given, bladders filled with pyemia, septicemia and gangrene, were rife. In the 1850s the death
“laughing gas” being passed around at lectures. Gas inhalation rate after amputations varied from 25%-60% in different countries
became a popular party game. A little book of 1839 contains a and in military practice it reached the appalling figure of 75%-90%.
description of the “irresistibly ridiculous” sight of a large room filled The first ovariotomies, which were the first abdominal operations
with persons each of whom was sucking from a bladder. As the gas performed on a fairly large scale, had a mortality rate of more than
began to take effect, “some jumped over the tables and chairs; some 30% even in the most expert hands. That all these diseases were due
were bent on making speeches; some were very much inclined to to some form of “contagion” had long been suspected, but the general
fight; and one young gentleman persisted in attempting to kiss the view was that whatever agent was responsible was generated
ladies.” At about the same time, “ether frolics” became equally popular. spontaneously in wounds. Alternatively, it was theorized that air
In January 1842, William E. Clarke (b. 1818), a young American itself was responsible for suppuration and many attempts were made
physician of Rochester, New York, who had acquired some knowledge to exclude the air from wounds by means of elaborate dressings.
of ether by attendance at ether frolics, administered the chemical Some medical men had postulated the existence of minute
on a towel to a Miss Hobbie who then had one of her teeth particles in the air which carried contagion, the so-called “germ
extracted painlessly. So far as is known this was the first use of ether theory.” In 1546, Girolamo Fracastoro of Verona (1478-1553)
for a dental or surgical operation. In March 1842, Crawford W. proposed “seminaria, the seeds of disease which multiply rapidly
Long (1815-1878) of Danielville, Georgia, who had also witnessed and propagate their life,” minute bodies passing unseen from the
ether frolics “enjoying sweet kisses from the girls,” successfully infector to the infected by contact, by clothing or utensils, and by
removed a small tumor from the neck of a patient under the influence infection at a distance through the air.
of ether. Horace Wells (1815-1848), a dentist of Hartford, What made the germ theory of contagion so difficult to accept
Connecticut, attended a public demonstration of the effects of was that no one could see the supposed microbes. Magnifying lenses
nitrous oxide in December 1844, and the day after he administered were used in ancient times, and by the beginning of the 17th century
*Others pointed to Genesis 2:21, where Adam is put to sleep as the rib is taken for Eve.
Basic Capabilities • The Prospect of Nanomedicine 13
they had been combined in a tube to make the compound micro- and on the skin. He showed that putrefaction was caused by the
scope. The first man to employ the microscope in investigating the presence of bacteria and that this applied to putrefaction in foods
causes of diseases was probably Athanasius Kircher (1601-1680), a (milk, wine, and meat), urine, and in wounds.
learned Jesuit priest. In 1658 Kircher described experiments upon The application of Pasteur’s discoveries to surgical practice was
the nature of putrefaction, showing how maggots and other living the work of Joseph Lister (1827-1912), a young English surgeon
creatures developed in decaying matter. He also claimed to have who had concluded that it must also be bacteria that caused the
found in the blood of plague-stricken patients “countless masses of suppuration, pus and gangrene which plagued the surgical wards of
small worms, invisible to the naked eye.” It is impossible that he those days. He determined to prevent the access of organisms by
could have seen the plague bacillus with the very low power micro- killing them in or on the surface of the wound. Pasteur had shown
scopes at his disposal, but he may have seen some of the larger that heat could kill microbes, but it was impossible to apply heat to
microorganisms and his statements about the doctrine of contagion a wound without burning the patient, so some chemical substance
are even more explicit than those of Fracastoro. had to be found. After trying various chemical agents he finally
The great pioneer of modern microscopy was Anthoni van selected carbolic acid, and he insisted that everything which touched
Leeuwenhoek (1632-1723), a Dutch linen draper, who ground his the wound, the dressings, the instruments and the fingers, should
own lenses and made hundreds of microscopes. Few of his instruments be treated with this antiseptic. He even produced an antiseptic
provided a magnification of more than 160X but he is generally atmosphere by means of a carbolic spray. The clinical results of Lister’s
credited as making the first observations of germs, reported in his first antiseptic system in 1865 included 11 compound fracture cases
communications to the Royal Society in London. Leeuwenhoek was with only one death, a 9% mortality rate, marking a watershed
the first to describe spermatozoa and he gave the first complete between the primitive and modern eras of surgery.
account of the red blood corpuscles in 1674; he also found that the Throughout the 19th century, the arguments continued as to
film from his own teeth contained “little animals, more numerous whether microorganisms seen in a sick patient were merely
than all the people in the Netherlands.” coincidental with the illness, or resulted from the changes brought
In 1847, Ignaz Philipp Semmelweis (1818-1865), an assistant at about by the illness itself. In 1882 the German microbiologist
the Vienna General Hospital in the maternity clinic (the world’s Robert Koch (1843-1910) formulated three famous postulates to
largest at the time), was investigating the 29% postpartum mortality guide scientists searching for disease-causing microbes. Koch argued
rate among women in Ward One, where births were handled by that to prove an organism causes a disease, microbiologists must
medical students, vs. a 3% rate in Ward Two where births were show that the organism occurs in every case of the disease; that it is
handled by midwifery pupils. Semmelweis noticed that the never found as a harmless parasite associated with another disease;
appearances of these deaths from puerperal fever looked the same as and that once the organism is isolated from the body and grown in
those observed in the body of an older colleague, forensic medicine laboratory culture, it can be introduced into a new host and produce
Professor Jakob Kolletschka (1803-1847), who had died from a the disease again. (An oft-stated fourth postulate, that the microbe
dissection wound suffered in the clinic. He correctly surmised that must be isolated again from the second host, was not part of Koch’s
the postpartum deaths were caused by infection from “putrid original formulation.2202)* Koch and his pupils discovered specific
particles” carried on the hands of medical students who often shuttled bacillary causes for various diseases, including anthrax, cholera,
back and forth between the labor wards, the obstetrical clinic, and tuberculosis, gonorrhea, diphtheria, leprosy, typhoid, trypanosomiasis,
the autopsy room where dissections were performed. Semmelweis and malaria.
instituted a simple routine of hand-washing with water solutions of The theory that specific germs could cause specific disease
chloride of lime, which promptly reduced mortality to 1.27%. remained contentious until the beginning of the 20th century. Many
Unfortunately, his ideas were met with fierce opposition by the scientists of great repute rejected Koch’s conclusions, with one
conservative medical community in Vienna, who subjected him to scientist confidently asserting that “no microbe found in the living
laughter and ridicule. In disgust, Semmelweis left Austria for blood of any animal was pathogenic.” In one celebrated case, Max
Budapest. There he became head of the obstetrical division of von Pettenkofer of Bavaria (1818-1901), a distinguished 19th century
St. Rochus Hospital, where puerperal fever mortality rates were experimental hygienist, induced Koch to send him a sample of his
reduced to below 1% after Semmelweis introduced chlorinated water cholera vibrios culture and then wrote a letter back to Koch in 1892,
disinfection. as follows:
The man who elucidated the true nature of infection, founded “Herr Doctor Pettenkofer presents his compliments to Herr Doctor
the science of bacteriology, and paved the way for Lister and the Professor Koch and thanks him for the flask containing the so-called
antiseptic system in surgery was Louis Pasteur (1822-1895). Pasteur cholera vibrios, which he was kind enough to send. Herr Doctor
was led to his great discoveries regarding bacteria and other micro- Pettenkofer has now drunk the entire contents and is happy to be able to
organisms by his investigations into the process of fermentation. inform Herr Doctor Professor Koch that he remains in his usual good
He showed conclusively that fermentation was brought about by health.”
some external agent entering the wine. He proved by painstaking Apparently Pettenkofer, aged 74 at the time he wrote the letter,
experiments under rigorously controlled conditions that meat and survived this cholera exposure quite well, perhaps possessing the
fluids like blood did not putrefy if they were kept in such a way that high stomach acidity which sometimes neutralizes the bacillus,
all air was excluded from them. By taking samples of air at different though he shot himself to death in Munich 9 years later.
levels Pasteur showed that contamination became less with increasing Skeptics notwithstanding, microbes were key. Enormous new
altitude. Then he proved that the contaminating agents were living vistas now lay open, as surgeons could confidently make an incision
organisms (bacteria) which were everywhere — in every room, in through intact skin without incurring an extreme risk of wound
the air, on every article of clothing, on furniture, on the ground, infection. The next step was to progress beyond killing wound
*Koch’s postulates are still valuable, especially as ideals, but many diseases do not conform to them so they are no longer considered the essential basis of diagnosis that
they once were.2202
14 Nanomedicine • Volume I
bacteria with chemical antiseptics, to the prevention of bacterial cellular division. Since Kolliker and Virchow, the study of the intimate
contamination by eliminating bacteria in the operating theater — structure and workings of the cells themselves, as distinct from the
aseptic surgery. The use of steam sterilization of instruments, dressings tissues, has become a separate science, cytology, further extended to
and gowns, the wearing of masks, caps and gloves, air filtration and the study of cells in disease, or cytopathology (Chapter 21).
the other rituals of the operating theater of today were introduced
over the decades following Lister’s efforts. 1.2.1.11 Blood Transfusions
Anesthesia and antisepsis enabled surgeons to carry out Vague references to blood transfusion are found in medieval
procedures that had formerly been quite beyond them, including writings, though physicians historically were far more concerned
long operations inside the head, the abdomen and the pelvis. with taking blood out of the body than with putting it back in. For
Theodor Billroth of Vienna (1829-1894) resected the esophagus in example, one story tells of an attempt to prolong the life of Pope
1872, parts of the intestines in 1878, and the pyloric end of the Innocent VIII (d. 1492) by means of a blood transfusion. By one
stomach in 1881. Billroth also made the first complete excision of account, a Jewish physician transfused the aged Pontiff with blood
the larynx. The first successful repair of a gunshot wound on a major from three small boys, who each received one ducat as their reward;
artery was performed in Chicago by John B. Murphy (1857-1916) but another account says the blood was drunk, not infused. One of
in 1897; Ludwig Rehn (1849-1930) of Frankfurt am Main the earliest proposals to transfuse blood was by Andreas Libavius
performed the first successful repair of a cardiac injury in Germany (1540-1616), a physician of Halle in Saxony, in 1615.
in the same year. The first serious attempts at blood transfusion were made in
Writing in 1874, Sir John Eric Erichsen (1818-1896), Professor of England and France. In 1657 Sir Christopher Wren (1632-1723)
Surgery at University College, London, had predicted that “the carried out numerous experiments on the injection of liquids into
abdomen, the chest, and the brain would be forever shut from the the veins of animals. Richard Lower (1631-1691) of Oxford carried
intrusions of the wise and humane surgeon.” By the time of Erichsen’s out the first successful transfusion from artery to vein between two
death 22 years later, surgeons had successfully removed from dogs in 1665, a feat repeated by the French physician Jean-Baptiste
patients the stomach and large parts of the intestines, a whole lung Denys (1625-1704), who went on to attempt transfusion of blood
had been excised, and a brain tumor had been extirpated. These from one kind of animal into another. Finally, before the Royal
operations were not mere feats of surgical showmanship; they saved Society in 1667, Lower transfused a human youth, 15 years of age,
the lives and restored the health of thousands of human beings. from a sheep. The patient was greatly improved and the only ill
effect was a feeling of great heat along his arm; subsequent patients
1.2.1.10 Cells and Tissues were not so lucky. Blood transfusions from lambs and calves to humans
The doctrine of the essential cellular nature of living things was continued to be tried in the mid 17th century, but were not very
established by 1840. Modern cell theory3223 began in botany. The successful, and in 1670 were finally forbidden by law in England.
Jena botanist Matthias Schleiden (1804-1881) observed that plants The first known transfusion of human blood into an already
were aggregates of cells, existing as self-reproducing living units. moribund person was attempted by James Blundell in 1818, and
Exploring analogies between animals and plants in structure and growth, on several other occasions during the 1820s, with poor results.
Theodor Schwann (1810-1882) took up the idea, maintaining that all Transfusion was carried out on a small scale during the American
these phenomena could also be demonstrated in animal structures. Thus Civil War, but technical difficulties connected with premature clotting
living cells were basic to living things, and cells incorporated a and the occurrence of accidents arising from the use of incompatible
nucleus and an outer membrane. blood prevented the rapid acceptance of the process. The cause of
Jacob Henle (1809-85) applied cell biology to man. His three- many of the untoward effects of blood transfusion was finally
volume Handbuch der systematischem Anatomie des Menschen explained in 1901 when the presence of agglutinins and iso-agglutinins
(Handbook of Systematic Human Anatomy) (1866-1871) addressed in the blood was demonstrated by Karl Landsteiner (1868-1943) in
the body from an architectural standpoint, describing its macro- Vienna, winning him the Nobel Prize in 1930; in 1907, the four
and microscopic structure. Henle discovered kidney tubules and main blood groups were determined by Jan Jansky (1873-1921) of
was the first to describe the muscular coat of the arteries, the minute Prague. Rhesus factor was later identified by two American scientists,
anatomy of the eye and various skin structures, earning him a Philip Levine (1900-1987) and Rufus Stetson (1886-1967). These
reputation as the Vesalius of histology (the study of tissues). advances were of fundamental importance and it became possible in
Physiologists stressed organ and tissue function — Claude Bernard the 20th century to eliminate most of the fatalities due to incompat-
(1813-1878) emphasized the experimental method in establishing ibility, allowing blood transfusions to be practiced reliably and with
biological knowledge and urged that medical practice should be uniformly good results.
grounded in such knowledge.
Histology was raised to the status of an independent science by 1.2.1.12 20th Century Medicine
the Swiss microanatomist Albert von Kolliker (1817-1905), who The 20th century saw more discoveries and advances in medical
wrote the first textbook on the subject, Handbuch der Gewebelehre science than all previous centuries combined. In this period, medicine
des Menschen (Handbook of the Tissues of Man) (1852). The medical became more powerful than ever before as scientists gained knowledge
implications of cell theory were taken up by Rudolph Virchow of matters and processes of illness that, at the beginning of the century,
(1821-1902), who dominated German biomedical research for half were still unknown or mysterious. Unlike the mere palliatives of
a century. Virchow extended the cell concept to diseased tissues; his earlier eras, 20th century physicians could actually cure some diseases,
Die Cellularpathologie (Cellular Pathology) (1858) analyzed such reverse some physical traumas, and save many lives that could not
tissues from the point of view of cell formation and cell structure. be saved before.
Virchow initiated the idea that the body may be regarded as a “cell In the first half of the 20th century, the rational scientific
state in which every cell is a citizen.” Disease is often but civil war, paradigm that arose in the 19th century was pursued and extended.
and white cells are likened to scavengers or police. Virchow Acceptance of the germ theory of infection and the discovery of
maintained that cells always arose from pre-existing cells through leukocytes led to the rapid emergence of immunology. This allowed
Basic Capabilities • The Prospect of Nanomedicine 15
another source2999 stated that ~4000 genetic disorders were known clinical trials, or under development (Volume III). Electron micro-
in 1998. There were more than 575 known abnormal human scopes with 200,000X magnifications allowed many details of
hemoglobins, and for each of these the precise structural defect in internal cellular and viral structures to be resolved as early as 1946;
the DNA of the mutant gene could be defined. Knowledge of by 1998, atomic-force (AFM) and scanning-tunneling microscopy
membrane, cytoplasmic, and nuclear receptors for hormones and (STM) permitted direct tactile examination of individual
drugs was exploding, with old as well as new diseases being defined biomolecules in fixed cells.
in terms of receptor abnormalities — for example, type II hyper- As the 20th century drew to a close, a few preliminary efforts
cholesterolemia and nephrogenic diabetes insipidus. Recognition had been made to apply the molecular approach to medical diagnostic
of opiate receptors led to the discovery of endogenous peptides and clinical tools. Biotechnology was one avenue being pursued,
(endorphins) with analgesic activity. Their localization promised with the rational design of artificial enzymes and specified-ligand
further understanding of the limbic system, affective states, and binding sites having already been achieved in certain limited cases,
addictions. Defects in a subcellular organelle, the peroxisome, were and the beginnings of gene therapy as noted earlier. Carbon fullerenes
known to be responsible for a growing list of important genetic (Section 2.3.2) had been used to create a water-soluble inhibitor of
afflictions such as Refsum disease, Zellweger syndrome, and X-linked HIV protease,2633,2634 and had other biological applications.2642
adrenoleukodystrophy. The genetic defect responsible for AFM-based force-amplified biological sensors2313 could detect
Huntington’s disease was discovered, and in the 1990s the genetic defined biological species such as cells, proteins, toxins, and DNA
defects responsible for many other important neurological disorders at concentrations as low as 10-18 M (~1/mm3), and automated
were becoming known, including forms of Alzheimer’s disease, laboratory systems for sorting and handling individual cells2314 and
Charcot-Marie-Tooth disease, and common blinding retinal viruses3219 were commonplace. Biotech companies such as Physiome
degenerative disorders such as retinitis pigmentosa, Leber’s hereditary Sciences of Princeton NJ had developed three-dimensional computer
optic neuropathy, Norrie’s disease, and choroideremia.2218 models of the heart and other organs. Physiome’s heart model was
DNA sequencing techniques and restriction endonucleases based on detailed molecular, biochemical, cellular and anatomical
permitted precise identification of the exact structural alteration of information, including submodels of all the different cell types found
the gene in an increasing number of hereditary diseases. For example, in the heart embodying knowledge of the function of each cell type
Burkitt’s lymphoma is characterized by a translocation of the distal in healthy and diseased hearts, and information on gene function
end of the long arm of chromosome 8 to loci on chromosomes 14, and the causes and effects of congestive heart failure, arrhythmias and
22, or 2.2219 Gene therapy — both pharmacologic modification of heart attacks. Other cell biochemistry simulators included E-CELL
specific gene action and physical replacement of damaged genetic (http://www.e-cell.org) and the Virtual Cell (http://www.nrcam.
segments — became possible in experimental systems. Complete uchc.edu). 3199 There was also much progress and interest in
maps of the entire genomes of 18 microbial species had been compiled nanostructure analysis and nanomaterials fabrication for medical
and published by the end of 1998, with more than 60 others in and biological purposes, with research groups emerging at major
progress.2345 In 1992, wrote the conservative Cecil Textbook of universities such as the Cornell Nanofabrication Facility, the
Medicine:2207 “The expansion of the knowledge bank of the past University of Michigan Center for Biologic Nanotechnology, the
quarter century justifies great optimism for the eventual control Rice University Center for Nanoscale Science and Technology, the
and cure of major diseases and the possible elimination of premature CalTech Materials and Process Simulation Center, the Washington
death from illness.” University Nanotechnology Center (St. Louis, MO), the USC
Global changes in progressive aging dysfunction were shown to Laboratory for Molecular Robotics, the UCLA Exotic Materials
be strongly related to declining secretion of growth hormone by Center, the Institute for Molecular Medicine of the University of
Rudman2976 in 1990. Shortly thereafter, anti-aging medicine was Oxford, and at many biotechnology-oriented corporations such as
recognized as a distinct discipline and was promoted by the American Nanogen and Affymetrix.
Academy of Anti-Aging Medicine (A4M), a group2981 that claimed However, the greatest medical revolution of all awaits the ability to
>6000 physician and scientist members worldwide by 1998 and engineer and fabricate whole devices and systems at the molecular scale.
had held numerous conferences.2977 In a book on the subject,2979 Along this course lies nanotechnology and molecular
Ronald Klatz,2978-2980 A 4M’s president, first comprehensively manufacturing, a deep well from which nanomedicine will inevitably
documented the implications of Rudman’s work. spring.
While biological science was vaulting forward into the
molecular realm at a blistering pace, biomedical engineering lagged 1.2.1.13 21st Century Medicine
considerably behind, though many remarkable successes had been It is always somewhat presumptuous to attempt to predict the
achieved since mid-century. Radiology expanded with sophisticated future, but in this case we are on solid ground because most of the
radiotherapy, ultrasound, scanning and imaging techniques (e.g., prerequisite historical processes are already in motion and all of them
CAT, PET, NMR), with submillimeter resolution in living tissues. appear to be clearly pointing in the same direction.
Surgical instruments became less damaging and less invasive; minimally Medical historian Roy Porter notes that the 19th century saw
invasive techniques used OK (orifice and keyhole) surgery and surgery the establishment of what we think of as scientific medicine. From
performed under the “eye” of a scan. Fetuses could be screened for about the middle of that century the textbooks and the attitudes
abnormality and surgery then performed upon them inside the they reveal are recognizable as not being very different from modern
womb, or they could be removed temporarily from the womb and ones. Before that, medical books were clearly written to address a
then returned to continue gestating, after surgery. Prospective parents different mind-set.
with fertility difficulties could make use of a wide range of therapies But human health is fundamentally biological, and biology is
including in vitro fertilization. Implantable pacemakers, fundamentally molecular. As a result, throughout the 20th century
defibrillators, and ventricular assist devices were commonplace, and scientific medicine began its transformation from a merely rational
in 1998 artificial wearable/implantable and full/partial replacements basis to a fully molecular basis. First, antibiotics that interfered with
for lungs, heart, kidney, liver, and pancreas were either available, in pathogens at the molecular level were introduced. Next, the ongoing
Basic Capabilities • The Prospect of Nanomedicine 17
revolutions in genomics, proteomics and bioinformatics2321 provided In the coming century, the principal focus will shift from medical
detailed and precise knowledge of the workings of the human body science to medical engineering. Nanomedicine will involve designing
at the molecular level. Our understanding of life advanced from and building a vast proliferation of incredibly efficacious molecular
organs, to tissues, to cells, and finally to molecules, in the 20th devices, and then deploying these devices in patients to establish
century. By the early 21st century, the entire human genome will be and maintain a continuous state of human healthiness.
mapped. This map will inferentially incorporate a complete catalog The very earliest nanotechnology-based biomedical systems may
of all human proteins, lipids, carbohydrates, nucleoproteins and be used to help resolve many difficult scientific questions that
other molecules, including full sequence, structure, and much remain. They may also be employed to assist in the brute-force analysis
functional information. Only some systemic functional knowledge, of the most difficult three-dimensional structures among the
particularly neurological, may still be lacking by that time. 100,000-odd proteins of which the human body is comprised, or
This deep molecular familiarity with the human body, along with to help ascertain the precise function of each such protein. But much
simultaneous nanotechnological engineering advances (Chapter 2), will set of this effort should be complete within the next 20-30 years
the stage for a shift from today’s molecular scientific medicine in which because the reference human body has a finite parts list, and these
fundamental new discoveries are constantly being made, to a parts are already being sequenced, geometered and archived at an
molecular technologic medicine in which the molecular basis of ever-increasing pace. Once these parts are known, then the reference
life, by then well-known, is manipulated to produce specific human being as a biological system is at least physically specified to
desired results. The comprehensive knowledge of human molecular completeness at the molecular level. Thereafter, nanotechnology-
structure so painstakingly acquired during the 20th and early 21st based discovery will consist principally of examining a particular
centuries will be used in the 21st century to design medically-active sick or injured patient to determine how he or she deviates from
microscopic machines. These machines, rather than being tasked molecular reference structures, with the physician then interpreting
primarily with voyages of pure discovery, will instead most often be these deviations in light of their possible contribution to, or detraction
sent on missions of cellular inspection, repair, and reconstruction. from, the general health and the explicit preferences of the patient.
18 Nanomedicine • Volume I
In brief, nanomedicine will employ molecular machine infection may consider the lack of infection to be abnormal, thus
systems to address medical problems, and will use molecular not regarding those who are infected as suffering from disease.
knowledge to maintain human health at the molecular scale.
3. Sociocultural Disease — Societies may possess a concept of
1.2.2 Volitional Normative Model of Disease disease that differs from the concepts of other societies, but the con-
What, exactly, is “medicine”? Dictionaries give several definitions, cept may also differ from that held by medical practitioners within
ranging from the very restrictive to the most general, as follows: “a the society itself. For instance, hypercholesterolemia is regarded as a
drug or remedy”;2223,2224 “any substance used for treating disease”;2220 disease condition by doctors but not by the lay public; medical
“any drug or other substance used in treating disease, healing, or treatment may be justified, but persons with hypercholesterolemia
relieving pain”;2221 “in a restricted sense, that branch of the healing may not seek treatment, even when told of the condition. Conversely,
art dealing with internal diseases”;2220 “treatment of disease by medical, there may be sociocultural pressure to recognize a particular condition
as distinguished from surgical, treatment”;2223 “the branch of this as a disease requiring treatment, such as alcoholism and gambling.
science and art that makes use of drugs, diet, etc., as distinguished
especially from surgery and obstetrics”;2221 “the study and treatment of 4. Statistical Disease — A condition is a disease when it is abnormal,
general diseases or those affecting the internal parts of the body”;2224 where abnormal is defined as a specific deviation from a
“the science of treating disease, the healing art”;2220 “the art and statistically-defined norm. This approach has many flaws. For
science of preventing or curing disease”;2224 “the act of maintenance example, a statistical concept makes it impossible to regard an
of health, and prevention and treatment of disease and illness”;2223 entire population as having a disease. Thus tooth decay, which is
“the department of knowledge and practice dealing with disease and virtually universal in humans, is not abnormal; those lacking it are
its treatment”; 2222 or, most generally, “the science and art of abnormal, thus are “diseased” by this definition. More reasonably, a
diagnosing, treating, curing, and preventing disease, relieving pain, future highly-aseptic society might regard bacterium-infested 20th
and improving and preserving health”.2221 In this book, we shall century humans (who contain in their bodies more foreign microbes
adopt the latter, maximally-inclusive, definition of “medicine” than native cells; Section 8.5.1) as massively infected. Another flaw
(Figure 1.3). is that many statistical measurables such as body temperature and
Reviewing Figure 1.3, the contemporary physician might at first blood pressure are continuous variables with bell-shaped distributions,
be inclined to relegate molecular approaches to some minor subfield, so cutoff thresholds between “normal” and “abnormal” seem highly
perhaps “nanoanalytics,” “nanogenomics,” or “nanotherapeutics.” This arbitrary.
would be a serious mistake, because the application of molecular
approaches to health care will significantly impact virtually every 5. Infectious Agency — Disease is caused by a microbial infectious
category of laboratory and clinical practice across the board. Thus agent. Besides excluding systemic failures of bodily systems, this view is
we are led to the broadest possible conception of nanomedicine as “the unsatisfactory because the same agent can produce very different
science and technology of diagnosing, treating, and preventing disease illnesses. For instance, infection with hemolytic Streptococcus can
and traumatic injury, of relieving pain, and of preserving and produce diseases as different as erysipelas and puerperal fever, and
improving human health, using molecular tools and molecular Epstein-Barr virus is implicated in diseases as varied as Burkitt’s
knowledge of the human body.” lymphoma, glandular fever, and naso-pharyngeal carcinoma.2227
This brings us to the question of “disease,” a complex term whose
meaning is still hotly debated among medical academics.2225-2230 6. Disease Realism — Diseases have a real, substantial existence
Figure 1.4 shows the results of a survey of four different groups of regardless of social norms and values, and exist independent of
people who were read a list of common diagnostic terms and then whether they are discovered, named, recognized, classified, or diagnosed.
asked if they would rate the condition as a disease. Illnesses due to Diseases are not inventions and may be identified with the operations
microorganisms, or conditions in which the doctor’s contribution of biological systems, providing a reductionistic account of diseases
to the diagnosis was important, were most likely to be called a in terms of system components and subprocesses, even down to the
disease, but if the cause was a known physical or chemical agent the molecular level. One major problem with this view is that theories
condition was less likely to be regarded as disease; general practitioners may change over time — almost every 19th century scientific theory
also had the broadest definition of disease. was either rejected or highly modified in the 20th century. If the
No less than eight different types of disease concepts are held by identification of disease is connected with theories, then a change
at least some people currently engaging in clinical reasoning and in theories may alter what is viewed as a disease. For example, the
practice, including:2226,2227 19th century obsession with constipation was reflected in the disease
labelled “autointoxication,” in which the contents of the large bowel
1. Disease Nominalism — A disease is whatever physicians say is were believed to poison the body. Consequently much unnecessary
a disease. This approach avoids understanding and forestalls attention was paid to laxatives and purgatives and, when surgery of
inquiry, rather than furthering it. the abdomen became possible toward the end of the century,
operations to remove the colon became fashionable in both
2. Disease Relativism — A disease is identified or labeled in England and America.2205
accordance with explicit or implicit social norms and values at a
particular time. In 19th century Japan, for example, armpit odor 7. Disease Idealism — Disease is the lack of health, where health
was considered a disease and its treatment constituted a medical
is characterized as the optimum functioning of biological systems.
specialty. Similarly, 19th-century Western culture regarded
masturbation as a disease, and in the 18th century, some Every real system inevitably falls short of the optimum in its actual
conveniently identified a disease called drapetomania, the functioning. But by comparing large numbers of systems, we can
“abnormally strong and irrational desire of a slave to be free.”2205 formulate standards that a particular system ought to satisfy, in
Various non-Western cultures having widespread parasitic order to be the best of its kind. Thus “health” becomes a kind of
Basic Capabilities • The Prospect of Nanomedicine 19
Fig. 1.4. Opinion survey: what is disease? (modified from Campbell,Scadding, and Roberts2232)
Platonic ideal that real organisms approximate, and everyone is a explicit set (or network) of instructions. There are completely
less than perfect physical specimen. Since we are all flawed to some self-contained “closed” genetic programs, and there are “open”
extent, disease is a matter of degree, a more or less extreme variation genetic programs that require an interaction between the
from the normative ideal of perfect functioning. This could be programmed system and the environment, e.g. learning or
combined with the statistical approach, thus characterizing disease conditioning. Normal functioning is thus the operation of
as a statistical variation from the ideal. But this view, like the statistical, biologically programmed processes, e.g. natural functioning, and
suffers from arbitrary thresholds that must be drawn to qualify a disease may be characterized as the failure of normal functioning.
measurable function as representing a diseased condition. One difficulty with this view is that it enshrines the natural (Section
1.3.4) as the benchmark of health, but it is difficult to regard as
8. Functional Failure — Organisms and the cells that constitute diseased a natural brunette who has dyed her hair blonde in
them are complex organized systems that display phenomena (e.g. contravention of the natural program, and it is quite reasonable to
homeostasis) resulting from acting upon a program of regard the mere possession of an appendix as a disease condition,
information. Programs acquired and developed during evolution, even though the natural program operates so as to perpetuate this
encoded in DNA, control the processes of the system. Through troublesome organ.* A second weakness of this view is that disease
biomedical research, we write out the program of a process as an is still defined against population norms of functionality, ignoring
* The vermiform appendix may have some minor immune function, but it is clearly nonessential and can kill when infected. Yet natural selection has not eliminated it. Indeed,
there is evidence for positive selection due to the following accident of physiological evolution. Appendicitis results when inflammation causes swelling, compressing the artery
supplying blood to the appendix. High bloodflow protects against bacterial growth, so any reduction aids infection, creating more swelling; if flow is completely cut off, bacteria
multiply rapidly until the organ bursts. A slender appendix is especially susceptible, so untreated appendicitis applies positive selective pressure to maintain a larger appendix.2185
20 Nanomedicine • Volume I
individual differences. As a perhaps overly simplistic example, 65% result in the blindness phenotype would not, for him, constitute
of all patients employ a cisterna chyli in their lower thoracic lymph “disease” as long as he fully understands the options and outcomes
duct, while 35% have no cisterna chyli (Figure 8.10) — which group that are available to him. (Retaining his blindness while lacking
has a healthy natural program, and which group is “diseased”? such understanding might constitute a specification error, and such
The author proposes a ninth view of disease, a new alternative which a patient might then be considered “diseased.”) Whether the broad
seems most suitable for the nanomedical paradigm, called the pool of volitional human phenotypes will tend to converge or
“volitional normative” model of disease. As in the “disease idealism” diverge is unknown, although the most likely outcome is probably
view, the volitional normative model accepts the premise that a population distribution (of human biological programs) with a
health is the optimal functioning of biological systems. Like the tall, narrow central peak (e.g., a smaller standard deviation) but
“functional failure” view, the volitional normative model assumes with longer tails (e.g., exhibiting a small number of more extreme
that optimal functioning involves the operation of biologically outliers).
programmed processes. One minor flaw in the volitional normative model of disease is
However, two important distinctions from these previous views that it relies upon the ability of patients to make fully informed
must be made. First, in the volitional normative model, normal decisions concerning their own physical state. The model crucially
functioning is defined as the optimal operation of biologically involves desires and beliefs, which can be irrational, especially during
programmed processes as reflected in the patient’s own individual mental illness, and people normally vary in their ability to acquire
genetic instructions, rather than of those processes which might be and digest information. Patients also may be unconscious or too
reflected in a generalized population average or “Platonic ideal” of young, whereupon default standards might be substituted in some
such instructions; the relative function of other members of the cases.
human population is no longer determinative. Second, physical Nevertheless, the volitional normative view of disease appears
condition is regarded as a volitional state, in which the patient’s most appropriate for nanomedicine because it recognizes that the
desires are a crucial element in the definition of health. This is a era of molecular control of biology could bring considerable
continuation of the current trend in which patients frequently see molecular diversity among the human population. Conditions
themselves as active partners in their own care. representing a diseased state must of necessity become more idio-
In the volitional normative model, disease is characterized not syncratic, and may progressively vary as personal preferences evolve
just as the failure of “optimal” functioning, but rather as the failure over time. Some patients will be more venturesome than others —
of either (a) “optimal” functioning or (b) “desired” functioning. Thus “to each his own.” As an imperfect analogy, consider a group of
disease may result from: individuals who each take their automobile to a mechanic. One
driver insists on having the carburetion and timing adjusted for
1. a failure to correctly specify desired bodily function (specification maximum performance (the “racer”); another driver prefers optimum
error by the patient), gas mileage (the “cheapskate”); still another prefers minimizing
tailpipe emissions (the “environmentalist”); and yet another requires
2. a flawed biological program design that doesn’t meet the only that the engine be painted blue (the “aesthete”). In like manner,
specifications (programming design error), different people will choose different personal specifications
3. flawed execution of the biological program (execution error), (Section 1.2.5). One can only hope that the physician will never
become a mere mechanic even in an era of near-perfect human
4. external interference by disease agents with the design or structural and functional information; an automobile conveys a body,
execution of the biological program (exogenous error), or but the human body conveys the soul. Agrees theorist Guttentag:2234
“The physician-patient relationship is ontologically different from
5. traumatic injury or accident (structural failure).
that of a maintenance engineer to a machine or a veterinarian to an
In the early years of nanomedicine, volitional physical states will animal.”
customarily reflect “default” values which may differ only
insignificantly from the patient’s original or natural biological 1.2.3 Treatment Methodology
programming. With a more mature nanomedicine, the patient may The availability of advanced nanomedical instrumentalities
gain the ability to substitute alternative natural programs for many should not significantly alter the classical medical treatment
of his original natural programs. For example, the genes responsible methodology, although the patient experiences and outcomes will
for appendix morphology or for sickle cell expression might be
be greatly improved. Treatment in the nanomedical era will become
replaced with genes that encode other phenotypes, such as the
phenotype of an appendix-free cecum or a phenotype for statistically faster and more accurate, efficient, and effective. In clinical practice,
typical human erythrocytes.* Many persons will go further, electing patient treatment customarily includes up to six distinguishable
an artificial genetic structure which, say, eliminates age-related phases: examination, diagnosis, prognosis, treatment, validation, and
diminution of the secretion of human growth hormone and other prophylaxis. Let us consider each of these, in turn.
essential endocrines. (The graduated secretion of powerful
proteolytic enzymes, perhaps targeted for gene-expression in 1.2.3.1 Examination
appropriate organs, may reverse and control the accumulation of The first step in any treatment process is the examination of the
highly crosslinked collagenaceous debris; by 1998, many members patient, including the individual’s medical history, personal
of the mainstream medical community were already starting to functional and structural baseline, and current complaints. In classical
regard aging as a treatable condition.)2310,2976-2981 On the other hand, medicine, interview and observation have long been the cornerstone
a congenitally blind patient might desire, for whatever personal of examination. In ancient times this was limited to obvious
reasons, to retain his blindness. Hence his genetic programs that
*It is often pointed out that sickle cell is advantageous in malaria-infested countries because the trait confers resistance to malaria. This flaw-tolerant view makes a virtue
of necessity—a direct cure for malaria will undoubtedly be more efficient. Sickle cell is disadvantageous in hypoxic conditions, which is why no one with this trait can hold
a civil airline pilot’s license.2227
Basic Capabilities • The Prospect of Nanomedicine 21
manifestations and simple constellations of observables, such as the DNA in the sample immediately available for hybridization to the
Hippocratic facies, the four signs of inflammation noted by Celsus, probes. The swab is swirled in the liquid mix of the prepackaged test kit
for 1 minute. The liquid is then poured through a column that separates
or pulse rate and fever. Clinicians recognize that the traditional taking
hybridized DNA molecules (bacterial target DNA sequences bound to
and interpreting of oral medical histories from new patients is a probe DNA) from all other debris [taking several minutes]. A chemilu-
subtle and complex art, 2235 although some aspects of this minescence detection system for the probes shows two of several possible
process might be automated using voice recognition and text colors indicating mixed infection. The diagnostic result, available in
preinterpretation software, somewhat easing the physician’s burden. 10 minutes, indicates a Rhinovirus of a strain known to be epidemic in
Advancing technology has also brought a plethora of tests that the geographic area. A significant superinfection with a penicillin-resistant
contribute to accurate diagnosis, including auscultation, microscopy streptococcus is also identified. With a definitive diagnosis, the patient
and clinical bacteriology in the 19th century, and radiological is started on the appropriate antibiotic.”
scanning, clinical biochemistry, genetic testing, and minimally How might nanomedicine handle this test? In the nanomedical
invasive exploratory surgery in the 20th century.2694 era, taking and analyzing microbial samples will be much simpler
In the 21st century, new tools for nanomedical testing and for the practitioner. Such analysis will be as quick and convenient
observation (Chapter 18) will include clinical in vivo cytography; as the electronic measurement of body temperature using a tympanic
real-time whole-body microbiotic surveys; immediate access to thermometer in a late 20th-century clinical office or hospital. As
laboratory-quality data on the patient (e.g. blood tests such as blood described in Chapter 18, the physician faces the patient and pulls
counts, dissolved gases and solutes, vitamin and ion assays); physiological from his pocket a lightweight handheld device resembling a pocket
function and challenge tests; tissue composition including direct calculator. He unsnaps a self-sterilizing cordless pencil-sized probe
organelle counts in specified tissue populations; quantitative flowcharts from the side of the device and inserts the business end of the probe
of in cyto secondary messenger molecules, extracellular hormones into the patient’s opened mouth in the manner of a tongue depressor.
and neuropeptides; per-compartment cytoglucose inventories; and The ramifying probe tip contains billions of nanoscale molecular
so forth. Before a proper diagnosis can be made, the physician must assay receptors mounted on hundreds of self-guiding retractile stalks.
also establish the patient’s personal functional and structural baseline Each receptor is sensitive to one of thousands of specific bacterial
against which any deviations can be noted and corrected, in keeping membrane or viral capsid ligands (Section 4.2).** An acoustic
with the volitional normative model of disease (Section 1.2.2). echolocation transceiver provides gross spatial mapping. The
The capabilities of nanomedical testing are explored at length in patient says “Ahh,” and a few seconds later a three-dimensional color-
Chapter 18. By way of introduction, it is instructive to think about coded map of the throat area appears on the display panel that is
a trivial class of test procedures that might be used to diagnose a held in the doctor’s hand. A bright spot marks the exact location
simple infectious disease at several different levels of technological where the first samples are being taken. Underneath the color map
competence. Let us consider a patient who presents with signs and scrolls a continuously updated microflora count, listing in the
symptoms that are nonspecific in nature but which suggest an leftmost column the names of the ten most numerous microbial
infectious process — e.g. nasal congestion, mild fever, discomfort and viral species that have been detected, key biochemical marker
and cough. The initial signs are due in part to the body’s inflammatory codes in the middle column, and measured population counts in
response and in part to the infectious agent itself. The diagnostic the right column. The number counts flip up and down a bit as the
goal is to identify the infectious agent. physician directs probe stalks to various locations in the pharynx to
In the late 20th century, the usual procedure would be to culture a obtain a representative sampling, with special attention to sores or
sample taken from the patient, in the microbiology laboratory, any signs of exudate. After a few more seconds, the data for two of
using various broths, petri plates, and biochemical tests. Some the bacterial species suddenly highlight in red, indicating the
infectious agents are easy to demonstrate. Beta hemolytic streptococci distinctive molecular signatures of specific toxins or pathological
from a throat swab will grow overnight on a blood agar plate, and variants. One of these two species is a known, and unwelcome, hostile
colony counts for E. coli in a urine sample are available in 24 hours. pathogen. The diagnosis is completed, the infectious agent is
A throat culture that the lab reports as a mixed culture causes no promptly exterminated (Chapter 19),3233 and a resurvey with the probe
excitement, and a single isolate of Staphylococcus epidermidis in a several minutes afterwards reveals no evidence of the pathogen.
blood culture is usually regarded as a skin contaminant.
Moving up to a higher level of technological competence, 1.2.3.2 Diagnosis
biotechnologists describe an ideal diagnostic scenario which takes a Diagnosis is the determination of the cause and nature of a disease
molecular approach to the diagnosis of infectious disease using in order to provide a logical basis for treatment and prognosis.
recombinant DNA technology. This approach was not yet possible in Traditionally the diagnostic process begins with a thorough history taken
1996 when first suggested,2233 but was regarded as a reasonable and from the patient and a relevant physical examination. Often this
likely future application* of biotechnology in the early 21st century sufficed to make a confident diagnosis, but the cause of some illnesses
given rapid progress in single-molecule DNA assay techniques:2682 remained uncertain without recourse to additional information such
as blood tests or radiological examinations. Nanotechnology-based
“A patient presents in the clinic with mild fever, nasal congestion, diagnosis (Chapter 18) will consist principally of examining the
discomfort, and cough. A swab of his throat is taken. Instead of culture
to identify abnormal microorganisms by their pattern of growth, the patient to determine how he or she deviates from autogenous reference
sample is analyzed by recombinant DNA techniques. The cotton throat structures and functions, and then interpreting those deviations as
swab is mixed with a cocktail of DNA probes. Enzymes that digest and healthy or unhealthy for that patient.
release the DNA from both host cells and invading bacteria make the
*In 1997, kits were being manufactured in Moscow, Russia, that allowed routine PCR diagnosis of multiple microorganisms in both clinical and agricultural settings [R. Bradbury,
personal communication, 1999], and by 1998 PCR detection of bacteria in <10 minutes was well-known.3226
**Inexpensive biosensor devices capable of detecting Salmonella contamination in meat and poultry were already commercially available in 1998.
22 Nanomedicine • Volume I
In the 20th century, diagnoses frequently involved a high effects of disease or injury, with a minimum of pain, discomfort,
degree of uncertainty, largely due to the general lack of comprehensive side-effects, intrusiveness and time, and with a maximum of
molecular diagnostic tools. Thus diagnosis would be guided by statis- effectiveness, efficiency, and likelihood of success, though of course
tical analyses; one branch of decision analysis, called utility analy- some tradeoffs will always exist. Nanomedicine also will excel in the
sis, even allowed the patient to participate in the decisionmaking correction of molecular defects of a kind which Nature has no
process.2227 When the correct decision is unclear, urges one text- predesigned tools — such as the breakdown and removal of
book, it is well to remember time-honored Hippocratic aphorisms such intracellular lipofuscin (for which there appear to be no natural
as “first, do no harm” and “common things occur commonly.” The enzymes) and the removal of indigestible waste products which
eminent Canadian physician Sir William Osler (1849-1919) lamented interfere with neuronal axon transport.
that “errors of judgement must occur in the practice of an art which As in Section 1.2.3.1, we may compare the therapeutic response
consists largely in balancing probabilities.” Most doctors would prefer to a simple infection at several different levels of technological
to understand the root cause of medical problems rather than adopt competence. Consider a patient who has been diagnosed with eastern
mere statistical approaches. equine encephalitis, a mosquito- or tick-borne arbovirus. In the 20th
Nanomedical tools will vastly reduce diagnostic uncertainty. century, there was no specific treatment for this disease. Care was
Using nanomedical instrumentalities, doctors will gain access to generally supportive, with the doctor attempting to maintain the
unprecedented amounts of information about their patients including patient’s heart and lung function while the infection ran its course.
in-office comprehensive genotyping and real-time whole-body scans The prognosis was poor. There was a 50%-75% mortality rate with
for particular bacterial coat markers, tumor cell antigens, mineral frequent sequelae including seizures and paralysis, especially in
deposits, suspected toxins, hormone imbalances of genetic or lifestyle children.2180
origin, and other specified molecules, producing three-dimensional Biotechnologists proposed a molecular approach to therapeutics
maps of desired targets with submillimeter spatial resolution. using recombinant DNA technology that was not yet possible in
Embedded in vivo nanomedical data archives (Section 10.2.5, Chapter 1996 but was regarded as likely by the early 21st century:2233
19) can provide onboard storage of regularly updated self-diagnostic
scans, reducing to a minimum the need for symptomatic interview “A patient enters the hospital with high fever and intense headaches. A
data from patients who may be unconscious, inarticulate, or verbose, spinal fluid tap is submitted to the molecular microbiology lab. After
who may have limited powers of self-analysis or self-observation screening for several viruses, a species of equine encephalitis virus is
and who may have forgotten, suppressed, or amplified identified that is endemic to a location recently visited by the patient. A
descriptions of symptoms. call to the Centers for Disease Control results in the emergency delivery
of a new antiviral agent. Antisense oligonucleotides are injected into
Of course, physicians do not require an exhaustive survey of the
the cerebral spinal fluid. These small DNA pieces bind directly to the
entire body of each patient to molecular detail to make a valid virus and block its further proliferation. A temporary reservoir giving
diagnosis. In any particular case, it is the function of the trained access to the cerebrospinal fluid is placed and infusion of this therapeutic
medical mind to quickly ascertain where and where not to look in molecular inhibitor of the virus continues for 5 days until signs of
molecular detail. But in the nanomedical era, powerful tools will be encephalitis have passed.”
available to allow the practitioner to examine almost any portion of
a patient in as much detail as desired, right down to the molecular The nanomedical therapy? As before, a nanomedical cure for
level, with results available in seconds or minutes, and at reasonable eastern equine encephalitis may be far simpler, less painful and a
cost (e.g. Section 2.4.2). great deal quicker. A single therapeutic dose consisting of ~0.1 cm3
of isotonic saline fluid containing ~10 billion active micron-size
virucidal nanodevices, a 10% volumetric nanodevice suspension, is
1.2.3.3 Prognosis and Treatment
injected into the cerebrospinal fluid. Each therapeutic nanorobot
Prognosis is a judgement or forecast, based upon a correct
has chemical sensors that can unambiguously recognize fluidborne
diagnosis, of the future course of a disease or injury, and of the
or in cyto arbovirus particles and, once recognition has occurred,
patient’s prospects for partial or full recovery. Guttentag2234 identifies
destroy them and also reverse the cellular damage. A nanorobot
prognosis as “the predicted course of the reduced state of the patient’s
population of this size should be able to destroy all viral particles
psychosomatic freedom of action,” and treatment as “the physician’s
and effect needed repairs in at most an hour (Chapter 19),3233 after
ability to intervene.”
which the devices are programmed and equipped either to eliminate
But prognosis is a function of treatment as well as disease. From
themselves from the body (Chapter 16) or to be manually exfused
the post-Hippocratic era through the 18th century, treatments were
(e.g., nanapheresis; Section 10.3.6).
almost purely empirical and often did more harm than good. During
the 19th and early 20th centuries, treatments were scientific but
largely homeostatic — the medical intervention was rational but 1.2.3.4 Validation and Prophylaxis
served mainly to assist the body in healing itself. Throughout the A proper therapeutic protocol will include a procedure for follow-
remainder of the 20th century, truly curative treatments began to up to ensure that the prescribed treatment was correctly executed
rescue some patients from conditions from which their unaided with good results. This step is often neglected in order to save costs
bodies would not have been able to recover. Although conventional and may be considered unimportant by some practitioners because
biotechnology will enable some important tissue and cellular approximately 80%-90% of all illnesses which take patients to the
replacement treatments by the early 21st century, nanomedicine doctor are self-curing or self-limiting.2205 For example, the common
will enable major reconstructive and restorative procedures at the cold, most infectious diseases and many minor injuries are problems
tissue, cellular and molecular levels and will employ active antibiotic that usually will resolve on their own even with no treatment. In
devices. The prognosis will almost always be good, except in cases these cases the purpose of treatment is not to provide a cure, but
of severe neural damage and a few other specialized circumstances. rather to speed the healing process, improve comfort, and avoid
Therapeutic treatments will be selected to reverse all pathological
Basic Capabilities • The Prospect of Nanomedicine 23
complications. Many nanomedical treatments will require supervision supportive measures. This frame of reference was progressively
and will run quickly to completion, thus follow-up may come back replaced during the 19th century with the trend toward “hospital
into vogue. Validation may also be viewed as a post-treatment medicine,” wherein physicians concentrated on generic classifications
re-diagnosis to ensure that no disease remains present in the of diseases that were manifested in the patient, moving doctors away
patient. from the earlier focus on the individual as a whole person. The 20th
Prophylaxis is the prevention of disease, typically including century saw the development of “laboratory medicine,” which moved
patient education, immunization programs, amelioration of occu- diagnosis and therapy even further away from the whole patient, “who
pational hazards, and other preventive and public health measures. In a came to be medically conceived as little more than a depersonalized
treatment environment that is rich in effective antibacterial object, comprised of a complex of cells.”
instrumentalities, those microbes which survive will evolve to produce A more charitable view is that physicians have increasingly
only modest or negligible symptoms that are insufficiently annoying to specialized in treating those physical diseases for which effective
motivate a patient to seek professional therapeutic relief. It is well- treatments may be readily specified, leaving nonphysical and
known that bacteria can modify their behavior over time. For nontreatable issues for psychiatrists, social workers, fitness coaches,
example, syphilis had a much more fulminating course in the Middle priests, lawyers, or other professionals to deal with. In the 21st century
Ages than it has in the 20th century. Some future strain of the syphilitic this operational specialization may become complete, since
microbe might produce negligible symptoms, but we should still nanomedicine phenomenologically regards the human body as an
insist on its eradication because of its potential to revert to its earlier intricately structured machine with trillions of complex interacting
virulence if allowed to spread unchecked in a more benign form. parts, with each part (and each subsystem of parts) subject to
Preventative procedures may also be needed to discover, diagnose, individual scrutiny, repair, and possibly replacement by artificial
and treat apparently symptomless diseases, and a variety of molecular- technological means. In this new medical cosmology, the concept
based physiological malfunctions and structural micropathologies of the whole patient almost completely dissolves into a data-intensive
may require nanoscale tools in order to detect them. whirlwind of molecular detail at the cellular, tissue, organ, and
With medical conditions that require ongoing supervision and systemic levels.
adjustment, such as maintaining optimum hormone balance and And yet, as in a bygone era, patients once again will help to
minimal accumulation of molecular debris (e.g. anti-aging medicine), shape their own diagnosis and treatment at the hands of medical
nanoscale monitoring stations may act as onboard cellular guidance practitioners who begin to apply the volitional normative model of
systems, stimulating or suppressing endocrine secretion as necessary to disease (Section 1.2.2) in their practices. This may breathe new life
preserve an ideal state of equilibrium. In some cases, direct manu- into the age-old medical school dictum to “treat the patient as a
facture of compounds not easily produced by ribosomes or other person” and to “focus on the sick person” rather than exclusively on
biological organelles may be required. the body.2230
The availability of extremely powerful and transforming
1.2.4 Evolution of Bedside Practice molecular technologies also argues for a return to the romantic and
The relationship between physician and patient has been evolving perhaps quaint concept of a single doctor taking care of a single
in response to the rapidly changing medical environment. Two of patient. The potential for interactions among highly potent
the most important trends are the decline of traditional holism (with nanorobotic instrumentalities argues for diagnostic and therapeutic
a concomitant increase in specialization) and the rise of therapeutic “gatekeeping” by a single trusted practitioner in whom strategic
customization in medical practice. treatment responsibility is vested — in partnership, of course, with
the patient.
1.2.4.1 Specialization and Holistic Medicine
Holism is a philosophy which holds that individuals function as 1.2.4.2 Customized Diagnosis and Therapeutics
complete units that cannot be reduced merely to the sum of their In science the objective is to understand the individual occurrence
parts.2223 It is unarguable that a simplistic reductionist view of the by means of a general law; in medical practice, knowledge of what
patient which ignores the complex interactions among the many is generally the case does not tell the physician how to treat a particular
cells, tissues, organs, and systems constituting the human body is patient. Thus the problem of how to proceed from the prototypic
deeply flawed. For example, an understanding of the molecular case to the individual instance remains to be solved in a systematic
basis of the contractile proteins of heart muscle will not alone tell us manner by the practitioner.2230
how heart muscle cells will look or act; knowing only about the The practitioner of “bedside medicine” in the 17th and 18th
parts of something is not sufficient to predict the behavior of the centuries had few curative and almost no customized tools at his
whole.2239 However, traditional concepts of holistic medicine go disposal — perhaps a few dozen basic surgical techniques, performed
well beyond such basic systems philosophy — incorporating require- septically, hazardously, and without anesthesia, and a drug/herbal
ments for a consideration of all physical, emotional, social, spiritual, formulary consisting of a few hundred substances. For instance, the
environmental and economic needs of the patient. Edinburgh Pharmacopoeia of 1803 listed only 222 simples while the
N. Jewson2203 and others2205 have decried the modern shift away London Pharmacopoeia of 1809 listed fewer than 200 items, most of
from holistic medicine, which is asserted to have taken place in three which had variable, uncertain, minimal, or nonspecific potency. A
historical phases in the West. The initial phase is identified as the few more options became available to the 19th century medical
practice of “bedside medicine,” where wealthy fee-paying clients in practitioner, including complex surgical techniques for specific
the 17th and 18th centuries helped shape their own diagnosis and conditions that could be performed aseptically with anesthesia and
treatment by medical practitioners in an holistic manner. Aspects a good chance for success, a somewhat broader and more efficacious
of the patient’s emotional and spiritual life were seen as central by pharmacopeia, vaccines targeted to several diseases, and an improving
the practitioner in making a diagnosis, since most physical treatments diagnostic ability. By the 20th century, the physician could prescribe
were only palliative and so the doctor had to focus on nonphysical
24 Nanomedicine • Volume I
from among tens of thousands of specific drugs to target specific the personal significance of specific diagnostic information. As the
bacterial, viral, fungal, or parasitic infections; select from among a great clinician Thomas Addis observed in another context:2237
very precise array of anesthetic agents, chosen to avoid allergic “Honesty with patients requires thought and discipline and effort.”
responses in particular patients; perform a wide variety of noninvasive Perhaps the single most important aspect of the physician-
tests and scans for diagnostic purposes to identify very specific patient relationship, in any century, is the humanistic quality of the
conditions; and perform minimally invasive surgeries directed at good doctor. The patient seeks a physician who cares about him as
many arbitrary tissue masses as small as 1 mm3 in volume. The first a person and will diagnose and prescribe in a sensitive and com-
glimmerings of personalized genetic therapies also began to appear. passionate manner, accepting some degree of obligation to the
With the arrival of nanomedicine in the 21st century, the treatment patient. Speaking to medical students, J.C. Bennett2238 describes
paradigm will complete its transition from coarse-grained, one- the implicit social contract between doctor and patient that will
size-fits-all, slow-acting methods to molecularly-precise, completely still apply in the nanomedical era, as it does today:
customized, speedy and highly-efficacious procedures and instru-
mentalities. The irregular shotgun pattern of 18th century palliatives “To receive medical care, patients must trust their bodies and their very
will evolve during the early 21st century into a penetrating and lives to physicians, and so to be in an honest position to give medical
care, physicians must earn such radical trust. Mere technical treatment
perfectly tailored hail of “magic bullets” each targeting an individual
of disease does not suffice. Patients must be able reasonably to believe
cell or group of cells unique to the individual patient. The 19th that their physicians care about them in an extraordinarily personal
century herbalist John Ayrton Paris could have been describing the way. This exchange of care for trust, while not identical to friendship or
nanomedical future in his popular textbook Pharmacologia, 1840 love, is equally binding. From it develops an interdependence that is far
edition, when he wrote: from unwholesome; rather, it potentiates care and promotes healing.
Our late twentieth century sophistication and technologic orientation
“If [a physician] prescribes upon truly scientific principles, he will rarely have too often cost us warmth, humor, and humanity, leaving us in
in the course of his practice compose two formulae that shall, in every social isolation. We do far better as professionals to err on the side of
respect, be perfectly similar, for the plain reason that he will never meet being human with our patients, than to try to play deus ex machina,
with two cases exactly alike. Now let me ask what constitutes the essential the god from the machine.”
difference between the true physician and his counterfeit — between
the philosopher and the empiric? Simply this — that the latter exhibits
the same medicine in every disease, however widely each may differ 1.2.5 Changing View of the Human Body
from the other in its symptoms and character; while the former examines, How does a patient regard his or her own body, and how might
in the spirit of philosophic analysis, all the existing peculiarities of his this most intimate of all relationships change in the nanomedical
patient, and of his discord...and then adapts with a sound discretion era? The so-called dualist theory of the human compound, as originally
and with a correct judgement of his medicinal agents, such means as developed by Descartes and widely accepted today by the ordinary
may best be calculated to control and correct the patient’s morbid
person, holds that the human being consists of two separate kinds
condition.”
of thing: the body and the mind or soul. The body acts as a host or
receptacle for the mind. The mind, often called “the ghost in the
1.2.4.3 The Physician-Patient Relationship machine,” is manifested by the brain, which it uses (via the bodily
Many other aspects of the physician-patient relationship, especially senses) to acquire and store information about the world and to
as this relationship may evolve in the coming era of nanomedicine, integrate this with its genetically-driven imperative to live, thus
are important and worthy of extensive discussion. One such issue is resolving internal conflicts among action-choices and expressing
the obligation of both parties in the partnership to tell the truth. these in what we (in our consciousness) experience as decisive
The patient as a fellow human being has every right to know the action.
truth about his or her biological condition, but other considerations Scientific medicine has concentrated primarily on the body. The
may enter into the fulfillment of this obligation.2234 Patients have a ancient Roman physician Galen first dissected and vivisected a variety
quite natural anxiety about their own possible death, and it has of animals to increase his knowledge of anatomy and physiology,
been claimed that this anxiety implies that no one can be truly and dissection became increasingly important in the training of
objective toward his or her own body.2236 Guttentag2234 observes physicians and surgeons, and in painting and sculpture, during the
that “telling an unwelcome truth to the unprepared is as ill-conceived Renaissance. By the late 20th century, dissection had reached the
as trying to hide the truth from the prepared.” molecular level, with the insides of the human cell and nucleus
In the nanomedical era, the sheer number of “truths” that may being taken apart and examined by molecular biologists, literally
become available for disclosure will increase enormously even as the receptor by receptor. Dissection and the mechanistic understanding it
terminal prognosis becomes rare. For example, each human being is provides have led some to decry what they regard as the modern
believed to possess at least 4-10 potentially serious genetic defects; “soulless” view of the human body as a mere machine.
up to 1% of human DNA is of exogenous viral origin, and as much In the nanomedical era, even the most diehard reductionist must
as 10% of the genome consists of transposons, discrete sequences come to see the human body not merely as a heap of parts but
that are positionally mobile among the chromosomes (Chapter 20). rather as a finely tuned vehicle that is owned and piloted by a single
Should something be done about this, or not? What should the human mind. As with automobiles, some body-owners will be more
average patient make of the news that his physician has discovered diligent about maintenance, regular tuneups, and paint jobs than
exactly 57 submicron-scale lamellar defects scattered throughout other body-owners. Some will crave the latest upgrades, while
the compact bone of the caudal epiphysis of the patient’s right others may prefer a more conservative model that reliably gets them
humerus? In the nanomedical era, people will gain the ability to around town. At either extreme, all human vices and virtues will be
specify their own physical structure to minute detail, but many on full display, though one may perhaps anticipate an increasing
patients will not be ready, willing, or able to assume responsibility pride of corporeal ownership if for no other reason than because
for this knowledge. Thus there is no ideal substitute for the doctor’s maintenance and repair will become quick, convenient, and
interpretative abilities and judgements on the patient’s behalf as to inexpensive.
Basic Capabilities • The Prospect of Nanomedicine 25
From this simple analogy of body-and-mind to car-and-driver, The Society of Mind,2982 persuasively argues that our selves or
it might at first appear that the advent of nanomedical technology identities are in fact networks of semi-autonomous neurological
will confirm and strengthen the traditional dualist conception of “agencies” which sometimes cooperate and sometimes compete with
the body. But closer inspection reveals that the analogy is at best one another. We think of ourselves as singular “persons,” but we
incomplete, and at worst deeply flawed. This is because mind, first also experience “conflicting desires” and “differing viewpoints” within
being necessarily embedded in physical structure and relying upon our minds that are, in Minsky’s view, a direct experience of the
that structure for its faithful execution, and second, this physical multiplicity of our brain’s neurostructures. Other models of the
structure now being manipulable at the molecular level, enters also human mind2988-2990,3728 suggest that our internal mental states,
into the purview of our mechanic. Both car and driver may be prospectively transparent via nanomedical augmentation,2992,2993
modified in the shop. Speaking allegorically, it is as if the driver, are diverse and intricate; Julian Jaynes2983 is one of many writers
after getting his car a tuneup, emerges from the shop no longer who have drawn attention to profound dichotomies between the
favoring chocolate but enjoying vanilla instead, or now preferring two cerebral hemispheres. The component-oriented personality
jazz over classical, the opposite of before. Such psychological changes models of Freud (e.g. ego/id/superego),2984 Jung (e.g. archetypes),2985
may be either volitional or emergent. and Rank (e.g. will/counterwill), 2986 and the identification of
Until the late 20th century, human progress was measured 4541 distinct personality traits by Allport and Odbert2987 warn us
almost exclusively in terms of externalities. Food was gathered, then that full access to our brain’s architecture could be perilous.
sown, then manufactured. Shelters had no running water, then More seriously, most of us suppose that we are endowed with
gained outhouses, then indoor plumbing. Natural lighting and free will. But if choices by free will are simply the resolution of
campfires gave way to candles, then oil lamps, then electric illu- conflicts of neurological subsystems, and we become consciously
mination. Finger-counting yielded first to the abacus, then the aware of those subsystems and are able to intervene in their processes,
mechanical adding machine, and finally to the digital computer. do we run the risk of runaway instabilities at the deepest levels of
But throughout all of history, the human body itself has remained what we presently call our “minds”? Will we find that these instabilities
largely untouched by progress. We have always regarded our bodies, are profound counterparts to the maladies we currently designate as
evolved by natural selection, as fundamentally inviolate and epilepsy, or psychosomatic illnesses? In any redesigns of our brains
immutable — subject perhaps to various natural or traumatic which would involve opening doors to, quite literally, the ultra-
degradations, but rarely to any significant intrinsic improvement structure of our thoughts, we could become “naked to ourselves” in
on the timescale of human civilization. ways that we can only vaguely speculate about at present. Along
Now we are set to embark upon an era in which our natural with any other dangers we might encounter, this will raise entirely
physiological equipment may for the first time in history become new issues of the proper role of psychotherapy and the sanctity of
capable of being altered, improved, augmented, or rendered more personal privacy.2996
comfortable or convenient, due to advances in medical technology. Repairs to the brain may be carefully monitored to ensure quality
The physical human body may be one of the last bastions of control and to verify intended results, as already proposed in
“naturalness” (Section 1.3.4). It will also be one of the last elements in another context.3000 Major modifications might be strictly regulated,
our common worldview to be modernized. both to prevent abuse by unscrupulous third parties and also to
Our subjective experience of reality will shift by subtle degrees. forestall accidental or volitional alterations that could render the
For instance, all objective information about our physical surround- patient a significant threat to society. Nanomedical alterations to
ings has traditionally arrived in the conscious mind via the various the brain and other physical systems may give us vastly expanded
natural senses such as hearing, sight, and smell. In the nanomedical era, freedom to be who we choose to be (Section 1.3.4), along with
machine-mediated sensory modalities may permit direct perception of increased responsibility to make wise and informed choices. The
physical phenomena well removed from our bodies in both time ethical and legal aspects of these questions, as well as the scientific
and space, or which are qualitatively or quantitatively inaccessible and psychological ones, are extremely important and should be
to our original natural senses. Perception will gradually expand to thoroughly debated in the years and decades that lie ahead.
incorporate nonphysical phenomena including abstract models of
mental software, purely artificial constructs of simulated or enhanced 1.3 The Nanomedical Perspective
realities,2991 and even the mental states of others. Such new perceptions
will inevitably alter the way our minds process information. 1.3.1 Nanomedicine and Molecular Nanotechnology
But the winds of change will sweep deeper still, into our very A mature nanomedicine will require the ability to build structures
souls. Like ants oblivious to the collective purpose of their colony, and devices to atomic precision, hence molecular nanotechnology
the billions of neurons in the human brain are all busily buzzing, and molecular manufacturing are key enabling technologies for
wholly ignorant of the emergent plan. This is the physical, mechanical nanomedicine. The prefix “nano-” (from the Greek root nanos, or
world of our electrochemical hardware. People also have thoughts, dwarf ) means one-billionth (10 -9 ) of something. The term
feelings, emotions, and volitions, a higher level in the data processing “nanotechnology” refers most generally to technology on the scale
hierarchy which in turn is equally oblivious of the brain cells. We of a billionth of a meter, or a nanometer (a nanometer is ~6 carbon
can happily think while being totally unaware of any help from our atoms wide). Similarly, the words “nanomachine,” “nanorobot,”
neurons. But nanomedicine will give us unprecedented systemic “nanomotor” and “nanocomputer” may refer to complex engineered
multilevel access to our internal physical and mental states, including objects fabricated by positioning matter with molecular control.
real-time operating parameters of our own organs, tissues, and cells, Molecular engineering was discussed as an extension of bulk
and, if desired, the activities of small groups of (or even individual) technologies in the 1960s and 1970s by von Hippel,2245 von
neurons. Diverse parts of our selves previously closed to our attention Foester,2246 and Zingsheim.2247 The phrase “Nano-Technology” was
may slowly conjoin and enter our conscious awareness. first used in print in 1974 by N. Taniguchi2241 to refer to the
Will this access promote an integrated identity or lead to hopeless increasingly precise machining and finishing of materials, progressing
confusion, or worse? Marvin Minsky, in his collection of essays from larger to smaller scales and ultimately to nanoscale tolerances,
26 Nanomedicine • Volume I
as completely and effectively as we can repair any conventional 1.3.2 Nanomedicine: History of the Idea
machine today.” Conclusive proof of the existence of atoms was not obtained
8
In Engines of Creation, Drexler drew inspiration from the cell’s until the close of the 19th century. This may explain why the idea
eye view to recognize that nanotechnology could bring a of nanomedicine is an exclusively 20th century phenomenon. The
fundamental breakthrough in medicine. Noting that 20th century first hint of it may be found in a famous 1929 essay written by J.D.
physicians relied chiefly on surgery and drugs to treat illness, Drexler Bernal:2972
explained:
“The discoveries of the twentieth century, particularly the micro-mechanics
“Surgeons have advanced from stitching wounds and amputating limbs of the Quantum Theory which touch on the nature of matter itself, are
to repairing hearts and reattaching limbs. Using microscopes and fine far more fundamental and must in time produce far more important
tools, they join delicate blood vessels and nerves. Yet even the best results. The first step will be the development of new materials and new
microsurgeon cannot cut and stitch finer tissue structures. Modern scalpels processes in which physics, chemistry and mechanics will be inextricably
and sutures are simply too coarse for repairing capillaries, cells, and fused. The stage should soon be reached when materials can be produced
molecules. Consider `delicate’ surgery from a cell’s perspective. A huge which are not merely modifications of what nature has given us in the
blade sweeps down, chopping blindly past and through the molecular way of stones, metals, woods and fibers, but are made to specifications
machinery of a crowd of cells, slaughtering thousands. Later, a great of a molecular architecture. Already we know all the varieties of atoms;
obelisk plunges through the divided crowd, dragging a cable as wide as we are beginning to know the forces that bind them together; soon we
a freight train behind it to rope the crowd together again. From a cell’s shall be doing this in a way to suit our own purposes. The result — not
perspective, even the most delicate surgery, performed with exquisite so very distant — will probably be the passing of the age of metals and
knives and great skill, is still a butcher job. Only the ability of cells to all that it implies — mines, furnaces, and engines of massive construction.
abandon their dead, regroup, and multiply makes healing possible.” Instead we should have a world of fabric materials, light and elastic,
strong only for the purposes for which they are being used, a world which
“Drug therapy, unlike surgery, deals with the finest structures in cells. will imitate the balanced perfection of a living body.”
Drug molecules are simple molecular devices. Many affect specific mol-
ecules in cells. Morphine molecules, for example, bind to certain receptor Development of the concept of nanomedicine has followed two
molecules in brain cells, affecting the neural impulses that signal pain. principal paths 2244 which Richard Smalley has termed “wet
Insulin, beta blockers, and other drugs fit other receptors. But drug nanotechnology” in the biological tradition, and “dry
molecules work without direction. Once dumped into the body, they nanotechnology” in the mechanical tradition. Both approaches were
tumble and bump around in solution haphazardly until they bump a presaged in speculative fiction. The following abbreviated history
target molecule, fit, and stick, affecting its function. Drug molecules focuses on nanomedicine largely to the exclusion of broader issues
affect tissues at the molecular level, but they are too simple to sense, in molecular engineering, manufacturing and nanoscopy, and
plan, and act. Molecular machines directed by nanocomputers will includes a number of inspirational, speculative, or fictional early
offer physicians another choice. They will combine sensors, programs,
references from non-refereed sources.
and molecular tools to form systems able to examine and repair the
ultimate components of individual cells. They will bring surgical control to We will first consider the biotechnology approach (Section
the molecular domain.” 1.3.2.1), followed by the molecular nanotechnology approach
(Sections 1.3.2.2-3), and then these two approaches will be contrasted
By the end of the 20th century, mainstream military (DoD), and compared in Section 1.3.3.
NIH, NSF, and other U.S. government and international groups
had begun to seriously consider the potential future applications of 1.3.2.1 The Biological Tradition
molecular nanotechnology in medicine. For example, in 1997 a panel The general idea of biological engineering stretches back at least
of U.S. Department of Defense health science experts known as to the mid-19th century, but the first science fiction story involving
Military Health Service Systems (MHSS) 2020 concluded in its actual genetic engineering was “Proteus Island” (1936), written by
final report:1095 the chemical engineer Stanley Weinbaum. Artificial engineered
organisms subsequently appeared in minor roles in several stories, a
“If a breakthrough to a [molecular] assembler occurs within ten to notable example being the familiars employed by the fake witches
fifteen years, an entirely new field of nanomedicine will emerge by 2020.
in Fritz Leiber’s “Gather, Darkness!” (1943), and A.E. van Vogt used
Initial applications will be focused outside the body in areas such as
diagnostics and pharmaceutical manufacturing. The most powerful uses
“gene transformation” to create the superman in “Slan” (1940). The
would eventually be within the body. Possible applications include first artificially evolved creatures appeared in Theodore Sturgeon’s
programmable immune machines that travel through the bloodstream, “Microcosmic God” (1941), wherein a biochemist established
supplementing the natural immune system; cell herding machines to conditions allowing accelerated artificial evolution, creating the
stimulate rapid healing and tissue reconstruction; and cell repair Neoterics, a submillimeter-sized race of intelligent hypermetabolic
machines to perform genetic surgery.” creatures which could accomplish tasks very rapidly. The first
artificially designed microcreatures appeared in James Blish’s “Surface
The present book takes as its starting point the assumption that
Tension” (1952). In this story, crash-landed dying human astronauts
the mass production of nanomachines at modest cost is technically
feasible (Chapter 2), and then explores the medical implications of create a completely new form of humanity — tiny men and women
this assumption. Proposed systems presented in this trilogy are reduced to protozoan size — who are seeded in the pools and puddles
intended not as final engineering blueprints but merely as points of at the surface of the new planet, and who go on to master the
departure for further analysis and refinement. All designs and projected biotechnology necessary to travel from one water puddle to
capabilities are, for the most part, conservatively drawn with generous another.
safety margins, leaving a considerable volume of design space yet to The scientific tradition of biological nanomachines for medical
be explored by more intrepid future investigators. purposes began in 1964 when Robert Ettinger, an early cryonics
pioneer, suggested that cellular-level or even molecular-level repair
might be developed for life extension. Ettinger157 speculated that
“...surgeon machines, working 24 hours a day for decades or even
28 Nanomedicine • Volume I
centuries, will tenderly restore the frozen brains, cell by cell, or even on amoebas “have been most dramatic. Cell fractions from four
molecule by molecule in critical areas.” different animals can be injected into the eviscerated ghost of a fifth
In 1965, the synthesis of artificial life was publicly proposed as a amoeba, and a living functioning organism results.”
national goal by the president of the American Chemical Society, Pro- In 1975, Richard Laing2250 described the theoretical possibility
fessor Charles Price, who pointed out that many new types of life might of molecular machine self-replicators using molecular (data) tapes
be made, not “mere imitations” of biology as we know it.153 based on the idea of universal Turing machines, examining several
In 1967, Isaac Asimov2257 suggested the future possibility of ways that such “artificial organisms” might replicate themselves as
“factories...where the working machinery consists of submicroscopic “a vehicle for the exploration of broad biological possibilities.”
nucleic acids” and that a “repertoire of hundreds or thousands of In 1976, Donaldson2262 presented the first detailed (and quite
complex enzymes” could be used to “bring about chemical reactions ambitious) list of biotechnological techniques that appeared necessary
more conveniently than any methods now used” and also for “helping to achieve cell repair and might prove feasible, writing at a time that
to construct life.” predated many current capabilities such as automated protein/DNA
In 1968, G.R. Taylor2258 cited the possibilities for genetic sequencing and synthesis, and most knowledge of restrictions on
engineering and genetic surgery: “The microsurgery of DNA may cellular developmental pathways and genetic programs and networks.
possibly be achieved by physical methods: fine beams of radiation For repair at the level of the cell, Donaldson’s techniques would
(probably laser light or pulsed X-rays) may be used to slice through have included:
the DNA molecule at desired points.” He also cited predictions
that bacteria would soon be programmed. 1. The ability to design enzymes to produce specific repair functions
In 1969, J. White2259 suggested that a modified virus could be such as renaturing denatured proteins, joining broken
used as a cell repair machine: “It has been proposed that appropriate lipoprotein complexes, annealing broken strands of DNA or
genetic information be introduced by means of artificially constructed RNA, reading proteins of existing or special types onto RNA
virus particles into a congenitally defective cell for remedy; similar and replicating them, and giving a cell the ability to metabolize
means may be used for the more general case of repair. The repair new substrates, use novel cofactors, or construct essential amino
program must use means such as protein synthesis and metabolic acids;
pathways to diagnose and repair any damage... [Information] can
be preserved by specifying that the repair program incorporate 2. Specially constructed bacteria or macrophages able to replicate
appropriate RNA tapes into itself...” themselves, spread throughout a specific target tissue, and carry
In 1970, Jeon et al158 carried out “the reassembly of Amoeba out specific repairs according to the programs designed into their
proteus from its major components: namely nucleus, cytoplasm, and DNA/RNA; these could be designed to operate at unnatural
cell membrane,” taken from three different cells. temperatures or to utilize metabolic pathways not presently
In 1972, Ettinger160 proposed using genetic engineering to make found in nature;
microscopic biorobots: “Genetic engineering’s most sensational
3. The abilities to re-introduce lost DNA or lost organelles such as
impact will concern the modification of humans, but it will have
mitochondria into a cell, to introduce entirely new forms of
other uses as well. Some of the “robots” that will serve us will need
organelles perhaps to perform specific repair functions, and to
to be nanominiaturized.” Existing organisms could be modified to
introduce new metabolic capacities into a cell;
make biologically-based programmable biorobots for medical
applications: “If we can design sufficiently complex behavior patterns 4. The ability to modify at will the developmental program of a
into microscopically small organisms, there are obvious and endless cell, as for instance to induce postmitotic cells such as neurons
possibilities, some of the most important in the medical area. Perhaps to divide,* according to a specific program, forming daughter
we can carry guardian and scavenger organisms in the blood, superior cells with specific properties; and
to the leukocytes and other agents of our human heritage, that will
efficiently hunt down and clean out a wide variety of hostile or 5. Several different types of repair bacteria able to work together
damaging invaders.” Computerized cellular repair machines “must in an integrated fashion, and linked together by chemical means
use means such as protein synthesis and metabolic pathways to (e.g. hormones), so as to apply optimal repairs to every body
diagnose and repair any damage...[Information] can be preserved cell in order to (A) diagnose the precise nature of the damage,
by specifying that the repair program incorporate appropriate RNA call other repair bacteria to its location, and report to the
tapes into itself....” Also in 1972, Danielli [2260] described various attending doctor that new types of repair bacteria other than
possibilities for generating new life forms via “life-synthesis” and those already introduced are needed, and (B) identify structures
genetic engineering, noting that “macromolecular engineering” which must be preserved (e.g. memory) and reconstruct them
might enable the development of very powerful and compact if necessary.
macromolecular computer systems.
For repairs at the level of the whole organism, Donaldson
In 1974, Halacy2261 noted “some rather inglorious ways” to use
offered the following rather aggressive biological nanotechnology
“the miracle of artificial life,” including potential capabilities for
growing diverse items ranging from computers to airplanes. techniques:
Morowitz159 suggested cooling cells to cryogenic temperatures in
order to analyze and determine their structure. Artificial cells could 1. Understanding the physiology of aging combined with the ability
also be assembled at such temperatures and then be set in motion to reverse it;
by thawing. Morowitz further reported that microsurgery experiments
* It is now known that genetic programs to allow postmitotic cell division do not exist for many cells, although in theory artificial programs could possibly be devised. Stem
cells may differentiate, and in some cases cells may be induced to de-differentiate back to stem cells thus allowing subsequent division and re-differentiation — but losing,
in the case of neurons, the existing neural connections.
Basic Capabilities • The Prospect of Nanomedicine 29
2. Control over growth and development, including the ability to patient’s genome.” They can also “communicate with one another
program types of growth and development which do not [and] release diffusible chemicals to guide one another’s behavior.”
naturally occur, such as growth of new eyes or other organs By the 1990s, bioengineered viruses of various types and certain
which have been lost or damaged, growth of an entire and other vectors were routinely being used in experimental genetic
well-formed body from a head alone, and regrowth of injured therapies3001-3011 as a means to target and penetrate certain cell
or lost brain tissue; and populations, with the objective of inserting therapeutic DNA
sequences into the nucleus of human target cells in vivo. Retrovirally-
3. Nonpermanent “substitute organs” which will take over from altered lymphocytes (T cells) began to be injected into humans for
others which have been lost, including (A) the ability to keep a therapeutic purposes. Another example of an engineered cell in
given tissue alive and healthy in vitro for an indefinite time and therapeutics was the use of genetically modified cerebral endothelial
similar abilities for a body part, and (B) temporary replacements cell vectors to attack glioblastoma, which was being pursued by
for any body organ which may have been lost. These would be Neurotech (in Paris) in 1998. Engineered bacteria were being pursued
used to support the body while new organs were growing, e.g. by Vion Pharmaceuticals in collaboration with Yale University.3038 In
as “metabolic crutches.” This capacity specifically includes the their “Tumor Amplified Protein Expression Therapy” program,
ability to make temporary replacements for diffuse systems such antibiotic-sensitive Salmonella typhimurium (food poisoning) bacteria
as the vascular or nervous systems. For instance, a specially created were attenuated by removing the genes that produce purines vital
“plant” would grow an entire vascular system into the patient, to bacterial growth. The tamed strain (cell line VNP20009) could
down to replacement for the capillaries and venules from a single not long survive in healthy tissue, but quickly multiplied ~1000-
seed, always introducing its fibrils between cells and destroying fold inside tumors, which are rich in purines. The next step would
none or very little of the original structure. be to add genes to the bacterium to produce anticancer proteins
that can shrink tumors, or to modify the bacteria to deliver various
The last of these is a description of a (clearly speculative)
enzymes, genes, or prodrugs for tumor cell growth regulation. The
“repair net,” a concept which Donaldson may have been the first to
engineered bacteria were available in multiple serotypes (Section
propose in 1976. A whole-body repair net was later termed a
8.5.2) to avoid potential immune response in the host. Phase I
“chrysalis”,161,1724 and twelve years later, in 1988, Donaldson provided
human clinical trials were expected to begin in 1999 using clinical
an artist’s conception and an additional description of these proposed
dosages produced in 50-liter fermenters, and other possible bacterial
biotechnological instrumentalities:1724
vector species were being examined.
“Severe crushing or mangling injuries require us to provide a new vascular
Micro-biorobotics was still regarded by many in the biotechnology
system. The repair device might resemble a fungus, growing mycelia community as a highly speculative topic in 1998. Glen A. Evans3014
into the injured tissue. A repair net would grow into a [crushed] limb, described the possible construction of synthetic genomes and artificial
guided by recognition of the injured cells and a plan for how the limb organisms. His proposed strategy involves determining or designing
should look after repair....[In the most severe injuries,] a chrysalis first the DNA sequence for the genome, synthesizing and assembling the
envelops the patient, then enters in between all his cells. It disassembles genome, introducing the synthetic DNA into an enucleated pluri-
the patient, surrounding each cell with its own repair machinery and potent host cell, then introducing the host cell into an organism.
vascular system. The geometry already preserves information about Evans foresees the high throughput “read-out” of gene products
locations of the patient’s cells. If necessary, morphogen chemical gradients discovered through genomic sequencing, rapid construction of
could also retain this information. A patient would [locally] swell up to
designer genes and genomes, automated designer vector synthesis
10 times original diameter. After repair, the chrysalis withdraws the
same way it entered.”
for gene replacement/insertional mutagenesis, and finally the con-
struction of synthetic genomes and artificial organisms. Robert
In 1977, Darwin2263 further developed the theme of tissue Bradbury3015 has considered requirements and costs for genome
repair and cellular repair biomachines, independently proposing a synthesis and replacement. For example, Bradbury estimates genome
modified white blood cell to perform repair functions. synthesis costs by assuming a projected ~$0.03/base for DNA
In 1981, Asimov2264 suggested that we “consider the bacteria. synthesis (compared to ~$0.80-$1.00/base-micromole in 1999),
These are tiny living things made up of single cells far smaller than with ~20,000 expressed genes per biorobotic cell with an average
the cells in plants and animals....[We] can, by properly designing gene size of ~3000 bases, giving a ~60 megabase expressed genome
these tiniest slaves of ours, use them to reshape the world itself and per biorobotic cell (1 chromosome) and a raw synthesis cost of ~$3
build it close to our hearts’ desire.” More importantly, Donaldson161 million per designer cell line (excluding design costs). There has also
elaborated on his earlier discussion2262 of how cryonically suspended been discussion of “chemical reaction automata” as precursors
human beings might be repaired. He extended the earlier concepts for synthetic organisms, 3016 synthetic lifeforms 3263 and
of Ettinger160 and White,2259 concluding that “with such hybrid “nanobiology”,3017 “biorobotics”,3079-3081 “cell rovers”,3241 microbial
technology as micro-miniature biological-mechanical machines the engineering,1962,3248,3543,3544 lymphocyte engineering,965 and artificial
size of viruses” and related technology, “it seems unlikely that (to chromosomes (Chapter 20), and cell engineering (Chapter 21) is
repair a single cell) there would be any difficulty at all in principle rapidly gaining popularity.
to carrying out any imaginable repair.” He estimated that about 10
programmable cell-repair biomachines could be introduced into a 1.3.2.2 The Mechanical Tradition
cell that was under repair without causing too much mechanical The late science fiction author Robert A. Heinlein155 nearly
disruption. In 1988, Donaldson1724 described artificial macrophages invented the concept of molecular nanotechnology in 1942 when
that “can carry control machinery to recognize target cells, responding he suggested a process for manipulating microscopic structures. Heinlein
only to them, or responding differently depending upon cell type envisioned the extensive use of life-size teleoperator hands, called
or cell conditions. They can still work even if the target cell isn’t “waldoes,” complete with sensory feedback for full, remote-controlled
functioning (unlike viruses), rebuild target cell machinery other than telepresence. His fictional hero, Waldo, used a collection of these
the genes, and transfer many more genes up to an entire copy of the mechanical teleoperated hands for building and operating a series
30 Nanomedicine • Volume I
of ever-smaller sets of such mechanical hands. The smallest that the macromolecularity of present organisms is not essential,
mechanical hands, “hardly an eighth of an inch across,” were but due to their evolutionary origins. Taking some poetic license,
equipped with micro-surgical instruments and stereo “scanners,” he added: “Consequently, the cybernetic nonmacromolecular
and were used to “manipulate living nerve tissue, [to examine] its machine, which simulates life, could have been and can be created
performance in situ,” and to perform neurosurgery. Eric Frank on earth only by man. Then it could perfect itself without limits.”
Russell’s 1947 story “Hobbyist” described a fabrication process with T. Nemes2268 discussed artificial self-replicating machines and
“atom fed to atom like brick after brick to build a house.” In 1955, described how to construct “an automatic lathe able to reproduce
Russell’s serial “Call Him Dead,” also published in Astounding itself,” a concept apparently developed before von Neumann’s work
Science Fiction, had a virus-based alien intelligence that spread on machine replication.1985
through contact with blood or saliva; the story features a In 1981, Drexler182 suggested the construction of mechanically
“microforger,” a man who makes “surgical and manipulatory deterministic nanodevices using biological parts; these devices could
instruments so tiny they can be used to operate on a bacillus.” Also inspect cells at the molecular level and also repair cellular tissues
in the mechanical tradition, Isaac Asimov’s “Fantastic Voyage”339,340 in that had been damaged during cryonic suspension. In 1982,
1966 took its miniaturized human crew in a miniaturized submarine Drexler311 described cell repair machines even more clearly in the
through the bloodstream of a human patient on a mission of repair. mechanical tradition, in a popular publication.
Heinlein, Russell, and Asimov overlooked the full implications By 1983, Drexler2253 began privately circulating a draft technical
of their ideas, and most scientists were unsympathetic — for paper entitled “Cell Repair Machines” which investigated for the
example, in 1952 Erwin Schrodinger wrote that we would never first time, in some detail, whether an advanced mechanical-based
experiment with just one electron, atom, or molecule.3197 But by nanotechnology would “permit construction of systems of molecular-
the early 1960s, several scientists had reinvented similar approaches scale sensors, computers, and manipulators able to enter and repair
to micromanipulation and miniaturization, this time extending their cells; the nature of the computational algorithms and magnitude of
reach into the nanotechnology domain. The first and most famous the computational resources needed to guide repairs; and the physical
of these scientists was the Nobel physicist Richard P. Feynman. In capabilities and constraints important to the repair process [in
his remarkably prescient 1959 talk “There’s Plenty of Room at the order to] sketch the conceptual design of a cell repair system based
Bottom,” Feynman156 proposed employing machine tools to make on a mature molecular technology.”
smaller machine tools, these to be used in turn to make still smaller Peterson2254 notes that “medical applications were explored by
machine tools, and so on all the way down to the atomic level. Drexler during the early 1980s but the medical community was not
Feynman prophetically concluded that this is “a development which ready for the concept.” A technical paper by Drexler, invited by an
I think cannot be avoided.” Such nanomachine tools, nanorobots editor at the Journal of the American Medical Association, was dismissed
and nanodevices could ultimately be used to develop a wide range by a referee as “science fiction.”
of submicron instrumentation and manufacturing tools, i.e., In 1985, G. Feinberg 2269 proposed using short-wavelength
nanotechnology. Feynman’s suggested applications for these tools coherent laser energy to power and communicate with “nanosensors
included producing vast quantities of ultrasmall computers and vari- that could be implanted into the human body. They
ous micro- and nano-robots. could...[monitor] various physiological functions from subcellular
Feynman was clearly aware of the potential medical applications molecules up through tissues and organs...essential in determining
of the new technology he was proposing. After discussing his ideas some of the mechanisms involved in growth and aging.”
with a colleague, Feynman offered the first known proposal for a In a 1985 book entitled Robotics, edited by Marvin Minsky (a
nanomedical procedure to cure heart disease: “A friend of mine well-known computer scientist and artificial intelligence pioneer),
(Albert R. Hibbs) suggests a very interesting possibility for relatively Minsky briefly described how fully-automatic cellular repair
small machines. He says that, although it is a very wild idea, it would machines might work, following Drexler’s vision:
be interesting in surgery if you could swallow the surgeon. You put
the mechanical surgeon inside the blood vessel and it goes into the “Suppose that we could design a repair machine so small that it could
heart and looks around. (Of course the information has to be fed repair an artery from the inside! The first such machines might be the
out.) It finds out which valve is the faulty one and takes a little knife size of fleas. (There is room for a great deal of machinery in something
and slices it out. Other small machines might be permanently the size of a flea — as the body of the flea itself testifies.) These
micromachines could crawl into all but the smallest blood vessels, clear
incorporated in the body to assist some inadequately functioning
out debris, and reline the walls with suitable materials yet to be
organ.”156 Later in his historic lecture, Feynman urged us to consider invented. Later generations of micromachines could be even smaller,
the possibility, in connection with biological cells, “that we can perhaps no larger than the body cells they repair. These minuscule
manufacture an object that maneuvers at that level!” machines would be mass-produced by the billions, either by larger
In 1961, K.R. Shoulders2265 rejected the use of biological building machines or by techniques of making them reproduce themselves. Perhaps
blocks, even though biological “processes do work, and they can do these biological janitors would even be implanted in our bodies to
so in a garbage can without supervision.” He saw them as too limited remain there as permanent maintenance workers, just like many biological
environmentally and too difficult to control with available technology. cells that already serve such purposes.”
Instead, he sought to directly produce much simpler, more powerful “Today the idea of such a technology may seem fantastic, yet many of
and rugged nanostructure arrays, operating at video frequency rates, the circuits in our computers are already smaller than many of our bodies’
which in turn could ultimately aid in their own replication. In 1965, cells. Let’s try, for a moment, to look ahead to: mass production of highly
Shoulders2266 reported the actual operation of micromanipulators intelligent machines; gigantic advances in miniaturization; a technology so
able to position tiny items with 10 nm accuracy while under direct advanced that these machines reproduce themselves without our help.
observation by field ion microscopy. Fantastic? Not at all. Even the simplest algae and bacteria can do that.
In 1970, Volkenstein 2267 noted that “the creation of a True, they’re not intelligent, but each of them contains enough computerlike
nonmacromolecular system which would act as a model for living machinery and memory to do those things. So, to build bacteria-size
organisms is definitely possible” but could not arise by itself, and
Basic Capabilities • The Prospect of Nanomedicine 31
1.3.2.3 Nanomedicine in the 1990s “nanotechnology” offers something of unique value to the practice
Despite the tremendous importance of molecular of medicine.
nanotechnology, a published 1993 literature review of robotics in Nanoscale materials technology3221,3222,3262 has already found wide-
health care included not a single reference to nanotechnology or to spread use in medicine, including biocompatible materials and
nanomedicine. 2255 At this writing in 1998, the list of original analytical techniques,341 surgical and dental practice, nerve cell
post-1989 technical and popular nonfiction works that deal with research using intracellular electrodes, biostructures research and
nanomedical topics in the mechanical tradition is short enough to biomolecular research using near-field optical microscopy, scanning-
permit virtually an exhaustive listing, including Beardsley,122 probe microscopy and optical tweezers, and vaccine design,570 and
Bova,2973 Coombs and Robinson,570 Crawford,2270 Drexler,9,10,2397 also many 20th century bulk chemical and biochemical manufacturing
DuCharme,358 Emanuelson,3270 Fahy,27,215,224,322,2271 Fiedler and techniques along with much of classical pharmacology.
Reynolds,70 Freitas,19,2300,1400 Kaehler,2272 Klatz and Kahn,2979 As for “biotechnology,” the original meaning of this word con-
Kurzweil,2309 Lampton,168,330 Merkle,258,262,306,888 Merrill,3487 templated “the application of biological systems and organisms to
Minsky,132 More,2992,2993 Ostman,2284 Reifman,2273 and Wowk and technical and industrial processes”.2223 In recent times, the field has
Darwin.20 The first nanomedical device design technical paper was expanded to include genetic engineering and now takes as its ultimate
published in 1998 by Freitas in the biotechnology journal Artificial goal no less than the engineering of all biological systems, even
Cells,1400 and the present trilogy (Nanomedicine) is the first book-length completely artificial organic living systems, using biological
technical treatment of the medical implications of molecular instrumentalities.
nanotechnology. The third branch, molecular nanotechnology, takes as its purview
The author again must caution enthusiasts that the full capabilities the engineering of all complex mechanical systems constructed from
of these machines will not be realized without a great deal of sweat the molecular level — potentially offering new tools for medical
and toil by legions of well-funded and dedicated researchers working practice, the principal subject of this book. Observes G.M. Fahy,2271
for many decades to develop the technology. One purpose of this “the difference between nanotechnologists and biotechnologists is
book is to help motivate this future work. that the former do not restrict themselves to the biological limitations
of the latter, and they are much more ambitious about the kinds of
accomplishments that they want to achieve.”
1.3.3 Biotechnology and Molecular Nanotechnology
Doctors can utilize solutions to medical problems from all three
Some pragmatic readers may be wondering what is so special
approaches. As noted earlier, 80-90% of medical complaints resolve
about molecular nanotechnology, that existing or anticipated bio-
themselves via natural homeostatic processes, or without the necessary
technology could not accomplish just as well? After all, biotechnology involvement of active biotechnological or molecular-
is already an established medical capability. It has real applications nanotechnological agents. But by employing biotechnology, the
and real products already on the market. Reflecting upon the future range and efficacy of treatment options greatly increases. With
possibility of sophisticated mechanical medical nanorobots equipped molecular nanotechnology, the range, efficacy, comfort and speed
with powerful nanocomputers, in 1989, one well-known cryo- of possible medical treatments again expands enormously. Molecular
biologist215 mused that “what is not clear is just what need we would nanotechnology is essential when the damage to the human body is
have for such devices.” The simplest answer, suggested by Figure extremely subtle, highly selective, or time-critical (as in head traumas,
1.5, is that each of the three contemporary branches of burns, or fast-spreading diseases), or when the damage is very
32 Nanomedicine • Volume I
Homeostatic Molecular
Level Specific Medical or Nanomaterials Biotechnology Nanotechnology
of Difficulty Challenge Technology Approach Approach
I Minor Symptoms and Herbal preparation, minor Symptomatic suppression Pharmacytes, zippocytes,
Minor Physical Trauma surgery, passage of time pharmacology respirocytes, etc.
III Mutation and Cell Disease Natural immune system Molecular diagnostics and Nanobiotics
Major surgery treatments; gene therapies Cell repair machines
IV Health Maintainance Vitamins, good diet, exercise, Gene therapy to enhance Whole-body cyto-assay
and Aging moderation and “clean living” self-repair and immune function Cell repair machines
V Major Organ Replacement Organ transplantation Stem cell & tissue engineering; Cell mills, tissue mills,
or Repair Major surgery embryonic gene reactivation organ mills, nanosurgery
VII Emergency Care; Restoration Emergency major surgery Biological repair nets Traumapods
of Nonhomeostatic Tissue Prosthesis or bionics Bioengineered immune cells Warm biostasis
VIII Augmentation of Natural Prosthesis or bionics Cross-species and artificial Cell engineering devices
Structure or Function morphogenetic supplementation Autogenous control
massive, overwhelming the body’s natural defenses and repair (2) that we have already “built” precursor systems, such as a whole
mechanisms. living amoeba constructed from five distinct parts,159 bioengineered
Table 1.4, inspired by an earlier discussion from G.M. Fahy,215 viruses3003 and bacteria2018,3038 as DNA insertion devices, and natural
makes these options more explicit. At every difficulty level, most replication stimulated in genetically engineered starter microbes;
classes of medical problems may be resolved with varying efficacy within (3) that biocompatibility will not be a major issue since fibroblasts
the homeostatic/nanomaterials, biotechnological, or molecular- (which express no HLA Class II antigens, hence stimulate no rejection
nanotechnological approaches. As the chosen technology response; Section 8.5.2.1) could be used as the starter material; (4)
becomes more precise, active, and controllable, the range of that both engineered viruses2326,2327 and bacteria are already in wide
options broadens and the quality of the options improves. Thus the commercial and research use; and (5) the greater complexity of self-
question is not whether molecular nanotechnology is required to repair in mechanical systems, should it be needed. Many believe
accomplish a given medical objective. In many cases, it is not — that the development pathway to early biorobots may be considerably
though of course there are some things that only biotechnology and shorter than for the mechanical nanorobots of the molecular
molecular nanotechnology can do, and some other things that only nanotechnology approach, for which in 1998 not a single working
molecular nanotechnology can do. Rather, the important question prototype yet existed, even in research laboratories.
is which approach offers a superior solution to a given medical It is also possible to imagine a molecular nanotechnology that
problem, using any reasonable metric of treatment efficacy. For uses mechanical nanorobotic systems. Such systems will have many
virtually every class of medical challenge, a mature molecular constitutional differences from biological-based systems. For
nanotechnology offers a wider and more effective range of treatment instance, mechanical systems will transport parts, materials, energy
options than any other approach. and instructions via fixed channels, whereas most (but not all)
It is quite possible to imagine an advanced biotechnology that biological systems operate by diffusion.2244 Mechanical systems will
uses an engineered white cell, fibroblast, or macrophage chassis, have structures constrained by specific geometries, whereas biological
energized by native oxygen and glucose (Section 6.3.4) and modified systems have structures defined by patterns of containment and
mitochondrial powerplants, driven by pseudopodia, cilia or flagella interconnection — the shape of a membrane compartment in a cell
(Section 9.4), communicating and navigating via biochemical signals matters less than its continuity and the contents of the volume it
(Sections 7.2.1 and 8.4.3), and even incorporating onboard digital defines.2244 Mechanical systems will be deterministically manufactured
biocomputers (Section 10.2.3) to make microscopic biorobots. by operations analogous to manual construction, whereas engineered
Principal arguments favoring the biotechnology approach for medical ribosomes will self-assemble via diffusion and stochastic matching
purposes are: (1) that we are already somewhat familiar with such of complementary parts;2244 in other words, biology uses recipes,
systems, after half a century of intensive molecular biology research; while mechanical systems use blueprints.2022 Cells grow, with their
Basic Capabilities • The Prospect of Nanomedicine 33
parts adapting to one another; mechanical nanorobots may be for good steel, ~1010 N/m2 for sapphire, and ~1011 N/m2 for diamond
constructed from parts of fixed structure.2244 Biology uses self- and carbon fullerenes (Table 9.3), again showing a 103-105 advantage
repair; mechanical systems generally do not2022 — largely because for mechanical systems that use nonbiological materials.
self-repair (by component exchange) will not be needed in molecular Nonbiological materials can be much stiffer, permitting the
mechanical systems, whose designs may be made more simple by application of higher forces with greater precision of movement,
relying upon high component redundancy10 (Chapter 13). These and they also tend to remain stable over a larger range of temperature,
and other differences imply a number of important advantages that pressure, salinity and pH. Proteins are heat sensitive in part because
mechanical-based medical systems will enjoy over biological-based much of the functionality of their structure is due to noncovalent
medical systems, which, taken together, strongly suggest that pre- bonds involved in folding, which are broken more easily at higher
dominantly mechanical nanosystems may be the approach of choice temperatures; in diamond, sapphire, and many other rigid materials,
for a mature medical nanotechnology. The advantages of molecular structural shape is covalently fixed, hence is far more temperature-
nanotechnology (e.g. the mechanical tradition) are many: stable. Most proteins tend to become dysfunctional at cryogenic
temperatures, unlike diamond-based mechanical structures (Section
1. Speed of Medical Treatment — Doctors may be surprised by 10.5). Biomaterials are not ruled out for all nanomechanical systems,
the incredible quickness of nanorobotic action when compared to but represent only a small subset of the materials that can be used in
the speeds available from fibroblasts or leukocytes. Normal nanorobots. Mechanical systems can employ a wider variety of
homeostatic processes such as dermal wound repair via natural atoms and molecular structures in their design and construction,
fibroblasts may require weeks to run to completion. Typical with novel functional forms that might be difficult to implement in
fibroblast movements occur at 0.1-1 microns/sec (Section 9.4), but a biological system such as steam engines (Section 6.3.1) or nuclear
mechanical nanomanipulators can operate at 1-10 cm/sec speeds power (Section 6.3.7). As another example, an application requiring
(Section 9.3.1) or faster, a speed advantage of 4-5 orders of magnitude. the most effective bulk thermal conduction possible should use
Even the strongest biological fibers (e.g. intermediate filaments) have diamond, the best conductor available, not some biomaterial with
a failure strength 3 orders of magnitude below the strongest inferior thermal performance.
mechanical fibers (e.g. fullerene nanotubes; Table 9.3). Biological
cilia beat at ~30 Hz while mechanical nanocilia may cycle up to 4. Nondegradation of Treatment Agents — Diagnostic and thera-
~20 MHz, though practical power restrictions and other considerations peutic agents constructed of biomaterials generally are biodegradable
may limit them to the ~10 KHz range for most of the time (Section in vivo, although there is a major branch of pharmacology
9.3.1). Flexible mechanical surfaces can complete a morphing devoted to designing drugs that are moderately non-biodegradable
motion in ~0.1 millisec, compared to the ~100 millisec snapback — anti-sense DNA analogues with unusual backbone linkages and
time for pinched red cell membrane (Section 5.3.1.4), again a peptide nucleic acids (PNAs) are difficult to break down. However,
thousandfold advantage in speed. Thus we expect that mechanical suitably designed nanorobotic agents constructed of nonbiological
therapeutic systems can reach their targets up to ~10,000 times faster, materials are not biodegradable. An engineered fibroblast may not
all else equal, and treatments which require ~105 sec for a biological stimulate an immune response when transplanted into a foreign
system may need only ~102 sec for a mechanical system;3233 tachyiatria host, but its biomolecules are subject to chemical attack in vivo by
improves both patient and physician comfort. In either biological free radicals, acids, and enzymes. Even “mirror” biomolecules or
or mechanical systems, large numbers of devices of comparable “Doppelganger proteins”2285 comprised exclusively of unnatural
physical size (e.g. ~microns) may be employed to do the work, so D-amino acids have a lifetime of only ~5 days inside the human
numbers alone cannot offset the mechanical speed body.2286 Nonbiological materials such as diamond and sapphire
advantage. are highly resistant to chemical breakdown or leukocytic degradation
in vivo, and pathogenic biological entities cannot easily evolve useful
2. Power Density and Transduction — Biological cells typically attack strategies against these materials (Section 9.3.5.3.6).
employ power densities of 103-104 W/m3, with maximum densities
of ~106 W/m3 in honeybee flight muscle cells and bacterial flagellar 5. Control of Nanomedical Treatment — Present-day biotechno-
motors (Table 6.8). By contrast, nanomechanical power systems can logical entities are not programmable and cannot be switched on
produce power densities of 10 9-1012 W/m3 (Section 6.3), an and off conditionally during task execution. A digital biocomputer,
advantage of 103-108 for mechanical over biological systems. By while possible in theory, represents a considerable conceptual
1998, conducting polymer-based actuators generated 20-100 times departure from the usual biological paradigm. Even assuming that
the force for a given cross-sectional area as mammalian skeletal a digital biocomputer could be installed in a fibroblast, and that
muscle. 2388 Additionally, amoebic locomotion in motile cells appropriate effector mechanisms could be attached, such a system
requires diffusion-limited cytoskeletal disassembly and reassembly would necessarily have slower clock cycles, less capacious memory
to achieve movement; mechanical motility systems may employ per unit volume, and longer data access times, implying less diversity
simple cable-pulling, winches, or ratchets, which are faster and more of action, poorer control, and less complex executable programs
direct. Some biological energy transducers are reversible, but muscle than would be available in nanoscale electromechanical computer
contraction is irreversible — not only cannot muscle actively systems (Section 10.2). The mechanical approach emphasizes precise
re-expand, but stretching it doesn’t make it produce much useful control of action, including control of physical placement, timing,
chemical energy. In contrast, electric motors can be run backwards strength, structure, and interactions with other (especially biological)
to generate electricity, forcing pistons makes them pump, and entities. The biological approach emphasizes the use of poorly
loudspeakers can be used as microphones.2022
controlled natural structures, needlessly sacrificing huge blocks of
3. Superior Building Materials — Typical biological materials have the available functionality and design space.
tensile failure strengths in the 106-107 N/m2 range, with the strongest
biological materials such as wet compact bone having a failure 6. Nanodevice Versatility — Mechanical systems can readily
strength of ~108 N/m2, all of which compare poorly to ~109 N/m2 incorporate biological elements if necessary, but artificial biological
34 Nanomedicine • Volume I
systems can incorporate nonbiological materials such as carbon Trypanosoma cruzi, are known to be able to escape from phagocytic
nanotubes or diamond/sapphire structural elements only with vacuoles into the cytoplasm;2165 while biotech drugs or cell manu-
difficulty, in part because biology has a more limited repertoire factured proteins could be developed to prevent this (e.g. cold
of “effector” mechanisms. Artificial biological systems cannot easily therapy drugs are entry-point blockers), nanorobotic trapping
incorporate nonbiological materials where desired because natural mechanisms can be more secure (Section 10.4.2). Proteins assembled
biological assembly methods make no provisions for these materials by natural ribosomes typically incorporate one error per ~104 amino
either in the coded instructions in DNA or in the attachment acids placed; current gene and protein synthesizing machines utilizing
chemistries. Rebuilding or reconstructing the human body with biotechnological processes have similar error rates. A molecular
nonbiological components (e.g. fullerene encabled bone for bone nanotechnology approach will improve error rates by at least a
millionfold10 (Chapter 20). Mechanical systems can also incorporate
damaged in an accident; Chapters 24 and 30), or augmentation of
sensors to determine if and when a particular task needs to be done,
human body function with unnatural abilities or features (e.g.
or when a task has been completed. Finally, it is unlikely that natural
autogenous paracrine control; Chapter 12), will be very difficult or organisms will be able to infiltrate mechanical nanorobots or to
impossible to achieve using purely biotechnological means. co-opt their functions. By contrast, a biological-based robot could
be diverted or defeated by microbes that can piggyback on its
7. Avoiding Overspecialization — M. Krummenacker notes that metabolism, interfere with its normal workings, or even incorporate
one of the most glaring shortcomings of bacteria and other naturally the device wholesale into their own structures, causing the engineered
occurring molecular machinery — when viewed as systems subject biomachine to perform some new or different function than was
to further engineering — is the rather limited range of molecular originally intended. There are many examples of such co-option
substrates they can utilize. For example, bacterial enzymes are highly among natural biological systems, including the protozoan
specialized devices, with very narrow substrate specificities. Thousands mixotrichs found in the termite gut that have assimilated bacteria
of different enzymes are needed in each organism, and the substance into their bodies for use as motive engines,2025-2027 and the nudibranch
classes capable of digestion are limited to some sugars, various amino mollusks (marine snails without shells) that steal nematocysts (stinging
acids including proteins that can be degraded by excreted proteases, cells) away from coelenterates such as jellyfish (i.e. a Portuguese
lipids, and a few other smallish oxygen-functionalized carbon molecules man-of-war) and incorporate the stingers as defensive armaments
such as glycerol and ethanol. Some bacteria can metabolize CO2 in their own skins,2295 a process which S. Vogel2022 has called “stealing
and a handful of aromatic compounds, but there is a vast range of loaded guns from the army.”
organic chemicals that most bacteria cannot degrade or manufacture.
A much smaller set of substantially more general molecular tools 11. Verification of Progress and Treatment — Using a variety of
can probably be designed using the mechanical approach; communication modalities, nanorobots can report back to the
mechanosynthesis can fabricate and assemble, or disassemble, a far attending physician, with digital precision, a summary of diag-
wider range of molecular structures than are available to the cellular nostically- or therapeutically-relevant data describing exactly what
machinery of life. was found, and what was done, and what problems were encoun-
tered, in every cell visited. A biological-based approach relying upon
8. Faster and More Precise Diagnosis — The analytic function of chemical messaging is necessarily slow with limited signaling
medical diagnosis requires rapid communication between the capacity. Also unlike mechanical nanorobots, biotechnological
injected devices and the attending physician. If limited to chemical systems generally cannot monitor their own functions while working,
messaging, biotechnology devices will require minutes or hours to and, except for a few highly specialized DNA proofreading systems,
complete each diagnostic loop. Nanomachines, with their more cannot directly inspect their work while it is in progress or after it is
diverse set of input-output mechanisms (Chapter 7), can outmessage finished.
the results of in vivo reconnaissance or testing literally in seconds.
Such nanomachines can also run more tests of greater variety in less 12. Minimum Side Effects — Almost all drugs have side effects,
time. Mechanical nanoinstruments, including molecule-by-molecule such as conventional cancer chemotherapy which causes hair loss
disassemblers (Chapter 19), will make comprehensive cell mapping and vomiting, although computer-designed drugs (Chapter 18) have
and cell interaction analysis possible. Bacterial resistance can be high specificity and relatively few side effects. Carefully tailored cancer
assayed at the molecular level, allowing new treatment agents to vaccines under development in the late 1990s were
more easily be composed, manufactured and immediately deployed expected unavoidably to affect some healthy cells. Even well-targeted
(Chapter 19). drugs are distributed to unintended tissues and organs in low
concentrations,1492 although some bacteria can target certain
9. More Sensitive Response Threshold for High-Speed Action —
Unlike natural systems, an entire population of nanobiotic organs fairly reliably without being able to distinguish individual
devices can be triggered globally by just a single local detection of cells. By contrast, mechanical nanorobots may be targeted with
the target antigen or pathogen. The natural immune system takes virtually 100% accuracy to specific organs, tissues, or even individual
>105 sec to become fully engaged after exposure to a systemic pathogen cellular addresses within the human body (Chapter 8). Such
or other antigen-presenting intruder. A biotechnologically enhanced nanorobots should have few if any side effects, and will remain safe
immune system that can employ the fastest natural unit replication even in large dosages because their actions can be digitally self-
time (~103 sec for some bacteria) will require ~104 sec for full regulated using rigorous control protocols (Chapter 12) that
deployment post-exposure. By contrast, a nanobiotic immune system affirmatively prohibit device activation unless all necessary pre-
(Chapter 19) can probably be fully engaged (though not finished) conditions have been, and continuously remain, satisfied. G.M.
in at most two blood circulation times, or ~102 sec.3233
Fahy2271 has noted that these possibilities could transform “drugs”
10. More Reliable Operation — Engineered macrophages would into “programmable machines with a range of sensory, decision-
probably individually operate less reliably than mechanical making, and effector capabilities [that] might avoid side effects and
nanorobots. Many pathogens, such as Listeria monocytogenes and allergic reactions...attaining almost complete specificity of
Basic Capabilities • The Prospect of Nanomedicine 35
action....Designed smart pharmaceuticals might activate themselves Note that mechanical medical nanodevices need not be capable
only when, where, and if needed.” Additionally, nanorobots may be of replication. There is no requirement for replication in vivo; such
programmed to excuse themselves from the site of action, or even replication would be needlessly dangerous, and adding this capability
from the body, after a treatment is completed; by contrast, spent would reduce effectiveness in carrying out the primary medical task.
biorobotic elements containing ingested foreign materials may have Analogously, viral vectors employed in genetic therapies are modified
more limited post-treatment mobility, thus lingering at the worksite to be “incapable” of replication.
causing inflammation when naturally degraded or removed.*
14. Assured Patentability — Microscopic biorobots, unavoidably
13. Reduced Replicator Danger — Drexler2244 points out that living derived from natural biological material, may someday be deemed
systems are evolved systems, while nanomechanical replicators would unpatentable under a general prohibition on “genetic colonialism”
be designed: “The former are shaped to serve the goal of their own or other emerging legal doctrines.2323 In contrast, mechanical
survival and replication in a natural environment, whereas the latter nanorobots, being fully-artificial and designed machines, should
will be shaped (whether well or poorly) to serve human goals, perhaps always be patentable provided they satisfy the customary legal criteria.
in an artificial environment.” Genetic engineering involves not
design of replicators from scratch, but tinkering with the molecular 1.3.4 Naturophilia
machinery of existing bioreplicators. Since bioreplicators were not As already noted (Section 1.3.1), living things in general and the
designed, they are not necessarily structured in ways that lend human body in particular are awesome examples of a powerful and
themselves to complete understanding, and processes based on intricately woven natural molecular technology to which human
diffusion and matching allow complex nonlocal interactions that engineers, in 1998, still aspire. But embracing Nature is not the
can be hard to trace. Bioreplicators can be crippled, but having same as finding her perfect. Today, the word “natural” has acquired
evolved in nature, they resemble systems that can survive in nature. a strong connotation of rightness, even of sanctity. For most of
Typically, they are able to exchange genetic information with wild human history, notes biologist Steven Vogel,2022 “the natural and
organisms, raising the possibility of the introduction of new, human worlds stood opposed. Nature was something to be tamed
unconstrained replicators in the natural environment. Having and utilized; we had the ordinary attitude of organisms toward other
evolved to evolve, they have a capacity for further evolution — to species. Nowadays the natural world intrudes far less but gets
serve their own survival, not human goals.2244 For example, even venerated far more. And why not? When one’s meat is bought in a
when stripped of key pieces of DNA to interfere with its replication store, when locusts don’t threaten one’s corn crop, when central
powers, a live attenuated AIDS vaccine can slowly recover its virulence heating and plumbing are the norm, the aesthetics of nature hold
and can attack immune cells.2939 R. Bradbury suggests that artificial greater appeal.” And so we embrace the natural rectitude or moral
biorobots could incorporate multiple fail-safe mechanisms including superiority of nature’s ways, a kind of pantheism which may be called
required external essential nutrients or suicide suppressors, self- ethical naturalism,2299 biophilia,2296 or naturophilia.
destruct triggers, countdown timers like telomeres, and engineering to Many great minds have fallen prey to naturophilia. In the 4th
reject foreign DNA (the basis for restriction enzymes), but it century BC, Aristotle wrote2297 that “if one way be better than
remains logically easier for a system with inchoate capacity to evolve another, that you may be sure is Nature’s way.” In the 15th century,
to resume doing so, than for a system which has never had this we have from Leonardo da Vinci:2298 “Human ingenuity may make
capability to spontaneously develop it. various inventions, but it will never devise any inventions more
In contrast, nanomechanical replicators (e.g. assemblers; Section beautiful, nor more simple, nor more to the purpose than Nature
2.4.2) will be designed from scratch and thus will differ fundamentally does; because in her inventions nothing is wanting and nothing is
from biological systems. The parts and structures of designed superfluous.”
mechanical systems will be known, and the relationships among However, as Virginia Postrel notes in The Future and Its
their parts will also be designed and fixed. More important, Enemies:2299 “If nature is itself a dynamic process rather than a static
nanoreplicators will be fundamentally alien to the biosphere, unrelated end, then there is no single form of `the natural.’ An evolving,
to anything that has evolved to survive in nature. Certainly the open-ended nature may impose practical constraints, but it cannot
capacity to fail can appear by accident, and emergent capabilities dictate eternal standards. It cannot determine what is good. The
cannot be completely ruled out, but engineering experience shows distinction between the artificial and the natural must lie not in
that the ability to perform complex organized activities (such as their source — human or not — but in their characteristics, in the
replication in a natural environment) does not normally appear way they relate to the world around them.”
spontaneously.2244 Also, and purely as a geometrical consideration, According to the dictionary, “artificial” usually means “made by
adding a new part inside a densely organized geometric structure man, rather than occurring in nature.” More usefully, Herbert
(as would be found in a nanomachine) typically requires changes in Simon2301 defines the artificial as that which is designed, expresses
the relative positions of many other parts, and hence corresponding goals, and possesses external purposes. The artificial is controlled
adjustments in design. Adding a part inside a densely organized and serves its creators’ purposes, subject to the universal laws of
topological structure (as found in living systems) typically leaves physics. Kevin Kelly381 defines the natural as “out of control.”
topologies unchanged — room can be made by stretching and shifting Nature is evolved, not designed, and serves no goal or external purpose
other parts, with no change in their essential design,2244 hence save its own survival. Nature, lacking intent, is amoral — it simply
permitting easier modification to biological structures by exogenous is.2299 By building the artificial, observes Postrel, “we do not overthrow
agencies. nature, but cooperate with it, using nature’s own art to create new
*R. Bradbury notes that artificial eukaryotic biorobots may possess an apoptotic pathway (Section 10.4.1.1) which could be activated to permit clean and natural self-
destruction that avoids inflammation in surrounding tissues. Artificial prokaryotic biorobots could also be designed for human biocompatibility; by replacing bacterial genes
with generic human genes, such a device may be undetectable to the immune system.
36 Nanomedicine • Volume I
natural forms. Our artifice alters the path of nature, but it does not superstition (astrology), shopping (spendoholics), driving cars that
end it, for nature has no stopping point, no final shape. It is a process, kill 40,000 Americans per year (mobilophilia), unusual sexual prefer-
not an end.” ences (bestiality), sexual activity (nymphomania, satyriasis), or preg-
Some naturophilist writers have decried the increasing nancy (gravidophilia). Without making any value judgements, it is
“medicalization of society” in which formerly natural functions have highly likely that most or all of these addictions have genetic or
come to be regarded as medical conditions requiring intervention physiological components which, once properly modified, can greatly
or treatment.2204,2302-2308 However, history suggests that naturophilia reduce or eliminate the addiction if so desired. Many on the list are
is usually undermined by any new medical technology that offers already suspected to have genetic components, much like schizo-
clear, safe, and immediate benefits to patients. For example, prior phrenia, drug abuse, bulimia, and alcoholism (dipsomania).
to 1842, intense pain was viewed as the natural outcome of being
cut with a scalpel during surgery. It had always been so — how 2. Allergies and Intolerances — A food allergy2997 is an allergic
could it ever be otherwise? The invention of anesthesia in 1842 reaction to a particular food, although true food allergies are much
(Section 1.2.1.9.2) suddenly altered this natural outcome and rarer than is generally believed.1604 In the cases of milk, eggs, shellfish,
replaced it with a less painful artificial outcome, despite anguished cries nuts, wheat, soybeans, and chocolate, sufferers may lack an enzyme
from naturophiles within the medical community that eliminating pain necessary for digesting the substance. In other cases, dust particles,
might somehow diminish the human character. plant pollens, pet danders, drugs, or foods may be allergens for natural
Another example of a widely-accepted medicalization of normal IgE-mediated immunosensitivity. Intolerance, a much more common
function is childbirth, a quite natural activity that can nevertheless condition, is any undesirable effect of eating a particular food,
be very dangerous to the mother’s health. Precise prehistoric death including gastrointestinal distress, gas, nausea, diarrhea, or other
rates are unknown, although archeological evidence shows that problems. Urticaria (hives), angioedema and even mild anaphylaxis
Neandertal females tended to die before the age of 30 due to hazards of are common reactions to various drugs, insect stings or bites,
childbirth.2339,2340 In the worst 19th century maternity hospitals allergy shots, or certain foods, particularly eggs, shellfish, nuts and
the natural death rate from childbirth was 9-10%, falling to a very fruits. Physical allergies to ordinary stimuli such as cold, sunlight,
artificial 0.4% rate in England by 1930 and to less than 0.01% in heat, pollen, pet dander, or minor injury can produce itching, skin
the U.S. during the 1990s. As a result, it now seems “natural” for a blotches, pimples, and hives.
woman always to survive childbirth, even though the reverse may
have been true for most of human history. Warns historian Roy 3. Minor Physical Annoyances — In a world where most major
Porter:2204 “We should certainly not hanker after some mythic golden medical maladies are readily treated, numerous minor medical
age when women gave birth naturally, painlessly, and safely; the conditions which today escape our notice will rise up from
most appalling Western maternal death rate today is among the Faith obscurity and present themselves annoyingly to our conscious minds,
Assembly religious sect in Indiana, who reject orthodox medicine demanding attention. These conditions may be of several kinds.
and practice home births; their perinatal mortality is 92 times greater First is cosmetics, including small moles, freckles and blemishes on
than in Indiana as a whole.” the skin; broken fingernails or unevenly-growing cuticles; minor
A disease seems “natural” to those who suffer from it when no skin reddenings or pimples; old childhood scars, wrinkled skin, birth-
treatment exists. But once a treatment is discovered and is widely marks or stretch marks; unwanted hair growth in unusual places, or
employed, the disease becomes rare and its absence now becomes differential hair color or texture growing in patches; fingerprint
“natural.” To those in the past, writes K.E. Drexler,9 “the idea of patterns that are aesthetically unappealing; and mismatched leg
cutting people open with knives painlessly would have seemed lengths, hands with different left/right ring sizes, an asymmetrical
miraculous, but surgical anesthesia is now routine. Likewise with face, or lopsided breasts. Second is minor aches and pains, which may
bacterial infections and antibiotics, with the eradication of smallpox, include headaches; eyebrow hairs trapped in the eyeball conjunctiva;
and the vaccine for polio: each tamed a deadly terror, and each is bent-hair pain (folliculalgia); dyspepsia; creaking limb joints and
now half-forgotten history. What amazes one generation seems stomach growling; ingrown nails and hairs; earwax plugs and tempo-
obvious and even boring to the next. The first baby born after each rary tinnitis; chapped lips, canker sores and heat rashes; stuffy nose
breakthrough grows up wondering what all the excitement was or gritty eyes upon rising in the morning; dermal chafing marks
about.” In the next century, says Charles Sheffield,343 “our descendants from elastic bands in clothing; minor flatulence; PMS (premenstrual
will look on angiograms, upper and lower GIs, and biopsies the way syndrome); a leg or arm “falling asleep” in certain postures; nervous
we regard the prospect of surgery without anesthetics.” tics, itches, and twitches; uncracked knuckles, stiff neck, or backache;
Future generations who take for granted an all-pervasive blocked middle ear following descent from high altitude; restless
nanomedicine in their lives may look aghast upon the 20th century, leg syndrome (akathisia); rotationally-induced dizziness, as on an
wondering among other things how we managed to retain productive amusement park ride; or rock-and-roll neck, wherein active musical
focus given the constant annoyance of our numerous undiagnosed performers or listeners bob their heads violently, rupturing small
minor disease states. Most of these diseases are not yet recognized as blood vessels in the neck. Third is minor physical or functional flaws,
such, and many are still regarded as “natural” and not worthy of such as poor stream during male urination, female papillary leakage,
treatment. In a few decades, this may change. Some examples: colorblindness, snoring, unpleasant body odors, nosebleeds, declining
visual or aural acuity, handedness (currently ~90% dextromanual,
1. Addictions — In 1998, many people laugh off seemingly ~10% sinistromanual,3136,3137 mild strabismus (eyeball misalignment),
harmless addictions to chocolate (chocoholics), fats or sugar (sweet bad moods (neurotransmitter imbalances), or post-intoxication
tooth), food (gluttony), nicotine (smokers), caffeine (coffee and cola hangover.
drinkers), work (workaholics), exercise (runner’s high), telling falsehoods
(pathological liars), gambling (wagerphilia), stealing (kleptomania), 4. Undiscovered Infectious Agents — Peptic ulcers once were
medical treatments (hypochondria), marriage (polygamy), power- thought to result from a stressful life, a purely natural response to a
seeking (domination), skydiving or bungee-jumping (thrillseeking), lifestyle choice. Then it was found that the major cause of ulcers is the
Basic Capabilities • The Prospect of Nanomedicine 37
presence of Helicobacter pylori bacteria in the stomach. Bacteria have “Different goals will produce different choices about trade-offs and
been implicated in some cases of atherosclerosis2970 and Alzheimer’s standards. What makes a condition unhealthy is not that it is unnatural
disease, 2971 and nanobacteria have been proposed as possible but that it interferes with human purposes. Revering nature [would
nucleation sites for kidney stones.2149 Other seemingly natural but mean] sacrificing the purposes of individuals to preserve the world as
given. It [would require] that we force people to live with biological
undesirable conditions may also be due to undiscovered microbial
conditions that trouble them, whether diseases such as cystic fibrosis or
agents,3237 especially since bacteria outnumber tissue cells in our schizophrenia, disabilities such as myopia or crooked teeth, or simply
highly infested 20th century bodies by more than 10:1 (Section less beauty, intelligence, happiness, or grace than could be achieved
8.5.1). through artifice. In a world where it’s no big deal to take hormone
therapy, Viagra, or Prozac, to have a face lift, or to know a child’s sex
5. Unwanted Syndromes — Syndromes are groups of related before birth, a world in which even such radical interventions as sex-
symptoms and signs of disordered function that define a disease change operations and heart transplants have failed to turn society upside
whose cause remains unknown, that is, idiopathic. A good down, it is extremely difficult to argue that medical innovations are
example is irritable bowel syndrome (IBS), which affects up to 20% dangerous simply because they fool Mother Nature.”
of the adult U.S. population and includes symptoms of abdominal
distention and pain, with more frequent and looser stools. Many
1.4 Background and Brief Overview of This Book
are unaware they are afflicted. In 1998 there was no known cause or
The publication of Nanosystems10 in 1992 laid a strong technical
simple complete treatment for this still “natural” disease.3713-3717
foundation for the field of molecular manufacturing. Such technology
Even more mysterious than IBS is our general activity level — some
was already known to have major implications for medicine.8,9 Still
people seem to have high-energy personalities, while others have
lacking, however, was an overview and synthesis of the interactions
more phlegmatic low-energy personalities. Either may be regarded
between molecular machine systems and living systems, particularly
as “natural,” but nanomedicine can probably bring this ill-defined
neurophysiological variable under human control. The need to sleep human living systems.
is another imperfectly understood syndrome. It is experienced by With Nanosystems as the intellectual cornerstone, research on
everyone and thus was universally regarded as “natural” in the 20th Nanomedicine, originally intended to be a single volume, began in
century. Physiological short sleepers2122 were unusual, insomnia or 1994. It quickly became clear that the field of nanomedicine would
asomnia3273 was thought of as an abnormal state, and there were a be even more interdisciplinary than molecular manufacturing, in
few anecdotal but medically undocumented instances of total part because of the many essential interfaces between mechanical
nonsomnia, such as the celebrated case of Al Herpin.2312 nanosystems and living systems. This realization prompted ramifi-
cation of the book into multiple volumes, allowing the field to be
6. Psychological Traits — Psychological traits which, if identified defined from diverse technical orientations. Additionally, the need
by a patient as undesirable, might be subject to genetic or physiological to consider all major aspects of nanomedical device design and
modification could include: sexual preference (6-10% of the adult operations demanded a substantial increase in the intended length
population is homosexual);1604 shyness or boldness;2332 acquisitive of the work, a regrettable but necessary circumstance for which the
or altruistic propensity; misanthropy or philanthropy; theistic or author apologizes in advance.
atheistic orientation; loquacity or dourness; childhood imprinting; As a result, Nanomedicine has become a three-volume technical
criminal propensity (up to 1-5% of the population); various rec- work with 31 chapters. Its intended audience is technical and
ognized personality disorders that affect ~10% of the population2122 professional people who are seriously interested in the future of
such as antisocial, paranoid, schizotypal, histrionic, narcissistic, medical technology. The three Volumes build upon each other
avoidant, dependent, obsessive-compulsive, and passive-aggressive cumulatively. The first Volume, now complete, describes basic
disorders; panic attacks (experienced at least once by ~33% of all capabilities common to all medical nanodevices, and the physical,
adults each year);1604 and phobic disorders such as social phobias chemical, thermodynamic, mechanical, and biological limits of such
(~13% of the population), specific phobias including fear of large devices. Its primary audience is physical scientists, chemists, bio-
animals (zoophobia), snakes (ophidiophobia), spiders chemists, and biomedical engineers engaged in basic research. The
(arachnophobia), needles (belonephobia,3272 ~10%), the dark second Volume, still in progress, deals with aspects of device control
(noctiphobia or scotophobia), or strangers (xenophobia) (total and configuration, biocompatibility and safety issues, and basic
~5.7%), the fear of blood or hemophobia (~5%), agoraphobia nanomedical components and simple systems. Its primary audience
(~2.8%),1604 and other unusual phobias2223 such as the fears of certain is systems and control engineers, research physiologists, clinical
colors (chromophobia), daylight (phengophobia), girls laboratory analysts, biotechnologists, and biomedical engineers
(parthenophobia), men (androphobia), stars in the sky doing applied research. The third Volume, also in progress, discusses
(siderophobia), the number thirteen (triskaidekaphobia), and even specific treatments for specific conditions and injuries, using
the fear of developing a phobia (phobophobia). nanomedical technology in the context of clinical (e.g. doctor-patient)
situations. Its primary audience is clinical specialists and research
The above sampling of minor afflictions, almost all considered physicians, and interested general practitioners.
“natural” in 1998, may come to be regarded as commonplace The first molecular assemblers (Chapter 2) may be able to build
correctable medical conditions in the nanomedical era. By the time only very simple nanomechanical systems, possibly only from very
such petty annoyances are deemed worthy of immediate treatment, highly ordered substrates with significant rate-limiting intermediate
biotechnology and nanomedicine already will have defeated the most steps, and only in very small numbers, so the earliest functional
fearsome illnesses of the late 20th century2310 and will have moved nanomachines may be laboratory curiosities. As assembler technology
on to other challenges.2311,2864,2973 Naturophiles may dissent, but slowly improves, progressively more complex and capable
the emerging trend from medical biotechnology is to characterize nanomachines will be manufactured in vastly larger numbers. This
health, not as a static standard, but rather as a condition defined by book primarily investigates the rational design and operation of these
the lives that people want to lead. Affirming the volitional normative more complex and capable nanomachines, and assumes that cubic
model of disease (Section 1.2.2), Virginia Postrel concludes:2299 centimeter quantities (e.g. ~1012 micron-sized nanorobots) will not
38 Nanomedicine • Volume I
be unreasonably expensive to manufacture (Section 2.4.2) and thus and possible nanodevice failure modes, environmental interactions,
can be therapeutically deployed routinely by future doctors. side effects of nanomedical treatments, iatrogenic factors, nanodevice
Volume I of Nanomedicine, Basic Capabilities, describes the set software bugs, and other safety issues (Chapter 17). Part 3 summarizes
of basic capabilities of molecular machine systems that may be various classes of medical nanosystems, including instruments, tools,
required by many, if not most, medical nanorobotic devices. These and diagnostic systems (Chapter 18); specific medical nanorobot
include the abilities to recognize, sort and transport important devices (Chapter 19); rapid mechanical reading and editing of
molecules (Chapter 3); sense the environment (Chapter 4); alter chromatin and protein macromolecules (Chapter 20); and various
shape or surface texture (Chapter 5); generate onboard energy to complex nanorobotic systems that will make possible advanced
power effective robotic functions (Chapter 6); communicate with cytopathology and cell repair, tissue and organ manufacturing, and
doctors, patients, and other nanorobots (Chapter 7); navigate personal defensive systems (Chapter 21).
throughout the human body, i.e. determining somatographic or Volume III of Nanomedicine, Applications, describes the full range
cytographic location within vessels, organs, tissues, or cells (Chapter of nanomedical applications which employ molecular
8); manipulate microscopic objects and move about inside a nanotechnology inside the human body, from the perspective of a
human body (Chapter 9); and timekeep, perform computations, future practitioner in an era of widely available nanomedicine. Proof-
disable living cells and viruses, and operate at various pressures and of-concept designs for whole nanodevices, artificial nano-organs,
temperatures (Chapter 10). and nanomedical treatments include rapid cardiovascular repair
Volume II of Nanomedicine, Systems and Operations, considers (Chapter 22); treatments for pathogenic disease and cancer, with
system-level technical requirements in the design and operation of epidemiological considerations (Chapter 23); responses to various
medical nanodevices. Part 1 describes aspects of nanomedical physical traumas, burns and radiation exposures, and new methods
operations and configurations, including scaling factors and general of first aid, surgery, and emergency or critical care (Chapter 24);
design principles (Chapter 11); control issues including teleoperation neurography, spinal restoration and brain repair (Chapter 25);
and haptic controllers, swarm motions, autogenous control systems, improved nutrition and digestion (Chapter 26); sex, reproduction,
and various operational protocols (Chapter 12); repair, replacement, and population issues (Chapter 27); cosmetics, recreation, veterinary
and reliability issues (Chapter 13); and molecular machine systems and space medicine (Chapter 28); the control of aging processes,
design issues such as tradeoffs between special-purpose and general eliminating most causes of death prevalent in the 20th century, and
purpose architectures, and deployment configurations such as nano- strategies for biostasis (Chapter 29); and human augmentation systems
organs, medical utility fogs, and replicators (Chapter 14). Part 2 deals (Chapter 30). The Volume concludes with a discussion of the
with a multitude of issues involving clinical safety and performance, sociology of nanomedicine, regulatory issues, nanotechnology
specifically medical nanorobot biocompatibility including immu- implementation timelines, and some speculations on the future of
noreactivity and thrombogenicity (Chapter 15); methods of hospitals, pharmaceutical companies, and the medical profession
nanorobotic ingress and egress from the human body (Chapter 16); (Chapter 31).
CHAPTER 2
M
ost contemporary industrial fabrication processes are based scale of more than one nanometer, the mechanical robot assembler
on “top-down” technologies, wherein small objects are metaphor envisioned by Drexler almost certainly will work...”
sawn or machined from larger objects, or small features Many skeptical questions arise when one first encounters the
are imposed on larger objects, in either case by removing unwanted ideas of molecular nanotechnology and molecular assemblers
matter. The results of such processes may be small, such as (Section 2.4.2). It is useful to keep in mind the proven feasibility of
micron-featured integrated circuits, or very large, such as jet air- such systems in the biological tradition (Section 1.3.2.1) over
craft, but in most cases the material is being processed in chunks far billions of years of natural evolution. In one sense, molecular
larger than molecular scale. nanotechnology will be a refinement and expansion upon how nature
Molecular manufacturing, on the other hand, represents a works at the molecular scale. Nature’s examples, such as human
“bottom-up” technology. Desired products will be built directly by beings, certainly answer the most basic skeptical questions, such as:
“assembler” machines, molecule by molecule, making larger and Can macroscopic objects be built from molecular scale processes?
larger objects with atomic precision. The results of such processes (Yes, thanks to cellular replication.) Are molecular objects stable?
may also be very small or very large, much as biology builds both (Of course; the human population alone contains >1029 reasonably
micron-sized bacteria and 100-meter tall sequoia trees. However, stable and quite functional ribosomal “nanomachines”). Observes
since assemblers add matter only where it is intended, little need be Nobel chemist Jean-Marie Lehn:765 “The chemist finds illustration,
removed and hence there may be minimal waste during the process. inspiration and stimulation in natural processes, as well as confidence
By guiding with precision the assembly of molecules and supra- and reassurance since they are proof that such highly complex systems
molecular structures, such a manufacturing system could construct can indeed be achieved on the basis of molecular components.”
an extraordinarily wide range of products of unprecedented quality What about quantum effects? The uncertainty principle makes
and performance. electron positions somewhat fuzzy, but the atom as a whole has a
In 1959, the Nobel physicist Richard P. Feynman156 observed comparatively definite position set by the relatively great mass of
that: the atomic nucleus. The quantum probability function of electrons
in atoms tends to drop off exponentially with distance outside the
“The principles of physics, as far as I can see, do not speak against the
atom, giving atoms a moderately sharp “edge”. Mathematically, the
possibility of maneuvering things atom by atom. It is not an attempt to
violate any laws; it is something, in principle, that can be done; but, in positional uncertainty of a single carbon atom of mass mC = 2 x 10-26
practice, it has not been done because we are too big . . . Ultimately, we kg bound in a single C-C bond of stiffness10 kC = 440 N/m may be
can do chemical synthesis.” crudely estimated from the classical vibrational frequency νC = (kC/
mC)1/2 = 1.5 x 1014 Hz. This sets the zero-point vibrational bond
“A chemist comes to us and says, “Look, I want a molecule that has the energy EC = h νC / 2 = 4.9 x 10-20 J = kC ∆XC2 / 2 where h = 6.63 x
atoms arranged thus and so; make me that molecule.” The chemist does
10-34 J-sec (Planck’s constant) and ∆XC ~ 0.015 nm is the maximum
a mysterious thing when he wants to make a molecule. He sees that it
has got that ring, so he mixes this and that, and he shakes it, and he classical amplitude of the bound carbon atom (roughly the same as
fiddles around. And, at the end of a difficult process, he usually does the 3 dB point for the gaussian wavefunction, notes J. Soreff ). Thus
succeed in synthesizing what he wants.” ∆XC is just ~5% of the typical atomic electron cloud diameter of
~0.3 nm, imposing only a modest additional constraint on the fab-
“But it is interesting that it would be, in principle, possible (I think) for rication and stability of nanomechanical structures. (Even in most
a physicist to synthesize any chemical substance that the chemist writes
liquids at their boiling points, each molecule is free to move only
down. Give the orders and the physicist synthesizes it. How? Put the
atoms down where the chemist says, and so you make the substance. The ~0.07 nm from its average position.)2036
problems of chemistry and biology can be greatly helped if our ability to How about the effects of Brownian bombardment on nano-
see what we are doing, and to do things on an atomic level, is ultimately machines? Describing a nanomechanical component as a harmonic
developed—a development which I think cannot be avoided.” oscillator embedded in a gas, Drexler10 notes: “At equilibrium, an
Nearly 40 years after Feynman’s famous “Plenty of Room at the impinging gas molecule is as likely to absorb energy as to deliver it,
Bottom” speech, and a decade after Drexler’s original proposal8-10 and so molecular bombardment has no net effect on the amplitude
for a bottom-up approach to machine-building using molecular of vibration. How a system is coupled to a thermal bath can
assemblers, Nobel chemist Richard Smalley also largely agreed that affect its detailed dynamics, but not the statistical distribution
this objective should prove feasible. Noted Smalley:2389 “On a length of dynamical quantities.” Nanomachines must also obey the laws
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
40 Nanomedicine • Volume I
of thermodynamics. Nanorobots cannot be used as a “Maxwell’s no role in determining device lifetimes.10 In eutactic nanomachines,
demon”2349,2350—energy must be expended to do useful work; there contaminants of all kinds are rigorously excluded. The equivalent
can be no free lunch.2611 of wear particles cannot appear until the device has failed. On this
Will high-energy radiation damage nanomachines? Radiation can scale, repulsive fields provide “lubrication” and an oil molecule would
break chemical bonds and disrupt molecular machines.8 The annual be a contaminant object, not a lubricant.
failure rate for a properly designed ~1 micron3 molecular machine The general conclusion is that molecular nanotechnology violates
(containing many billions of atoms) can be made as low as several no physical laws. In 1998, it was generally accepted that molecular
percent.10 This estimate is derived from a consideration of all known nanotechnology will be developed, although there remains some
thermal, photochemical, radiation, and other damage mechanisms, disagreement about how long it will take. To progress from today’s
but the dominant error mechanism that appears difficult to limited capabilities to the complex nanorobots described later in
substantially reduce is damage caused by background radiation. this trilogy will clearly require a great deal of research and development
Failure rates are not zero, but are nonetheless remarkable by today’s effort. Still, the proper question is no longer “if ” but “when.” This
standards (Chapter 13), especially given error detection and correction Chapter presents a few of the many possible technical paths leading
at the module level. to a working molecular assembler that were being discussed in 1998.
During nanodevice fabrication, the problems of crossbonding The reader is strongly urged to consult the most current literature
and reactive intermediates pose additional constraints that must be for the latest results. Section 2.2 briefly summarizes the conventional
dealt with using appropriate assembler designs. Specifically, assemblers top-down approaches to nanotechnology. Section 2.3 describes several
with rigid positioning components operating in vacuo can restrict possible direct bottom-up pathways to molecular manufacturing
reactive intermediates and molecular tool tips to desired locations including biotechnology, supramolecular chemistry, and scanning
with a precision of at least ~0.1 nm (Section 9.3.1.4), or slightly less probes. Gimzewski and Joachim3200 note that “bottom-up approaches
than an atomic diameter. Within the confines of an evacuated or to nanofabrication may one day compete with conventional
“eutactic” assembler workspace, the location of every structural atom top-down approaches in providing nanotechnologies for the next
may be known to within the uncertainty created by thermal noise. millenium. Top-down refers to increasing miniaturization through
Internal structural components may possess relatively high stiffness, extension of existing microfabrication schemes, [whereas] the
so positional uncertainty caused by thermal noise may be small. In bottom-up scenario is one of ever-increasing complexity at the
the classical analysis, positional variance ∆X2 = kT / ks, where k = molecular level while maintaining control on an atom-by-atom basis”.
1.381 x 10-21 J/kelvin (Boltzmann’s constant), T is temperature in Section 2.4 surveys molecular mechanical components and design
kelvins, and ks is component stiffness, typically ≥10 N/m for work on molecular assemblers and molecular manufacturing systems
nanometer-scale diamondoid components,10 hence the standard from the perspective of 1998.
deviation of component position is ~0.02 nm at room temperature,
or ~0.01 nm at cryogenic (e.g., LN2) temperatures. By employing 2.2 Top-Down Approaches to Nanotechnology
sufficiently stiff mechanisms the position of every structural atom Nanotechnology was first proposed by Nobel physicist Richard
in the system can be known to within a fraction of an atomic diameter Feynman in December 1959, in a talk156 in which he also issued a
with high reliability and without the need for explicit positional seemingly “impossible” challenge to build a working electric motor
sensing.* Steric tool hindrance—in molecular manufacturing, the no larger than a 1/64th-inch (400-micron) cube, backed by a $1000
conical volume occupied by a tool tip or manipulator platform—is prize to spur interest in the new field. Just 11 months later, engineer
a technical design problem that may be overcome by using William McLellan had constructed a 250-microgram 2000-rpm
sufficiently stiff tools or multi-tip tools, working in vacuo. motor out of 13 separate parts and collected his reward.300,355
Additionally, while some synthetic methods might involve the (McLellan’s entire motor is only as big as the period at the end of
manipulation of individual atoms by appropriate tools, such as the this sentence.)355 In 1995, a $250,000 Feynman Grand Prize
hydrogen abstraction tool which removes a single selected hydrogen (Section 2.4.2) was made available, this time sponsored by the
atom from a diamondoid surface (Section 2.3.3), other reactions Foresight Institute, for any engineer who could build the first
will involve small clusters of atoms or larger molecular components programmable nanometer-scale robotic arm. How long will it take
(Section 2.4.1). for history to repeat?
What about friction 2896 and wear among nanomechanical In his famous 1959 talk, Feynman proposed the prototypical
components? Properly designed molecular machines lack wear top-down strategy for building complex nanomachinery—essentially
mechanisms, although other damage mechanisms remain.2243 Dry a completely teleoperated machine shop, including mills, lathes,
bearings with atomically precise surfaces can have negligible static drills, presses, cutters, and the like, plus master-slave grippers to
friction3243 and wear, and very low dynamic friction or drag.10 allow the human operator to move parts and materials around the
Nanomechanical components are better viewed as moving smoothly workshop.
in a force field than as sliding subject to friction. For example, total To build a nanomachine using Feynman’s scheme, the operator
drag power dissipated by an isolated molecular sleeve bearing of first directs a macroscale machine shop to fabricate an exact copy of
radius 2 nm spinning at 1 MHz is dominated by band-stiffness itself, but four times smaller in size. After this work is done, and all
scattering, amounting to ≤0.000004 picowatts (pW) (Eqn. 6.4), machines are verified to be working properly and as expected, the
very small compared to the 1-1000 pW power draw that will be reduced-scale machine shop would be used to build a copy of itself,
typical of micron-size medical nanorobots (Section 6.5.3). The strong another factor of four smaller but a factor of 16 tinier156 than the
precise surfaces of nanomachines experience no change during a original machine shop. This process of fabricating progressively
typical operational cycle, hence zero wear. Within the single-point smaller machine shops proceeds until a machine shop capable of
failure model (Chapter 13), the first step in a wear process (e.g., a manipulations at the nanoscale is produced. The final result is a
dislocated atom) is regarded as fatal, hence cumulative wear plays nanomachine shop capable of reconstructing itself, or of producing
*Medical nanorobots may be built to atomic precision, but once built and deployed such devices often will not perform molecularly precise movements during normal functions
and may frequently rely upon sensor-based motion control; Section 9.3.3.
Basic Capabilities • Pathways to Molecular Manufacturing 41
any other useful nanoscale output product stream that is physically microtransducers,544,2373 micropistons and micropumps,2373 microgear
possible to manufacture, using molecular feedstock. trains,2379 microactuators545 and piezo-driven micromotors,2381
As Feynman describes the process:156 micromirrors and microshutters, 546,1062,1974 Fresnel lens
microarrays,2374 microgyroscopes,1383 a 2-mm long combustion
“When I make my first set of slave hands at one-fourth scale, I am going
to make ten sets. I make ten sets of hands, and I wire them to my original
chamber suitable for turbine use2377 (making possible a 1 cm3
levers so they each do exactly the same thing at the same time in parallel. gas-turbine generator that would deliver 50 W of power or 0.2 N of
Now, when I am making my new devices one-quarter again as small, I thrust),2378 and multidevice microsystems2372 that were available
let each one manufacture ten copies, so that I would have a hundred customized or off-the-shelf in mass quantities by 1998. Laser
hands at the 1/16th size....If I made a billion little lathes, each 1/4000th beams2375 and ion beams2376 were used to carve ~300-micron
the scale of a regular lathe, there are plenty of materials and space available diameter gears with 50-micron wide teeth in solid diamond.
because in the billion little ones there is less than two percent of the Microelectrodeposition and microcontact printing readily produced
materials in one big lathe. It doesn’t cost anything for materials, you see. topologically complex 3-D microstructures with 1-10 micron
So I want to build a billion tiny factories, models of each other, which feature sizes.2364 Colloidal templating yielded 0.7-1 micron diameter
are manufacturing simultaneously, drilling holes, stamping parts, and
hollow silica spheres with wall thicknesses from tens to hundreds of
so on.”
nanometers,2368 10-25 nm trenches,2357 or 4-nm thick graphite sheet
“As we go down in size, there are a number of interesting problems that layers tiled on spherical surfaces ~0.2 microns in diameter.2369 A
arise. All things do not simply scale down in proportion. There is the CAD/CAM desktop micromanufacturing system invented at
problem that materials stick together by the molecular (van der Waals) Lincoln Laboratory in Lexington, MA, machined three-dimensional
attractions. There will be several problems of this nature that we will structures, including spheres, in silicon, using computer-controlled
have to be ready to design for....[But] if we go down far enough, all of
laser/chemical etching of cubic-micron voxels at the rate of ~20,000
our devices can be mass produced so that they are absolutely perfect
copies of one another. We cannot build two large machines so that the voxels/sec.2367
dimensions are exactly the same. But if your machine is only 100 atoms By 1998, smaller (~100 nm) accelerometers were being developed
high, you only have to get it correct to one-half of one percent to make by such companies as Analog Devices in the U.S. and Daimler-Benz
sure the other machine is exactly the same size—namely, 100 atoms in Germany, and electronic control systems such as microswitches
high!” and microrelays were available commercially from several companies
including Integrated Micromachines of California. Micromachining
Progress is being made on Feynman’s top-down approach in a
was a well-developed engineering discipline.2696 Westinghouse Science
relatively new engineering field known as Micro Electro-Mechanical
and Technology Center used MEMS sensors to build a miniaturized
Systems or MEMS, originally an extension of chip-etch technology
mass spectrometer. Micro-opto-mechanical systems were under
rather than micromanipulation. Conventional purely-electronic
development. Chemists were proposing121 and building1222,1228
devices fabricated on silicon chips with ~0.2 micron features must
Integrated Chemical Synthesizers consisting of millimeter to
be coupled to external systems to produce mechanical effects, but
micron-sized chemical reactors, designed for specific applications,
MEMS devices integrate mechanical components directly with
along with associated devices for moving reactant and product
electrical circuitry. Thus while microelectronic chips merely route
streams (pumps), mixing reactants (reaction chambers), analyzing
electrons, microelectromechanical systems give the electronics
streams, and separating products (separation chambers), constructed
immediate access to control applications, enabling single
conventionally using silicon substrates and photolithographic
microdevices to interact directly with the physical world.
techniques to form the desired structures but also utilizing the high
Generic microsystems research has proven to be a rewarding
selectivity of biological molecules such as enzymes and antibodies
activity for two decades, with each successively smaller motor or
to fabricate sensors. MEMS had also led to the development of
machine widely publicized.2865 The field gathered momentum after
microgrippers that could manipulate individual 2.7-micron poly-
the first working micromotors were demonstrated in the late 1980s
styrene spheres, dried red blood cells of similar size, and various
by groups at Berkeley and MIT. By 1990, tiny electrostatic motors
protozoa.1267 Market Intelligence Research Corp. of Mountain View,
with 100-micron rotors displayed operating speeds of ~250 Hz556
CA, estimated a total worldwide budget for micromachine research
and operating lifetimes of ~106 revolutions.2363 A new Journal of
and development of $995 million in 1992 and over $3 billion by
Micromechanics and Microengineering appeared in 1991, followed
1998.357 Systems Planning Corporation of Arlington, VA, projected
by the Journal of Microelectromechanical Systems in 1992 and the
that the microsystems industry could be worth more than $14 billion
first MEMS Application Symposium in Tokyo in June 1996. By the
annually by 2001.1259
mid-1990s, Sandia’s Microelectronics Development Laboratory,2356 one
Some MEMS research followed surprising directions. For example,
of the most prominent vendors of micromachines, could
in the mid-1990s MEMS engineers at the University of Tokyo
mass-produce planar micromechanical devices smaller than ~1 mm2,
Department of Mechanical Engineering fabricated an 8-hinge,
incorporating motors with gears and cogs each no thicker than a
8-plate wing microstructure capable of independent flight through
human hair and turning at speeds of >4000 Hz. Wobble micromotors the air.1573-1576,2353 The structure was fabricated by traditional silicon
such as those fabricated in silicon by the University of Utah’s micromachining techniques and was then released from the wafer
micromachine lab demonstrated very little friction or abrasion, with surface, with the initially flat sections lifted into flight position using a
measured operating lifetimes in excess of 300 million revolutions.2366 micromanipulation system with glass probes several microns in
(Diamond coatings could further reduce friction by an order of diameter. Each wing was ~500 microns square; applying 300 VAC
magnitude over silicon,2545 and the wear rate of polycrystalline at 10 KHz caused resonant vibration and the flapping amplitude of
diamond is known to be ~104 times lower than for silicon.)2852 the wings exceeded 30˚.2353 In another 4-wing configuration,1574
MEMS research has produced multi-micron-scale accelero- the flapping resonance frequency was ~150 Hz and the device freely
meters,2382-2384 diverse microsensors (e.g., blood pressure microsensors flew up and down a thin glass pole when placed in an alternating
attached to cardiac catheters), microscale cantilevers and jointed crank electromagnetic field. Another bi-wing design made of magnetized
mechanisms,2380 5-micron barbs,2371 flow microvalves and pressure nickel coated silicon measuring 2000 x 10,000 microns successfully
42 Nanomedicine • Volume I
flew without power supply cables and guides in the manner of a quantum-wire, quantum-dot, and ring transistors with feature sizes
butterfly or mosquito, when an alternating magnetic field strength below 10 nm.2358 Nanochannel array glasses containing 33-nm
of >400 oersted and 12 Hz was applied;1576 a similar device with capillaries arranged in a 2-D hexagonal close packing configuration
320 x 800 micron wings also flew in a 300 Hz magnetic field.1575 at a number density of ~300/micron2 had been available since
“If we release the silicon mosquito from the silicon chip, it flies off 1992.2365
and we cannot find it again,” complained researcher H. Miura. “It’s Thus by 1998, top-down MEMS techniques could in theory
very small, like dust.” MEMS “gnat robots” have also been described.1250 already make nanoscale (though not atomically precise) parts. Might
Using electron-beam (e-beam) lithography, in 1997 researchers these techniques also produce assemblies of such parts, creating
at the Cornell University Nanofabrication Facility built what they complex machines? Very simple mobile robots of ~1 cm3 volume
believed were the world’s smallest mechanical devices, including a were commonplace,2361,2362 so for a more challenging demonstration
4-micron-wide Fabry-Perot interferometer and, just for fun, the of MEMS’ ability to manufacture complete working microrobots,
world’s smallest guitar, carved out of crystalline silicon and no larger in 1994 Japanese researchers at Nippondenso Co., Ltd. fabricated a
than a single human cell.2354 The “nanoguitar” was 10 microns long 1/1000th-scale working electric car.2351,2352 As small as a grain of
and 2 microns wide, with six strings each ~50 nm (~200 atoms) rice, the micro-car was a 1/1000-scale replica of the Toyota Motor
wide that would probably resonate at >10-100 MHz if plucked. Corp’s first automobile, the 1936 Model AA sedan (Fig. 2.1). The
Presentation of the nanoguitar enthralled the public, surprising at tiny vehicle incorporated 24 parts, including tires, wheels, axles,
least one Cornell researcher (in another lab) who remarked that headlights and taillights, bumpers, a spare tire, and hubcaps carrying
“anyone with a sufficiently advanced e-beam lithography system the company name inscribed in microscopic letters, all manually
could make it. I make 50 nanometer silicon objects routinely. Doesn’t assembled using a mechanical micromanipulator of the type generally
seem like a big deal to me, but evidently most people have no idea used for cell handling in biological research (Chapter 21). In part
what we’re capable of these days.” because of this handcrafting, each microcar cost more to build than
Direct-write e-beam lithography uses a tightly-focused beam of a full-size modern luxury automobile.
electrons, steered by electromagnetic deflectors, to trace out patterns The Nippondenso microcar was 4800 microns long, 1800
on a wafer resist surface. The electrons chemically alter the resist, microns wide, and 1800 microns high, consisting of a chassis, a
which is then etched away, leaving the desired pattern. By 1998, shell body, and a 5-part electromagnetic step motor measuring 700
e-beam spot sizes had been focused to less than 1 nm, and 5-nm microns in diameter with a ~0.07-tesla magnet penetrated by an
beam widths were routine, although forward scattering of the electrons axle 150 microns thick and 1900 microns long. Power was supplied
imposed a limit of resist exposure resolution of ~10 nm for through thin (18 micron) copper wires, carrying 20 mA at 3 volts.
e-beams2358 and ~5 nm for focused ion beams.1259 E-beam writing The motor developed a peak torque of 1.3 x 10-6 N-m (mean 7 x
times were very slow—for example, 80 hours were required to carve 10-7 N-m) at a mean frequency of ~100 Hz (peak frequency ~700
a single photolithography mask for a 1G DRAM, though much of Hz), propelling the car forward across a level surface at a top speed
this time was required for proximity calculations by the AI (artificial of 10 cm/sec. Some internal wear of the rotating parts was visible
intelligence) software [E.A. Rietman, personal communication, after ~2000 sec of continuous operation; the addition of ~0.1
1999] (a better approach is to use a neural net).3012 By 1998, an microgram of lubricant to the wheel microbearings caused the
electron interferometer containing atomically smooth mirrors spaced mechanism to seize due to lubricant viscosity. The microcar body
a few atomic layers apart had been fabricated,3183 and in 1999, careful was a 30-micron thick 20-milligram shell, fabricated with features
electron-energy-loss spectroscopy experiments revealed that silicon as small as ~2 microns using modeling and casting, N/C machine
dioxide must be at least 4 atoms (~0.7 nm) thick to act as a cutting, mold etching, submicron diamond-powder polishing, and
conventional electrical insulator.3295 nickel and gold plating processes. Measured average roughness of
Atom lithography, employing a low-energy neutral atomic beam machined and final polished surfaces was 130 nm and 26 nm,
(usually Na or Cr) cooled and collimated by optical molasses, then respectively. The shell captured all features as small as 2 mm on the
concentrated at the nodes of the standing wave formed by the original full-size automobile body. Each tire was 690 microns in
superposition of a laser beam and its reflection, was predicted
also eventually to allow surface deposition of 5-10 nm
features.2355,2370,2838-2841 The first directional atomic beam (of sodium)
with a ~0.002 radian beamspread and ~femtogram pulses (~26 million
atoms, or ~(100 nm)3, per pulse) was demonstrated in early 1999,
with one commentator noting that “the longer dream...is atomic
holography...[that] could combine beams of atoms to build a 3D
solid object”. 3173 At the same time, another group achieved a
continuous stream of rubidium atoms lasting up to ~0.1 sec in
duration, with a beam radius potentially as small as ~1 nm.3205
Current-carrying wires have been used to guide cold lithium atoms
“just as optical fibers guide light”;3182 the first curved focusing atom
mirror also was demonstrated in early 1999.2925 By 1998, the
speculative possibility of quantum-mechanical micromanipulation
also had been described.6
Other approaches offered comparable results. For instance,
engineers at the University of Minnesota NanoStructure Laboratory
used nanoimprint lithography (NIL) in 1996 to etch out patterns
of lines, grooves and circles as small as 25 nanometers in a polymer,2357 Fig. 2.1. The Nippondenso Microcar—smaller than a grain of rice.
and by 1998 NIL had been demonstrated in nanoscale (Photo courtesy of Nippondenso Co., Ltd.)2352
Basic Capabilities • Pathways to Molecular Manufacturing 43
diameter and 170 microns wide. The license plate was 10 microns to build novel molecular objects having complex functions. By 1998,
thick, 380 microns wide and 190 microns high. Nippondenso biotechnologists could make almost any DNA sequence or poly-
subsequently used similar manufacturing techniques to build a peptide chain desired (though not extremely long aperiodic ones),
prototype of a capsule intended to crawl through tiny pipes in a assemble “devices” such as artificial chromosomes and viruses, and
power plant or chemical plant like an inchworm, hunting for cracks. were actively pursuing gene therapy, all of which are examples of
In 1999, three Japanese electronics companies announced the creation molecular engineering. While earlier writers had suggested that
of a 0.42-gram, 5-mm long “ant size” robot reportedly able to lift biomolecules could be used as mechanical components, 2414
0.8-gram loads and to move at ~2 mm/sec, as part of the Drexler182 evidently was the first to point out, in 1981, that complex
government’s ongoing Micro Machine Project.3258 devices resembling biomolecular motors, actuators, bearings, and
By 1998, micromanipulators with high placement precision had structural components could be combined to build versatile
been demonstrated in various laboratories around the world. For molecular machine systems analogous to machine systems in the
example, the Spider-II micromanipulation robot employed macroscopic world (Table 1.3). “Development of the ability to
bimorphic piezoactuators within a 260-micron cubic work volume design protein molecules,” Drexler wrote, “will open a path to the
and a three-axis gripper placement accuracy of 8 nm. 2359 A fabrication of devices to complex atomic specifications, thus side-
microassembly robot using stick-and-slip actuators had 5-nm stepping obstacles facing conventional microtechnology. This path
resolution over a 200-nm scanning range with a maximum speed of will involve construction of molecular machinery able to position
4 mm/sec and 0.4% repeatability at 10 KHz, delivering a maximum reactive groups to atomic precision.”
driving force of 155 mN and rigidity of 6.3 N/micron.2360 Perhaps the best-known biological example of such molecular
In terms of system size, micromachined MEMS devices (typically machinery is the ribosome (Fig. 2.2; see also Section 8.5.3.4), the
~10-13 m3 in volume) lie exactly intermediate between the macroscale only freely programmable nanoscale assembler already in existence.*
world (~10-4 m3) and the nanoscale world (~10-22 m3). The medical In nature, ~8000 nm3 ribosomes act as general-purpose factories
nanorobots described in this book generally will have dimensions, building diverse varieties of proteins by bonding amino acids to-
precisions, and component part sizes ~1000-fold smaller than the gether in precise sequences under instructions provided by a strand
Nippondenso microcar, which itself was, in turn, ~1000-fold smaller of messenger RNA (mRNA) copied from the host DNA, powered
than a macroscale automobile. It is difficult to see how MEMS by the decomposition of adenosine triphosphate (ATP) to adenosine
techniques involving statistical materials deposition and removal diphosphate (ADP). Each ribosome is a compact ribonucleoprotein
could fabricate parts to better than ~10 nm feature sizes or tolerances, particle consisting of two subunits, with each subunit consisting of
or could position parts during assembly to much better than ~10
nm spatial resolution, nor does it appear likely that MEMS
techniques, on their own, can manufacture or position any structure to
atomic precision. However, this does not rule out the possible use
of MEMS techniques to fabricate crude useful parts for subsequent
“finishing” to atomic precision by other techniques, or to facilitate
the assembly of nanoscale components (of atomic precision or
otherwise) that have been fabricated or subassembled by other means
(Section 2.3).
2.3.1 Biotechnology
The first broad category of enabling technology for molecular
manufacturing in the mechanical tradition is biotechnology.10,322
Molecular biologists study and modify systems of molecular Fig. 2.2. The ribosome acts as a programmable nanoscale assembler of
machines, and genetic engineers reprogram these systems, sometimes protein nanoproducts (redrawn from Ball382).
*D. Heidel notes that there are three distinct types of ribosome—eubacterial, archaebacterial and eukaryotic—and multiple subvarieties among the ~108 different species
on Earth; additionally, other bioassembler units such as poly-ketide synthetases3224 also exist but these enzymes generally only make one type of product per assembly.
44 Nanomedicine • Volume I
several proteins associated with a long RNA molecule (rRNA). side-chain packing in proteins with naturally occurring backbone
Biotechnology can employ the ribosomal machinery of bacteria structures, and the study of de novo backbone structures had begun.2400
to produce novel proteins, which proteins then might serve as The catalytic task space766 was being laboriously investigated at the
components of larger molecular structures.182 molecular level—for example, one study of comparative enzyme
Of course, such biological mechanisms have been disparaged as structures revealed that changing as few as four amino acids
“slip-shod devices working in spite of haphazard design.” Dan converted an oleate 12-desaturase to an oleate hydroxylase, and as
Heidel, a University of Washington biomimetics engineer, agrees few as six substitutions could convert an oleate hydroxylase into an
that biological systems are sloppy but observes that they are oleate desaturase.2401 To further expand the toolkit, Mills2431 and
designed to tolerate it, and offers high praise for the lowly ribosome: Fahy322 proposed exploiting the degeneracy of the genetic code
(wherein amino acids are specified by up to 6 different codons;
“The average ribosome sits in an aqueous environment surrounded by
thousands of cosolutes at concentrations just a hair’s breadth from
Chapter 20) by assigning some codons to unnatural amino acids,
precipitating out of solution. The ribosome itself consists of three RNA allowing the creation of artificial proteins with unprecedented
molecules that spontaneously fold into floppy spaghetti noodle piles of structural or catalytic properties. With 61 usable codons available,
chemically active groups surrounded by >50 proteins of similarly dubious there is room for up to 41 novel amino acids in addition to the
structure. The other solutes are bombarding this motley assemblage at natural 20 amino acids; unnatural amino acids have been introduced
tens to hundreds of miles an hour and the solvating water molecules are into beta-lactamase and T4 lysozyme enzymes in a site-directed
a constantly shifting and unpredictable network of hydrogen bonds and fashion, using artificial tRNAs and mRNAs in an in vitro translation
polar ionic charges constantly impinging upon the ribosome. The ribosome system, 2402,2403 and into an engineered peptide as a reporter
must recognize one particular cognate transfer RNA (tRNA) for the group.2412 Additionally, artificial novel base pairs can be incorporated
codon in its A-site out of ~60 other nearly identical tRNAs. This
enzymatically into DNA2404,2607,2932 and other schemes are possible.2676
particular tRNA must be discriminated from all its tRNA brethren
along with whatever other solutes can fit into the A-site pocket using By incorporating one additional base pair, the number of possible
only three base pairs for discrimination. In fact, most codons use only codons is expanded from 43 = 64 codons to 63 = 216 codons,
two of the three base pairs for recognition so some tRNAs are recognized potentially allowing up to 193 novel amino acids to be incorporated
by as few as 4 hydrogen bonds. All of this requires sub-Angstrom precision into artificial protein structures—or at least 48 new amino acids
in the active sites but since the ribosome is a massive complex of sub- assuming that present levels of redundancy are retained and the
units held together by only ionic, hydrogen, hydrophobic and Van der existing 4-letter code is kept as a subset for “upward compatibility”.2431
Waals bonds, it’s like getting sub-millimeter accuracy from points on a If the genetic alphabet is increased to eight bases (83 = 512 codons),
bunch of taped-together water balloons being rolled down a staircase.” the number of available codons for novel amino acid-like molecules
“This ridiculous machine can assemble proteins at a 20 Hz increases to as many as 489.322
subunit-incorporation frequency with a 10-3 error rate. Ribosomes are One of the greatest challenges in protein engineering (where one
even more impressive when one considers that the number of amino objective is to create functional, atomically-precise 3-D aperiodic
acids in each ribosome’s own protein subunits combined with the 10-3 structures) has been the difficulty of protein fold design, because
protein assembly error rate ensures that each ribosome has several errors individual amino acids have no strong, natural complementarity.2392
in it and that each cell almost certainly has no two ribosomes exactly In 1998, Duan and Kollman2324 successfully folded a solvated
alike. I dare any engineer on this planet to rationally design an assembler at 36-residue (~12,000-atom) protein fragment (i.e., a peptide) by
any scale that is able to operate at a comparable level of performance
molecular dynamics simulation into a structure that resembles an
under similarly adverse operating conditions.”
intermediate native state. During a 1-microsec simulation, the chain
Thus ribosomes can manufacture, with >99.9% fidelity to arbitrary folded during 150 nanosec into a compact structure resembling the
specifications, linear strings of amino acids of great length which intermediate native state, as known by NMR, then unfolded and
may then fold up to produce three-dimensional protein structures refolded again for a shorter period. In 1998, whole-protein folding
performing a broad range of highly differentiated functions, to the final stable native state had not yet been computed deterministi-
providing good analogs for working nanomachines capable of forming cally using molecular dynamics—the real protein will fold and refold
self-assembling systems. Much of the great diversity of protein hundreds of times before it stumbles into the stable conformation with
activity flows from the selectivity with which they bind to specific the lowest free energy2405—but research pursuing this objective was
receptor sites on other molecules. Some of these binding mechanisms active and ongoing.2406,2407 Structural changes that occur during
might be copied to construct molecular robotic arms, while other protein function (e.g., enzymatic action) were also being avidly
devices could be made by adapting naturally-occurring proteins, or studied.2408
by synthesizing new, custom-built ones.2393 Protein engineering A different protein-based approach to near-atomically-precise
might be used to create proteins with desired qualities as building 3-D structures avoids the folding problem by making use of semi-
blocks for constructing the first primitive assemblers. rigid protein nanoshells of deterministic size and shape to guide the
The field of protein engineering has its own journal of the same ordered assembly of inorganic particles. For example, the capsid of
name, and has already achieved remarkable results in the synthesis the cowpea chlorotic mottle virus, a protein container with a 28-nm
of novel structures. Drexler10 cites the creation of the first de novo external diameter and an 18-nm internal cavity diameter, is
structure by DeGrado,2394 the development of synthetic branched composed of 180 identical coat protein subunits arranged on an
protein-like structures that depart substantially from protein models,2395 icosahedral lattice. Each subunit presents at least nine basic residues
and the engineering of a branched, nonbiological protein with (arginine and lysine) to the interior of the cavity, creating a positively
enzymatic activity.2396 Since then, numerous alpha-helical peptides* charged interior surface which provides an interface for inorganic
have been designed de novo,2410-2413 a 20-residue artificial peptide crystal nucleation and growth, while the outer capsid surface is not
exhibiting designed beta-sheet secondary structure has been created,2398 highly charged. In one experiment,2391 the empty capsid shell was
and various peptide analogs have also been synthesized.2399 By 1998, found to act as a spatially selective nucleation catalyst in paratungstate
advances in computational techniques allowed the design of precise mineralization, in addition to its role as a size- and shape-constrained
*Chains of amino acids shorter than ~100 residues are customarily called peptides; longer chains are proteins.
Basic Capabilities • Pathways to Molecular Manufacturing 45
reaction vessel. Noted the authors: “The range of viral morphology In 1998 the most intensive work on three-dimensional engineered
and size allow great flexibility for adapting this methodology to control DNA structures was taking place in Nadrian Seeman’s laboratory in
the size and shape of the entrapped material, which is limited only the New York University Department of Chemistry. Seeman originally
by access to the protein interior and could include inorganic and conceived the idea of rigid 3-D DNA structures in the early
organic species. The electrostatic environment within the cavity 1980s,2414,2419 while examining DNA strands that had arranged
could be altered by site-directed mutagenesis to induce additional themselves into unusual four-armed Holliday junctions.3154 Seeman
specific interactions.” recognized that DNA had many advantages as a construction material
It may also be possible to borrow various existing protein devices for nanomechanical structures.1916 First, each double-strand DNA
(Table 1.3) and apply them to new uses. The bacteriophage DNA with a single-strand overhang has a “sticky end,” so the intermolecular
injection system (Section 9.2.4) is self-assembling and could be interaction between two strands with sticky ends is readily
engineered for other applications. Vogel2425,2426 has attached kinesin programmed (due to base-pair specificity) and reliably predicted,
motors to flat surfaces in straight grooves; when ATP was added, and the local structure at the interface is known (sticky ends associate
the motors were activated, passing 25-nm wide microtubules hand to form B-DNA). Second, arbitrary sequences are readily manu-
over hand down the line in the manner of a ciliary array (Section factured using conventional biotechnological techniques. Third,
9.3.4). Montemagno2278,2426 genetically engineered the 12-nm wide DNA can be manipulated and modified by a large variety of enzymes,
ATPase molecular rotary motor so that one end would adhere to a including DNA ligase, restriction endonucleases, kinases and exo-
metal surface and the other end would provide an attachment site nucleases. Fourth, DNA is a stiff polymer in 1-3 turn lengths2421
for 1-micron fluorescent streptavidin-coated bead payloads. When and has an external code that can be read by proteins and nucleic
ATP was added, each bead individually attached to a biomotor in acids.2422
the motor array began twirling at ~10 Hz, generating a >100 pN During the 1980s, Seeman worked to develop strands of DNA that
force. Bead rotation was maintained continuously for more than 2 would zip themselves up into more and more complex shapes. Seeman
hours, indicating the high reliability of these ~100% efficient made junctions with five and six arms, then squares,2417 stick-figure
self-assembling biomotors. Montemagno explains that his cubes comprised of 480 nucleotides,1914 and a truncated octahedron
laboratory’s “long-term goal is the integration of the F1-ATPase containing 2550 nucleotides and a molecular weight of ~790,000
biological motor with nano-electromechanical systems (NEMS) to daltons.1915 The cubes (Fig. 2.3) were synthesized in solution, but
create a new class of hybrid nanomechanical devices.” Other natural Seeman switched to a solid-support-based methodology2418 in 1992,
nanomotors such as the self-assembling bacterial flagellar motor578-581 greatly improving control by allowing construction of one edge at a
and the hexagonal “packaging RNA” or pRNA pumping mechanism time and isolating the growing objects from one another, allowing
that packs DNA into the capsid shell of the bacteriophage Phi 291723 massively parallel construction of objects with far greater control of the
are also being intensively studied. synthesis sequence. By the mid-1990s, most Platonic (tetrahedron, cube,
Yet another material which allows moderately well-defined octahedron, dodecahedron, and icosahedron), Archimedean (e.g.,
three-dimensional nanoassemblies is DNA. The ideas behind DNA truncated Platonics, semiregular prisms and prismoids, cuboctahedron,
nanotechnology have been around since 1980,2414 but activity in this etc.), Catalan (linked rings and complex knots), and irregular
field accelerated in the 1990s after numerous experimental polyhedra could be constructed as nanoscale DNA stick figures.
difficulties were surmounted. Horn and Urdea2606 reported branched Seeman’s DNA strands that formed the frame figures were strong
and forked DNA polymers. Niemeyer1905 and Smith2430 exploited DNA enough to serve as girders in a molecular framework, but the junctions
specificity to generate regular protein arrays, and both2430,2444,2544 were too floppy. In 1993 Seeman discovered the more rigid anti-
suggested using self-assembled DNA as an early material for molecular parallel DNA “double crossover” motif,1920 which in 1996 he used to
nanotechnology. Shi and Bergstrom2416 attached DNA single strands design and build a stiff double junction to keep his structures from
to rigid organic linkers, showing that cyclical forms of various sizes sagging.2420 The next goal was to bring together a large number of stick
could be formed with these molecules. Mirkin’s group1904 attached DNA figures to form large arrays or cage-shaped DNA crystals that could
molecules to 13-nm colloidal gold particles with ~6 nm particle then be used as frameworks for the assembly of other molecules into
spacings, with the goal of assembling nanoparticles into macroscopic pre-established patterns. These DNA molecules would serve as
materials; Alivisatos, Schultz and colleagues2415 used DNA to organize the scaffolding upon which new materials having precise molecular
1.4-nm gold nanocrystals in arrays with 2-10 nm spacings. In either structure could be assembled.
case, the specificity of DNA pairing should allow the construction of In 1998, Erik Winfree and colleagues in Seeman’s laboratory
complex geometries since the use of colloidal particles can potentially reported the design and construction of two-dimensional DNA
add structural elements (which are more rigid than any polymer strand) crystals using self-assembling double crossover molecules.1970
to the set of building blocks for nanometer-scale structures—although Repeating array units were approximately 2 nm x 4 nm x 16 nm in
to take full advantage of this capability would require particles which size, and examination of the array with an Atomic Force Micro-
are atomically precise and which possess several chemically distinct scope (AFM) revealed domains of up to 500,000 interconnected
anchoring points on each particle. Damha has synthesized V-shaped units, showing that the self-assembly process (Section 2.3.2) could
and Y-shaped branched RNA molecules,2566,2567 branching RNA be very reliable under ideal conditions. While the work described
dendrimers with “forked” and “lariat” shaped RNA intermediates,2568 the construction of two- and four-unit lattices, the number of
and even trihelical DNA.2569 Henderson and coworkers2706,2707 have component tiles that could be used in the repeat unit did not
designed a simple DNA decamer that can form an extended linear appear to be limited to such small numbers, suggesting that complex
staggered quadruplex array reaching lengths of >1000 nm, and have patterns could be assembled into periodic arrays, which might also
made branched oligonucleotides that template the synthesis of their serve as templates for nanomechanical assembly. Noted the authors:
branched “G-wires”; depending on the ratio of linear to branched “Because oligonucleotide synthesis can readily incorporate modified
building blocks, extensive DNA arrays with differing connectivities bases at arbitrary positions, it should be possible to control the
but irregular interstices can be created.2704 structure within the periodic group by decoration with chemical
groups, catalysts, enzymes and other proteins, metallic nanoclusters,
46 Nanomedicine • Volume I
Molecular chemists study how small numbers of atoms combine designable self-assembling molecular machine structures is beginning
covalently with each other to produce molecules with a wide variety to be addressed.2956
of different properties. Supramolecular chemists are primarily Another approach using solid-phase peptide synthesis and a
concerned with the much weaker noncovalent forces that can arise massively convergent self assembly process was employed by M.R.
between molecules—such as hydrogen bonds and van der Waals Ghadiri and colleagues,2436-2440 who designed and synthesized a
interactions—that can be sufficient to bind collections of molecules number of self-assembling peptide-based nanotubes using cyclic
tightly enough to form functional nanometer-sized structures. peptides with an even number of alternating D- and L-amino acids
Supramolecular chemistry765,2445,2446 studies “chemistry beyond the for the building blocks of the nanotubes. The alternating stereo-
molecule”765 or “the chemistry of the noncovalent bond”.2523 Its chemistry of the cyclic peptides allowed all the side chains of the
subject matter includes atomically precise supermolecules amino acids to be pointing outwards which would not be possible
(well-defined discrete oligomolecular species resulting from the in an ordinary all L-cyclic peptide. In this conformation, the amide
intermolecular association of a few components, such as a receptor backbone can H-bond in a direction perpendicular to the plane of
and its substrate) and polymer-like supramolecular assemblies the cyclic peptide. The stacking of two cyclic peptides forms an
(polymolecular entities that result from the spontaneous association of H-bonding network resembling an anti-parallel beta-sheet2441 as is
a large undefined number of components). commonly found in natural proteins. The H-bonding lattice quickly
Self-assembly is a key concept in supramolecular chemis- propagates perpendicular to the plane of the cyclic peptide, forming a
try2433,2455,2456,2491,2527 as it is in nature,2968 allowing the manufacture tubular microcrystalline structure with 0.75-nm pores, or, in
of large numbers of compound objects simultaneously and in parallel, another experiment, 1.3-nm pores.2442 Another group of nanotubes
rather than sequentially. Molecular self-assembly is a strategy for was designed with a highly hydrophobic outer surface and a hydro-
nanofabrication that involves designing molecules and supra- philic inner pore. These nanotubes were easily inserted into a lipid
molecular entities so that complementarity causes them to aggregate bilayer and have been shown to be highly efficient ion channels;1177,2440
into desired structures. Self-assembly of atomically precise nanotubes with slightly larger pores transport small molecules such
supermolecules thus demands well-defined adhesion between as glucose as well.2443 Stable flat nanodisks with diameters
selected molecules, which may require steric (shape and size) continuously (chemically) adjustable from 30-3000 nm have been
complementarity, interactional complementarity, large contact self-assembled in surfactant solutions.2934
areas, multiple interaction sites, and strong overall binding.765 Self-assembled crystalline solids such as zeolites2447,2468,2469
G.M. Whitesides2433 explains that self-assembly has a number incompletely fill space, leaving substantial voids that may be occupied
of advantages as a strategy. First, it carries out many of the most by solvent molecules or other guest molecules, producing solid-state
difficult steps in nanofabrication—those involving the smallest host-guest complexes known as clathrates (from the Latin clathratus,
atomic-level modifications of structure—using the very highly meaning “enclosed by the bars of a grating”). MacNicol and
developed techniques of synthetic chemistry. Second, it draws from co-workers2453 reported the first rationally designed clathrate host
the enormous wealth of examples in biology for inspiration; in 1978, but the first true de novo design of an organic clathrate
self-assembly is one of the most important strategies used in biology for was in 1991 2454 and involved the formation of an extensive
the development of complex, functional structures, such as the three-dimensional diamond-like porous lattice built from a single
well-studied examples of complex biomachine self-assembly of Tinkertoy-type subunit containing four tetrahedrally arrayed
whole bacteriophage virions1179,1180,2434,2435 and flagellar rotor pyridone groups that acted as connectors to assemble the units
motors216,581,1397 from their smaller molecular “parts”. Third, together in a well-defined geometry. However, the crystal was held
self-assembly can incorporate biological structures directly as together only by weak hydrogen bonds and the links had a
components in the final systems. Fourth, self-assembly requires target rotational degree of freedom, rendering the exact crystal molecular
structures to be among the most thermodynamically stable available to arrangement unpredictable.2850 Engineered nanoporous molecular
the system, thus tends to produce structures that are relatively crystals can provide molecular-scale voids with controlled sizes,
defect-free and self-healing. As Lehn765 points out: “By increasing shapes, and embedded chemical environments at resolutions of
the size of its entities, nanochemistry works its way upward towards 0.3-4.0 nm.430,431,695,1522,2447-2449 Other self-assembling crystal
microlithography and microphysical engineering, which, by further structures have been described 2494,2561 including the crystal
and further miniaturization, strive to produce ever smaller elements”. engineering of diamondoid networks,2678 template-directed colloidal
Hierarchical self-assembly of many billions of micron-scale spherical crystallization or colloidal epitaxy,2837 organic templating to form
components into a periodic honeycomb-structured photonic crystal crystalline zeolite-type structures with ordering lengths <3 nm,2892
optical device ~30 microns thick and ~1 cm2 in area was demonstrated 3-D polymer channels with chemically functionalizable channel
in 1998.2461 linings,2921 and micromolding combined with templating and
There is a wide range of different molecular systems that can cooperative assembly of block copolymers (Section 3.5.7.1) to
self-assemble, including those which form ordered monomolecular produce hierarchical ordering over discrete and tunable characteristic
structures by the coordination of molecules to surfaces,2609 called length scales of ~10 nm, ~100 nm, and ~1000 nm in a single
self-assembled monolayers (SAMs),2433,2455,2565 self-assembling thin body.2893
films2455,2564 and Langmuir-Blodgett films,2608 and self-organizing Dendrimers,2470,2531,2580-2591 also known as arborols or fractal
nanostructures.123,2563 In these systems, a single layer of molecules polymers, are a well-known set of self-assembling structures2610 that
affixed to a surface allows both thickness and composition in the possibly could be used as tools to assist in the assembly of early
vertical axis to be adjusted to 0.1-nm by controlling the structure of nanomachines. Dendrimers are large regularly-branching macro-
the molecules comprising the monolayer, although control of molecules resembling fractal patterns, made by an iterative process
in-plane dimensions to <100 nm is very difficult. Fluidic in which small linear molecules are allowed to bind to each other at
self-assembly of microscale parts1150 and the dynamics of Brownian a certain number of sites along their length, building up branches
self-assembly 2889 have also been described, and the theory of upon branches with each iteration working outward from a core
48 Nanomedicine • Volume I
*In chemical nomenclature, hydrocarbons with single carbon-carbon bonds are “-anes,” double bonds make “-enes,” and triple bonds make “-ynes.”
Basic Capabilities • Pathways to Molecular Manufacturing 49
stations at either end with a frequency of ~500 Hz, making an tethered together by 12 palladium ions shaped like a four-pane window.
oscillating “molecular shuttle”.2483 This shuttling behavior can be The structure is built from three different kinds of porphyrins—(1)
controlled by a series of different chemical, electrochemical, or an X-shaped unit that coordinates to four metal ions, forming the
photochemical external stimuli.2484,3541 Using a different approach, center of the array, (2) a T-shaped unit that coordinates to three
G. Wenz2487 threaded ~120 molecular beads onto a single, long, metals and forms each side of the array, and (3) an L-shaped unit
poly-iminooligomethylene polymer chain, making a “molecular that coordinates to only two metals and forms each corner of the
necklace.” Other groups are pursuing related research2522,2529,2530 array. When these components are placed in solution in the correct
regarding [n]-rotaxanes2538,2539 and pseudorotaxanes (mechanically- ratio, they form the square array within a half hour at room tempera-
threaded molecules),2541,2542 while still others are using the necklace ture with about 90% yield. The same porphyrin units can be
technique as a means, for example, of self-assembling ~2 nm wide combined in different ratios and induced to form wires or tapes.
cyclodextrin nanotubes.2488 The properties of such arrays can be fine-tuned by choosing the
Another interesting molecular system that can be made entirely appropriate metal ion linker and functionalized porphyrin unit.2679
by self-assembly is the catenanes,2481 which have two or more closed Jeffrey Moore has investigated a three-dimensional
rings joined like the links of a chain. The rings are mechanically nanoscaffolding comprised of a molecular lattice that could serve as
linked—there are no covalent bonds between separate links. The a framework for catalysts, photosynthetic molecules, or more complex
first [2]-catenane (2 linked rings) was constructed by Edel Wasserman molecular devices. Moore’s original objective was to synthesize
of AT&T Bell Laboratories in 1960, using simple hydrocarbon rings; modular building blocks with physical and chemical properties that
the first [3]-catenane was synthesized in 1977. In 1994, Fraser would dictate a “programmed assembly” protocol for
Stoddart and David Amabilino constructed the first [5]-catenane,2485 “nanoarchitectures”.2574-2579 The characteristics of each modular unit
having ~372 atoms, dubbed “olympiadane” because of its resemblance shaped the weak intermolecular attractions—electrostatic, van der
to the Olympic rings, and in 1997 the same group announced the Waals, and hydrogen-bonding forces—between it and its neighbors
first deterministically-ordered 7-ring heptacatenane;2535 another so that units would array themselves in a larger structure with the
group later reported the spontaneous self-assembly of a 10-component desired spacing and geometry. Moore’s group first linked
catenane.3285 By 1998, much research on larger polymeric chains of phenylacetylene subunits into oligomers of various lengths which
linked rings (e.g., oligocatenanes 2532), supramolecular “daisy bend and twist like wire sculptures until their ends meet to form
chains”,2533,2534 fullerene-containing catenanes,2536 and supramo- closed polyhedral molecules—the basic scaffold components (of
lecular weaving2537 was in progress. The smallest [2]-catenane which there were at least half a dozen shapes). These building blocks
constructed to date has dimensions 0.4 nm x 0.6 nm. 2528 then self-assembled or folded2555 into geometries at least partly
Self-assembled mechanically-interlocked 2-dimensional2595-2597 and controlled by designed hydrogen-bonding interactions. The molecular
3-dimensional2598,2599 “infinite” arrays of single molecular ringlike polyhedra each possessed several phenylene groups, “chemical
species are known. Interestingly, in 1998 it was discovered that many handles” upon which other molecular groups could be hung. Moore
viral coats (which also self-assemble) appear to be a 2-dimensional then focused on ~10-nm dendrimeric forms2580-2585 and later began
“chain-mail” weave of mechanically-interlocked protein rings—for attaching photosensitive antenna molecules to these structures.2586-2591
instance, the spherical bacteriophage HK97 capsid shell consists of By 1997, Moore had begun investigating norbornadiene on Si{100}
exactly 72 interlinked protein rings, specifically 60 hexamers and in an effort to develop ways to covalently attach molecules onto
12 pentamers.2486 surfaces with sub-nanometer spatial precision, 2592,2593 and
Complex molecular parts also can be built up from simpler had suggested a packing model for interpenetrated diamondoid
molecular parts by covalent bonding as low-symmetry shape-invariant structures.2594 Robson’s group2846 has also investigated possible
molecular object polymers,2692 or via processes variously known as scaffolding molecules.
modular chemistry,2498,2499 heterosupramolecular chemistry,3220 Josef Michl is attempting to build a molecular construction kit
chemical assembly,3541 or structure-directed synthesis2489,2490— using molecular rods and connectors, pursuing an explicit vision of
including the well-known Diels-Alder reactions2557 (e.g., see Fig. 2.20F) “molecular Tinkertoys”2509-2516 by working with simple molecular
which may be employed repetitively to fabricate a series of structures that form stiff, flexible rods. Michl has assembled rods
atomically-precise molecular rods, rings, and nanocages (e.g., from a mixture of carbon-boron molecules (e.g., 10-vertex or 12-vertex
“beltenes” and “collarenes”2489) composed of polyacenequinone units carboranes2495) and carbon-hydrogen molecules, providing fine
with nanometer-scale dimensions. Such efforts have been described control over the total rod length. The rods are built up from more
as steps toward “molecular LEGO”,2489 “molecular Meccano”,2480 primitive molecular parts, such as propellane (a strained form of
“molecular Tinkertoys”,2509-2516,2842 or “molecular building blocks”.2850 C 5 H 6 ) and cubane (a strained form of C 8 H 8 ), to make
Some structure-directed assembly has been achieved with simple DNA “staffanes”2500-2510 which are a series of cage units in a linear series
forms.1916 Other simple techniques for synthesizing nanowires,643 (Fig. 2.12). (Strained molecules are constructed with bonds that are
nanorods,2672,2710 nanotubes,1411,2673,2674,2862 and nanocages,2640,2675,2862 forced out of their normal angles, as for example 90˚ in the case of
or for selecting polymers for length,2686 are well-known. cubane, compared with carbon’s normal orientation of 109.5˚.)
For instance, Jean-Marie Lehn2679 has created rectangular grid Michl has fabricated rods whose lengths vary from 0.5 nm to 2.5
complexes by mixing rodlike ligands that make use of different nm, in precise 0.1-nm steps. There are other ways of making rod-
numbers of binding sites—one example is a 4 x 5 array consisting like molecules, but Michl’s are highly inert, do not absorb visible or
of nine ligands and 20 metal ions, nanoscale grids which he claims UV light, are stable up to at least 200˚C, and do not react with the
might one day find use “as components within a futuristic information oxygen in air even at high temperatures.2496
storage and processing nanotechnology”. C.M. Drain2680,2681 has Related work is underway in Michl’s laboratory on connectors
described a 21-component (5 nm)2 square array of nine porphyrins to join the rods together.2496 Metal atoms would be the simplest
Basic Capabilities • Pathways to Molecular Manufacturing 51
*The first fullerene to be discovered, the spherical C60 molecule, was originally named “buckminsterfullerene” by its discoverers, due to the molecule’s similarity to the geodesic
domes designed by the famous American architect and engineer, Buckminster Fuller (1895-1983). The name has since been shortened by common usage to “fullerenes,”
although spherical or tubular fullerenes are sometimes informally called “buckyballs” and “buckytubes,” again reflecting the original provenance.
52 Nanomedicine • Volume I
larger (Fig. 2.15) variants have been observed; as cages get bigger,
the corners (where the 12 pentagons needed for closure reside) get
sharper. The topologically smallest possible fullerene is a dodecahedron
consisting of 12 pentagons and 20 carbon atoms, but the ring isomer
of C20 (a hoop of single carbons) is apparently energetically favored
over the bowl or spherical (fullerene) isomers; in 1998, C28 was the
smallest fullerene that had been observed experimentally,2614 and
C36 could be made in significant quantities by arc-discharge.2910
The approximate diameter (measured to atomic centers) of a
spheroidal fullerene of formula Cn is Dball ~ 1.1 (n/60)1/2 nanometers.2615
In 1998, purified C60 cost $27.50/gm (99.5% pure) or $60/gm
(99.9%), C70 $250/gm (98%), and C84 $3,750/gm (90%) from
Dynamic Enterprises Ltd. of London.
Insertion of many additional equatorial belts of carbon atoms
(incorporated as hexagons) into a spheroidal fullerene results in a
long cylinder with graphite-like (“graphene”) walls and spherical
endcaps, making a class of fullerenes known as the capsular fullerenes
or single-walled carbon nanotubes (SWNT) that come in many sizes
and chiral forms (Fig. 2.16).2626,2651,2652,2857 The molecular form
of carbon nanotubes has been likened to rolled chicken wire. SWNTs
may be synthesized by vaporizing graphite spiked with 1% catalyst
from the nickel, cobalt and iron group above 3000˚C, then allowing
the vapor to slowly condense. Tubes form because the metal atoms
interact with dangling bonds at the end of a tube, favoring tube
Fig. 2.16. Single-walled carbon nanotubes.1308
extension over hemispherical capping by newly arriving carbon vapor
atoms. (For any given mass number, ball-shaped fullerenes are ener-
getically favored over tube-shaped fullerenes during nanotube has Dtube = 1.36 nm and Erollup = 7 zJ/atom. Young’s
high-temperature synthesis in the absence of catalyst.2615) SWNTs modulus for individual SWNTs, assuming a hollow (open-ring)
typically self-assemble in 1.1 nm wide tubes, although smaller cross-section, has been estimated as high as ~5.5 x 1012 N/m2;2659
single-walled nanotubes and larger single-walled and multi-walled elastic bending modulus (measured as 1 x 1012 to 0.1 x 1012 N/m2)
nested nanotubes2626 exist. SWNT carbon atoms are bonded in decreases sharply with increasing diameter (from 8-40 nm).3023 In 1998,
virtually flawless hexagonal arrays. Simulations show that isolated purified carbon single-walled nanotubes were available via the Internet
flaws migrate to the ends of the tube and are eliminated, a phenom- for $1400/gm from Tubes@Rice, or for $200/gm at lesser purity
enon known as “self-healing”.1746 Single-molecule nanotubes of from CarboLex.
C1,000,000 or larger, with lengths >100,000 times longer than their From spatial geometry, it is known that hexagonal tiling produces
widths (e.g., ~1 mm long), had been synthesized by 1998. While
flat sections (like cylinder walls), and inserting pentagons into an
graphite is a very brittle material, the graphene walls of a carbon
hexagonal array produces positive curvature (like spheres), making
nanotube are quite resilient. Computer simulations and experiments
endcaps. But 7-sided heptagons can also be inserted into hexagonal
confirm that nanotubes kink when bent (Fig. 2.17), then snap back
when released.2661 Nanotube diameter is Dtube = 0.078 (n2 + nm + arrays to induce negative curvature,1308,2651 thus permitting concave
m2)1/2 nanometers, where (n, m) is the “rollup vector” defined by the surface deformations such as saddle-shaped fullerenes1308 (Fig. 2.18)
number of steps required for a repeat pattern along two crystallo- or possibly helical tubular structures.2635 Indeed, note Colbert and
graphic cylinder wall axes. The cohesive energy per atom required Smalley, “the use of hexagonal, pentagonal, and heptagonal sub-
to curve a flat graphene sheet into a cylinder1308 is Erollup = (13 zJ-nm2 structures are sufficient to produce caged carbon structures of any
/ Dtube2). (1 zeptojoule (zJ) = 10-21 joules.) As an example, a (10,10) topology”.2643 Nature makes use of this same geometrical principle
in the radiolarians,520 tiny protozoans with fullerene-like siliceous
skeletons, and in the conical nucleoprotein core particle of the HIV-1
Fig. 2.15. C240 and C540 fullerenes.382 Fig. 2.17. Carbon nanotubes kink when bent.2661
Basic Capabilities • Pathways to Molecular Manufacturing 53
*Interestingly, conical hexagonal lattices with narrow endcaps that are closed using P pentagons are required by Euler’s theorem to have a quantized cone angle θ defined
by sin(θ/2) = 1 - (P/6) for P = 0, 1, ... , 6; minimum cone angle is 19.2˚ at P = 5.2684
54 Nanomedicine • Volume I
Fig. 2.20C. Fullerene dendrimer.2620 Fig. 2.20F. Stable Diels-Alder fullerene adduct.2624
Typical AFM cantilevers have lengths of 100-400 microns, widths from a hydrogen monolayer atop a silicon base; the exposed silicon
of 20-50 microns, and thicknesses between 0.4 to several microns. surface oxidized, producing narrow SiO2 tracks.
AFM tips may be positioned with ~0.01 nm precision, compressive Perhaps more significantly, SPMs have been employed in an
loads as small as 1-10 pN are routinely measured,433,450,2757,2758 and increasingly sophisticated manner to manipulate individual atoms
the tips may be operated even in liquids.2898 and small clusters of atoms. The possibility of modifying surfaces
S. Vetter notes that STM technology has also improved, reaching with scanning probe tips was evident from the earliest years of STM
resolutions of ~0.001 nm in the z direction (vertical) and ~0.01 nm research, since inadvertent contact between tips and surfaces
in the xy plane, well beyond atomic resolution. The STM remains routinely caused such modifications,10 and the possibility of
the instrument with the best resolution. The conducting-surface transferring material between tip and sample had already been
limitation has been overcome in some cases by coating the target discussed.2783 Suggestions for controlled surface modification soon
with an extremely thin conducting layer, developing tips with multiple appeared,2784 and in 1985 Becker and Golovchencko2785 used voltage
electrodes, and coating a conducting substrate with a sample so thin pulses on an STM tip to pluck a single germanium atom from the
as to allow enough conduction even if the sample is characterized as {111} surface of a sample. In 1988, J. Foster and colleagues2786 at
an insulator in bulk. IBM Almaden pinned small organic molecules to a graphite surface
By 1998, the growing family of SPMs included at least forty by applying a small electrical pulse through an STM. Additional
types of instruments and techniques that relied on interactions pulses enlarged or erased this molecular feature, and often split the
between a scanned surface and a nearby probe. Different instruments organic molecule into smaller pieces, though not in a controlled
measured different forces and thus could be used to characterize manner. Other workers used an STM to dump small clusters of
different properties of the surface.2758 For example, friction force gold atoms on a platinum surface,2736-2739 clusters of copper atoms
microscopes (FFMs), magnetic force microscopes (MFMs), shear on a gold surface,2787 and molecules of tungsten carbide from a supply
force microscopes (ShFMs), scanning capacitance microscopes flowing over a surface.2788 Others reported positioning carbon monox-
(SCMs), scanning conducting ion microscopes, chemical force ide molecules and platinum atoms on platinum surfaces,278 moving
microscopes,2755,2756 and electrostatic force microscopes (EFMs) clusters and single atoms of silicon across a silicon surface at room
measured frictional drag or other binding forces. Magnetic resonance temperature,2746-2751 and fabricating via STM a “molecular corral”2789
force microscopes (MRFM)2776,2929 used a field generated from a or “quantum corral”2790—a ring of atoms so small that the enclosed
small magnet mounted on the tip of the cantilever arm to probe electrons were forced to exhibit quantum behavior. In 1999,
nuclear magnetic moments in a small region on the surface of the Tomanek and Kral3266 proposed an atomic fountain pen in which a
sample, imaging atom types and even detecting the spin of a single carbon nanotube filled with atoms is electrically induced to release
electron. By the mid-1990s, AFMs were already a $100 million/ these atoms, one by one every 15 microsec, onto the work surface.
year industry2777 and SPMs generally were an off-the-shelf technology More precise control was achieved by Eigler and Schweizer278 at
costing up to $50,000-$500,000 for complete systems, with the IBM Almaden in 1989, when they used an STM to position 35
whole industry worth up to ~$0.5 billion annually. (Low- individual xenon atoms on a nickel surface to spell out the corporate
performance “homebrew,” student,2712 and science-fair STMs have logo “IBM” (Fig. 2.25). To accomplish this, a bias voltage was applied
been built for as little as $50.2778) to weaken the adsorption of each atom to its nickel substrate, then
How might SPMs be used for molecular manufacturing? In the each atom was dragged, one by one, to the desired locations at a
crudest approach, SPMs might be employed as nanoscale milling speed of ~0.4 nm/sec2791 to build a meaningful pattern. It took 22
machines to carve out “nanoparts” from appropriate substrates. For hours2791 to make the entire logo, or ~38 min/atom. The experiment
example, Kim and Lieber16 used an AFM to perform nanomachining had to be carried out at 4 K (i.e., liquid helium temperatures) because
operations on a molybdenum trioxide crystal—applying a 100 nN the arrangement would have been unstable at room temperature.
load at the tip, they milled a triangular-shaped 50-nm planar chunk Numerous similar examples of “atomic graffiti”775 followed the IBM
from the crystal, then slid the part 200 nm across the work surface experiment, including atoms patterned in the shape of a world
by pushing it with the AFM tip. Sheehan and Lieber1737,2779 milled map;2792 the word “atom”2895 and “nanoworld”,2897 spelled out with
a 50-nm rectangular part and two other parts with concavities atoms, in Japanese; the word “Peace,” Einstein’s famous equation
complementary to the rectangle by mechanically etching a MoO3
layer deposited atop an MoS2 surface by pressing down with an
AFM tip at a 50 nN load. Like a numerical-controlled machine
tool, the AFM motions could be programmed to perform a series of
steps, like automatically carving the chemical formula “MoO3” into
the crystal.2779 Nanoparts with features as narrow as 10 nm can be
nanomilled in a limited set of materials [P.E. Sheehan, personal
communication, 1995]. In theory, large arrays of independently-
controlled SPM tips (see below) could be operated in parallel to
carve out great numbers of similar objects simultaneously, though
such objects would of course not be atomically identical without
further “finishing.” AFM tips have also been used to bulldoze
nanoscale lines and rectangular <10-nm features into
non-conducting photoresist, 2752-2754 perform “dip-pen” AFM
nanolithography,2780 form grooves,2781 and fabricate a single-electron
transistor via an STM nano-oxidation process. 2782 A carbon
nanotube affixed to an AFM tip was used as a pencil to write
10-nm-wide features onto silicon substrates at ~0.5 mm/sec:2711 An Fig. 2.25. IBM logo spelled out using 35 xenon atoms arranged on a
electric field issues from the nanotube, removing hydrogen atoms nickel surface by an STM (courtesy of IBM Research Division).
58 Nanomedicine • Volume I
“E=mc2,” and even a reproduction of the well-known Einstein portrait that does the chemistry and the molecular orienting can also be
with the scientist’s tongue sticking out;300 a sketch of a “molecule used to inspect the results.322
man” using 28 individual CO molecules on a platinum surface;2792 In 1996, Smalley’s group at Rice University2799 attached a single
gold nanoparticles spelling out “USC”2793 and “Zyvex”;2794 and nanotube to the pyramidal silicon tip of an AFM and showed that
sulfur atoms removed from a surface to make letters 2 nm high.2795 it was quite robust and could image the bottom of deep trenches
In 1996, Gimzewski’s group1735 used an STM tip to manipulate inaccessible to conventional tips. By 1998, progress had been made
individual buckyballs along terraces on a grooved copper plate, in functionalized carbon nanotubes for use on AFM tips. Most
making a “molecular abacus.” notably, Wong and colleagues2800 prepared nanotube tips by oxidation
Some variant of an SPM would appear to be the most promising in air at 700˚C, burning off all but 2% of the original material and
tool for direct molecular manipulation. Once a tip lies within ~1 leaving the ends covered with carboxyl (-COOH) groups whose
nm of a surface, the potential barrier can be lowered sufficiently for chemistry is rich and well-understood. Four different kinds of tips
atoms to be induced from the surface by field evaporation;2796 an were created: (1) the original carboxyl tip, which is acidic; (2) an
applied tip voltage ionizes the atom which can then be guided around amine-terminated tip (made by forming an amide bond to one of
by the tip. Depending on voltage and separation, atoms, atom clusters, the amine groups in ethylenediamine (H2NCH2CH2NH2)), which
or molecules can be pried out, pushed in, or nudged around on a is basic; (3) a hydrocarbon-terminated tip (made by forming an
surface. By 1998, techniques for direct atomic manipulation proceeded amide bond to benzylamine (C6H5CH2NH2)), which is hydropho-
at room temperature and ~1000 times faster than the original IBM bic; and (4) a biotin-terminated tip (made by forming an amide
logo had been assembled. For example, the Nanomanipulator,2716-2724 bond to a biotin derivative), which shows specific binding to
an interactive haptic control system created by a group at the streptavidin. AFM contact forces between tips and selected substrates
University of North Carolina at Chapel Hill, allows near-real-time were shown to be sensitive to pH and to the chemical details of the
manipulation of individual gold atoms across a surface using a substrate in ways consistent with the tips’ intended chemistry.
hand-held master-slave controller that drives an STM probe while Wong’s tips had three closely related advantages over previous
the position of the atom is displayed on a monitoring screen visible techniques. First, when a functional group is attached to the apex of
to the user. Partially funded by NSF, Silicon Graphics, and an Si3N4 or SiO2 tip, these groups usually adhere to the sides of the
TopoMetrix,3156 the Nanomanipulator is a fully-integrated system tip as well; upon using the tip as a tool, there is a constant hazard
that enables investigators to “feel” the interatomic forces as the user that contact with the sides of the tip will alter the workpiece in
pushes atoms around on a surface.2724 In one demonstration, a unwanted places. Unlike these tips built with bulk techniques, the
TV-watching user herded a gold atom, slipping and sliding, into a ends of Wong’s tips are very different from their sides—the carboxyl
slot in the planar workplace in about 1 minute; when force feed- groups are attached only on the ends of the nanotube, not on the
back was turned off, movements tended to run wild. IBM Almaden sides. Second, Wong’s tips have lateral dimensions set by the
has also experimented with removing individual atoms from metal nanoscale dimensions of nanotubes, not by top-down fabrication
surfaces using an STM hooked into a Virtual Reality Dataglove techniques. Note the authors: “...the small effective radius of
apparatus. nanotube tips significantly improves resolution beyond what can
To manufacture atomically precise parts, it also will be necessary be achieved using commercial silicon tips....we have recently
to manipulate covalent bonds at the probe tip. STMs have broken demonstrated that lateral resolution of <3 nm can be achieved by
and created chemical bonds; ~1 volt pulses were used to pull atoms using COOH-terminated single-walled nanotubes tips”.2740-2742
out of crystals, binding them to the tip, and then to re-insert them Third, single-walled nanotube tips are much closer to yielding truly
back into the crystal.2749,2758 In 1995, the first demonstration of single atom tips with controlled chemistry than any other alternative.
catalysis on a nanometer scale was reported by scientists at the J. Soreff notes that a (10, 10) nanotube with a 1.4-nm diameter has
just 20 atoms at an open end. Even given a statistical distribution of
Molecular Design Institute at LBL.2797 They used an AFM modified
tubes with varying numbers of carboxyl groups attached to their
to function like an ultrafine-point pen for catalytic calligraphy to
ends, one should be able to build a ligand which covers the whole
change the chemical composition of a material surface one molecule at
a time. A surface was prepared as a self-assembled monolayer (SAM) end of the tube, yielding a method for ensuring that just one molecule
of alkylazide molecules capped with a crown of three nitrogen atoms, of known structure and orientation was present at the end of the
then platinum-coated chromium was deposited onto an AFM silicon probe.
tip just a few atoms wide. The SAM was soaked with a Theoretical studies have employed molecular dynamics simulations
hydrogen-containing solvent, then scanned by the AFM over a 100 and other techniques to investigate the behavior of mechanosynthetic
micron2 area, with the platinum catalyzing a covalent bonding tool tips.10,2760,2761,2764,3250 For example, Drexler10 proposed using
reaction in which hydrogen was added to the azides, transforming an acetylene radical to perform selective abstractions of hydrogen from
them into amines as revealed by selective fluorescent tags. a diamond surface (Fig. 2.26A), and this proposal was further studied
Tip technology is an important and fast-growing subspecialty of in Musgrave’s ab initio quantum chemistry analysis2762 and Sinnott’s
SPM research. In 1990, Drexler and Foster217 suggested the use of molecular dynamics modeling of the reaction at room temperature
custom-made, synthetic proteins to be mounted on the point of an on a diamond {111} surface;2763,2764 other H-abstraction studies
SPM tip. Modified antibodies or specially designed proteins have been done.10,2907 One possible structure for a hydrogen
could serve as simple, first-generation “grippers” for binding and abstraction tool might be similar to an anthracene whose end had been
manipulating specific molecules, bringing them into position to react modified as shown in Figure 2.26B; prior to use, the structure must be
with other molecules in a precise and selective way. Functionalized activated by removal of the terminal hydrogen.1199 Brenner and
SPM tips have been created to exploit antibody-antigen recognition2798 colleagues2764 describe further work modeling the parallel abstraction
and in the context of chemical force microscopy.2755,2756 A major of several hydrogen atoms from the diamond {111} surface. Such
convenience for molecular manipulation is that the same instrument reactions are similar to those involved in the well-studied chemical
Basic Capabilities • Pathways to Molecular Manufacturing 59
*Experimentalists are warned that butadiyne, chemically distinct from the more common molecule butadiene (C4H6), can polymerize explosively under some conditions.2801
60 Nanomedicine • Volume I
Three-dimensional nanoassembly might perhaps be more readily bearing. They looked at bearings formed from nanotubes 11 rings
achieved if nanoparts could assist in their own assembly process. long, with 10 carbons per ring in the shaft and either 30 or 34
R. Merkle [personal communication, 1998] suggests that an SPM carbons per ring in the sleeve. For the computer simulations, Tuzun
could be used to position DNA-tagged molecular building blocks. placed the sleeve of the bearing along the z axis and gave the shaft a
A building block tagged with a specific single-stranded DNA should small initial velocity towards it. A perfectly aligned shaft falls straight
preferentially adhere to a surface covered with the complementary into a potential well from the van der Waals attraction to the sleeve;
DNA. If the building block has a second single-stranded DNA tag displaced or mis-oriented shafts can bounce off the edge of the sleeve.
which is complementary to single-stranded DNA on the tip of an The docking envelopes for the molecular dynamics calculations and
SPM, and if it is initially attached to the SPM tip by this tag, then for the rigid body calculations had essentially the same shape, but
it could be positioned by the SPM and attached to the surface. The with slightly different sizes. For the atomistic calculation, a shaft
relative strength of attachments could be adjusted by changing the aligned parallel to the sleeve (with a 30 carbon ring sleeve) can be
number of base pairs in the complementary region between the two displaced by 0.26 nm before it fails to dock, while in the rigid body
strands.1066 A related suggestion, due to G. Fahy,322 is that SPM calculation the displacement can only be 0.16 nm. The authors note
tips for assembly could be designed with more than one binding that “if an end of the shaft points closely enough to the center of the
site. The existence of at least two binding sites could allow precise sleeve, it will fall into the non-bonded potential energy well and the
orientation of a nanopart, permitting the nanopart to be presented two nanotubes will dock.” These calculations are important because
to a desired target site (or another nanopart, possibly attached to they tell us what tolerances can be accepted during the manual
another manipulator) at exactly the location and in exactly the assembly process. Note the authors: “A question just as important
orientation desired, assuming that each nanopart can bind to each as how to design or operate nanomachines is how to assemble
tip in only one possible orientation. A convenient post-assembly them”.2811 Interestingly, one of Zyvex’s experiments2808 produced a
nanopart release mechanism is also required. multiwalled carbon nanotube that thinned in three steps along its
In 1997, the Avouris group2750,2771 at IBM Yorktown Heights length, suggesting the most likely explanation that the inner shells
demonstrated that the tip of an atomic force microscope (AFM) had been pulled from the outer shells. This phenomenon has also
could be used to control the shape and position of individual been observed by others and is known as the “sword and sheath”
multiwalled carbon nanotubes dispersed on a surface. Nanotubes failure2812—the exact inverse of the purposeful nanotube insertion
could be bent, straightened, translated, rotated, and (under certain operation investigated by Tuzun and colleagues.
conditions) cut. In order to produce large numbers of nanoparts and
In 1998, Zyvex LLC (a developmental engineering company nano-assemblies, massively parallel SPM arrays and microscale
whose goal is to create a molecular assembler capable of manufacturing SPMs2772-2774 would be most convenient. Force-sensing devices such
atomically precise structures 2794) demonstrated the ability to as piezoelectric,2813 piezoresistive,2814 and capacitive2815 micro-
manipulate carbon nanotubes in three dimensions inside a scanning cantilevers made it possible to construct microscale AFMs on chips
electron microscope (SEM) having ~6 nm resolution at near-video without an external deflection sensor. (We exclude fixed-tip arrays2816
scan rates. Zyvex’s custom piezoelectric vacuum manipulator in the following discussion.) In 1995, Itoh and colleagues2817 at the
achieved positional resolutions comparable to SPMs along with the University of Tokyo fabricated an experimental piezoelectric
ability to manipulate objects along one rotational and three linear ZnO2-on-SiO2 microcantilever array of ten tips on a single silicon
degrees of freedom with 0.1 nm spatial resolution.2808 This proto- chip. Each cantilever tip lay ~70 microns from its neighbor, and
typical device could probe, select and handle limited classes of measured 150 microns long, 50 microns wide and 3.5 microns thick,
nanometer-scale objects such as carbon nanotubes under real-time or ~26,000 micron3/device, and each of the devices could be operated
SEM inspection. Carbon nanotubes were attached to commercial independently in the z-axis (e.g., vertically) up to near their
atomic force microscope (AFM) tips either by van der Waals forces mechanical resonance frequencies of 145-147 KHz at an actuation
alone or by “nanosoldering” by a concentrated electron beam from sensitivity of ~20 nm/volt—for instance, 0.3-nm resolution at 125 KHz.
the SEM. Forces applied to the nanotubes could be measured from Parallel probe scanning and lithography has been achieved by
the cantilevers’ deflections (spring constants 0.01-100 N/m; see also Quate’s group at Stanford, which has progressed from simple
Neumister and Ducker2809). Sometimes nanotubes were transferred piezoresistive microcantilever arrays with 5 tips spaced 100 microns
from tip to tip. The manipulator could function both as a research apart and 0.04-nm resolution at 1 KHz but only one z-axis actuator
tool for investigating properties of carbon nanotubes and other for the whole array,2818 to arrays with integrated sensors and actuators
nanoscale objects without surface restrictions, and as a rudimentary that allow parallel imaging and lithography with feedback and
building device for larger nanotube assemblies. Zyvex believed that independent control of each of up to 16 tips, with scanning speeds
this capability to select and manipulate nanoscale components and up to 3 mm/sec using a piezoresistive sensor.2819,2820 By 1998, Quate’s
to examine directly their suitability as construction materials during group had demonstrated2821-2827,2829 arrays of 50-100 independently
various phases of the construction process would play an important controllable AFM probe tips mounted in 2-D patterns with 60 KHz
role in enabling the technology of assembling mechanical and resonances, including a 10 x 10 cantilevered tip array fabricated in
electronic devices from prefabricated components. Most impressively, closely spaced rows using throughwafer interconnects on a single
the Zyvex system allowed the simultaneous coordinated operation chip.
of three independently controlled AFM tips within the same MacDonald’s group at the Cornell Nanofabrication Facility has
workspace, at different orientations. (A four-tip system was pursued similar goals. In 1991, the team fabricated their first
expected to be operational by mid-1999 [Mark Dyer, personal submicron stylus, driven in the xy plane using interdigitating MEMS
communication, 1999].) Two-handed coordinated micromanipulation comb drives,2830 including the first opposable tip pair (Fig. 2.27).
under the view of an SEM had previously been demonstrated by By 1993, they had produced a 25-tip array on one xyz actuator,2831,2832
others.2810 and by 1995 a complete working micro-STM (including xy comb
Tuzun and colleagues2811 calculated the requirements for coaxial drives) measuring 200 microns on an edge and a micro-AFM
docking of two nanotubes of different diameters to form a molecular measuring 2 mm on an edge including a 1-mm long cantilever with
Basic Capabilities • Pathways to Molecular Manufacturing 61
*At the atomic scale, the two opposing surfaces have periodic bumps and hollows, but the periods of these bumps are different for the two surfaces—that is, they are
“incommensurate.”10,3243 Two incommensurate surfaces cannot lock up in any particular position, hence the barrier to free rotation is very low, on the order of ~0.001 kT (thermal
noise at room temperature).280
**Components of high rotational symmetry may consist of (a) intrinsically curved, (b) strained-shell, or (c) special-case structures.10 In the case of (b), the bearing illustrated
in Figure 2.29 has bond strains of around ~10% (~38 zJ/atom), and similar hydrocarbon bearings have been designed with bond strains of ~5% (~11 zJ/atom) [R. Merkle,
personal communication, 1998]. For comparison, strain energies1866,2615 are 3 zJ/atom for diamond lattice, ~25 zJ/atom in C240, ~7-27 zJ/atom in the walls of infinite carbon
nanotubes of diameter 0.7-1.3 nm, up to ~59 zJ (13% strain) for some bonds around a Lomer dislocation in diamond,2861 ~70 zJ/atom in C60, and at least ~80 zJ/atom for
C36. Fullerenes are among the most highly strained natural molecules ever isolated. For symmetrical diamondoid structures with negligible hoop stress, permissible bond strains
may in theory be as large as ~140 zJ/atom producing a ~23% bond strain;10 nanotube breaking strain is 20-30% for various chiral forms, and buckling strain is ~8% in axial
compression. Bond strain in a simple strained-shell bearing can be lowered by making the bearing bigger, thereby reducing the curvature. Thus strained shell bearings are feasible,
although in 1998 it remained unclear exactly how small they could be before becoming unstable.
62 Nanomedicine • Volume I
the central shaft rotating rapidly and the peripheral output shaft
rotating slowly. The small planetary gears rotate around the central
shaft, and they are surrounded by a ring gear that holds the planets
Fig. 2.28. End views and exploded views of a 206-atom overlap- in place and ensures that all of the components move in the proper
repulsion bearing (courtesy of K.E. Drexler10). fashion. The ring gear is a strained silicon shell with sulfur atom
termination; the sun gear is a structure related to an
oxygen-terminated diamond {100} surface; the planet gears resemble
multiple hexasterane structures with oxygen rather than CH2 bridges
between the parallel rings; and the planet carrier is adapted
from a Lomer-dislocation2894 array created by R. Merkle and
L. Balasubramaniam, and linked to the planet gears using C-C
bonded bearings. View (c) retains the elastic deformations that are
hidden in (a)—the gears are bowed. In the macroscale world, planetary
gears are used in automobiles and other machines where it is necessary
to transform the speeds of rotating shafts.
W. Goddard and colleagues at CalTech2844,2845 performed a
rotational impulse dynamics study of this “first-generation” planetary
gear. At the normal operational rotation rates for which this compo-
nent was designed (e.g., <1 GHz for <10 m/sec interfacial velocities),
the gear worked as intended and did not overheat.2844 Started from
room temperature, the gear took a few cycles to engage, then
rotated thermally stably at ~400 K. However, when the gear was
driven to ~100 GHz, significant instabilities appeared although the
device still did not self-destruct.2844 One run at ~80 GHz showed
excess kinetic energy causing gear temperature to oscillate up to
450 K above baseline.2845 One animation of the simulation shows
that the ring gear wiggles violently because it is rather thin. In an
actual nanorobot incorporating numerous mechanical components,
the ring gear would be part of a larger wall that would hold it solidly in
place and would eliminate these convulsive motions which, in any
case, are seen in the simulation only at unrealistically high operating
frequencies.
Fig. 2.29. Exploded view of a 2808-atom strained-shell sleeve bearing Drexler and Merkle2847 later proposed a “second-generation”
(courtesy of K.E. Drexler10). planetary gear design (Fig. 2.31) with 4235 atoms, a molecular
Basic Capabilities • Pathways to Molecular Manufacturing 63
Pump with
Helical Rotor
Chamber Wall
Fig. 2.31. Side and top views of a 4235-atom “second generation” Fig. 2.32. Side views of a 6165-atom neon gas pump/motor (courtesy
planetary gear (courtesy of K.E. Drexler and R.C. Merkle2847). of K.E. Drexler and R.C. Merkle2858).
weight of 72,491.947 daltons and a molecular volume of 47.586 rotational energy barriers or to optimize rotational dynamics or
nm3. This new version was indeed more stable but still had too operational stability.
much slip at the highest frequencies. Commenting on the ongoing Drexler and Merkle2859 have also produced a preliminary design
design effort, Goddard2845 suggested that an optimal configuration for a 2596-atom fine-motion controller (Fig. 2.33). A
could have the functionality of a planetary gear but might have an general-purpose molecular assembler arm must be able to move its
appearance completely different from the macroscopic system, and “hand” by many atomic diameters, position it with fractional-
offered an example: “Because a gear tooth in the xy plane cannot be atomic-diameter accuracy, and then execute finely-controlled
atomically smooth in the z-direction, we may develop a Vee design motions, perhaps to transfer one or a few atoms in a guided chemical
so that the Vee shape of the gear tooth in the z-direction nestles reaction. Human arms use large muscles and joints for large
within a Vee notch in the race to retain stability in the z-direction as motions and more finely-controlled finger motions for precision;
the teeth contact in the xy plane. This design would make no sense the device presented here can execute precise finger-like motions
for a macroscopic gear system since the gear could never be placed over several atomic diameters with associated 90-degree rotations.
inside the race. However, for a molecular system one could imagine The core of the device consists of a shaft linking two hexagonal
that the gear is constructed and that the race is constructed all endplates, sandwiching a stack of eight rings, making a modified
except for a last joining unit. The parts could be assembled and Stewart platform (Section 9.3.1.5). In a complete system, each ring
then the final connections on the face made to complete the would be rotated by a lever driven by a cam mechanism. Each ring
design” analogous to the ZARBI system of Rebek.131 supports a strut linked to a central platform (here shown raised,
Another class of nanodevice that has been designed is a
gas-powered molecular motor or pump.2858 The pump and chamber
wall segment shown in Figure 2.32 contain 6165 atoms with a
molecular weight of 88,190.813 daltons and a molecular volume of
63.984 nm3. The device can serve either as a pump for neon gas
atoms or (if run backwards) as a motor that can convert neon gas
pressure into rotary power. The helical rotor has a grooved cylindrical
bearing surface at each end, supporting a screw-threaded cylindrical
segment in the middle. In operation, rotation of the shaft moves a
helical groove past longitudinal grooves inside the pump housing.
There is room enough for small gas molecules only where facing
grooves cross, and these crossing points move from one side to the
other as the shaft turns, moving the neon atoms along. Goddard2845
reported that preliminary molecular dynamics simulations of the
device showed that it could indeed function as a pump, although
“structural deformations of the rotor can cause instabilities at low
and high rotational frequencies. The forced translations show that
at very low perpendicular forces due to pump action, the total energy
rises significantly and again the structure deforms.” Merkle
acknowledged that the pump moves neon atoms at an energy cost
of 185 Kcal/mole-Angstrom (12,900 zJ/atom-nm), which is not
very energy-efficient. Further refinement of this crude design is
clearly warranted.
Conveyor systems would also be useful. Employing a primitive
molecular CAD software package called Crystal Sketchpad, G.
Leach2861 created a design for a 5-nanopart, ~2500-atom conveyor
belt system comprised of two rollers, two axles, and a belt consisting of
a strained thin-walled diamond sheet. The design has not been Fig. 2.33. Side view of a 2695-atom fine motion controller (courtesy of
subjected to further computational analysis, either to minimize K.E. Drexler and R.C. Merkle2859).
64 Nanomedicine • Volume I
displaced, and twisted). Rotating a ring moves a strut; moving a In 1998, the capacity of such systems to design and manipulate
strut moves the platform; positioning all eight rings large nanoscale mechanical components was extremely limited. A
(over-)determines a platform position in x, y, z, roll, pitch, and yaw. few very primitive molecular nanotechnology design packages had
(If the struts were rigid, six would do the job; here, two struts have been attempted, including Crystal Sketchpad,2861 DiamondCAD
been added to increase stiffness.) Notes Drexler: “The chief design (www.zyvex.com/diamond.html), Molecular Assembly Sequence
problem is to enable an adequate range of motion without mechanical Software (www.carol.com/mass.shtml), Molecular Modelling Toolkit
interference or unacceptable bond strains, and within the size (starship.python.net/crew/hinsen/mmtk.html), and NanoCAD
constraints set by available modeling tools and patience.” (world.std.com/~wware/ncad.html). The possible design of molecules
Almost all current design research in molecular nanotechnology for specific purposes using genetic software techniques had also been
is restricted to computer simulation, which allows the design and investigated.2955
testing of large structures or complete nanomachines, and the
compilation of growing libraries of molecular designs. The work is 2.4.2 Molecular Assemblers
relatively inexpensive and does not require the support of a large Drexler8-10 has proposed the molecular assembler,** a device
team. Of course, calculations of many-body systems are notoriously resembling an industrial robot which would be capable of holding
difficult, with many computer packages making a number of and positioning reactive moieties in order to control the precise
simplifying assumptions—e.g., nuclei as point masses, electrons location at which chemical reactions take place. This general approach
treated as a continuous charge distribution, and 3-D potential energy would allow the construction of large atomically precise objects by
functions derived semi-empirically from experimental data and a sequence of precisely controlled chemical reactions. Much like
treated as a classical field despite their true quantum mechanical the ribosome in biology (Section 2.3.1), an assembler would build
character (for ease of computation). Notwithstanding these shortcuts, various classes of useful molecular structures following a sequence
Tuzun and colleagues2664 claim that classical simulations may over- of instructions. During this process, the assembler would provide
estimate the rate of energy transfer between vibrational modes even three-dimensional positional and full orientational control over the
at low energies, in which case “current designs for various molecular component (analogous to the individual amino acid in
nanocomponents [would] actually perform better and be more stable the ribosome model) that is being added to a growing complex
than recent molecular dynamics simulations suggest.” molecular structure (analogous to the growing polypeptide in the
Goddard2853 notes that future nanosystem simulations may ribosomal model). In one approach, a molecular assembler may be
require 1-100 million atoms to be considered explicitly, demanding capable of forming any one of several different kinds of chemical
major improvements in molecular dynamics methodologies. By bonds (e.g., by changing tool tips), not just a single kind such as the
1998, new algorithms for parallel processing of massive molecular peptide bond that the ribosome makes. In bonding atoms or
dynamics simulations were being developed,2854 producing methods molecules to one another, the assembler would provide any needed
and optimized parallelized computer programs efficient for high energy (especially if the reaction happens not to be energetically
capacity molecular dynamics simulations of 10,000-1,000,000 favored) through physical force, thus performing mechanosynthesis
atoms for finite molecular structures. (as opposed to the traditional means of chemical synthesis in solution).
Ultimately, Computer-Aided (Molecular) Design (CAD) systems2861 In another approach, a molecular assembler might be capable only
will be needed to efficiently design and analyze molecular components of noncovalent assembly operations, wherein nanoparts are fabricated
and their higher-order assemblies. CAD systems are commonplace by other means and then presented to the assembler, which assembles
in macroscale engineering and architecture, as are Computer-Aided the nanoparts into working nanomachines.
Manufacturing (CAM) systems in macroscale manufacturing. In The first simple molecular assembler will almost certainly be a
the molecular realm, Computer Aided Synthesis Design (CASD)* macroscale device, perhaps a modified SPM system as was being
has been avidly pursued by computational chemists since the 1980s, pursued by Zyvex2794 in 1998. Multiple SPM heads could be
and by 1998 many university and commercial molecular modeling equipped with a small number of nanoscale tool tips. In one scenario,
software packages were already well-known, including Alchemy nanoparts fabricated using bulk chemistry techniques would be
(Tripos Inc.; www.tripos.com), Cerius2 (Molecular Simulations Inc.; inspected and selected by the SPM, then assembled one by one into
www.msi.com), Chem3D (CambridgeSoft; www.camsoft.com), working nanomachines (e.g., the desired useful nanoscale products).
Conformer (Princeton Simulations; www.conformer.com), Such assembly operations will be very slow, because the placement
Gaussian94 (Gaussian Inc.; www.gaussian.com), Hyperchem of each new component may require simultaneous rotations and
(Hypercube Inc.; www.hyper.com), Molecular Operating Environment translations of large macroscale SPM components. Assembly time
(Chemical Computing Group Inc.; www.chemcomp.com), scales roughly linearly with assembler size10 because smaller assembler
MOPAC97 (Fujitsu Ltd.; www.winmopac.com), RealMol/CAVE/ components moving at a given velocity need to travel less distance
NAMD (Fraunhofer Institute for Computer Graphics; to accomplish a given physical operation, hence consuming less time
www.igd.fhg.de/www/igd-a4/research/chemie), Sculpt (Interactive and energy per physical operation. An important early developmental
Simulations Inc.; www.intsim.com/products/index.htm), and Spartan goal thus will be to design and fabricate nanoscale molecular
(Wavefunction Inc.; www.wavefun.com). assemblers.
*Existing CASD software/database packages include CAMEO (reaction chemistry assistant; William L. Jorgensen, Yale Univ.; zarbi.chem.yale.edu/programs/cameo.html), CAS
(reaction data base; www.cas.org/CASFILES/casreact.html)), Chiron (retrosynthetic analysis of chiral precursors; Steve Hanessian, Univ. of Montreal; www.netsci.org/
Resources/Software/Cheminfo/chiron.html), CIARA (Vogel Scientific Software Inc.; www.vogelscientific.com), Crossfire (Computer Assisted Synthesis, Beilstein Information
Systems; www.beilstein.com), EROS (Johann Gasteiger, Erlangen University; schiele.organik.uni-erlangen.de), LAHSA (retrosynthetic analysis; Alan Long, Harvard University;
long@midas.harvard.edu), REACCS (MDL Information Systems Inc.; www.mdli.com), SYNGEN (Jim Hendrickson, Brandeis University; syngen2.chem.brandeis.edu/
syngen.html), SYNLIB (W. Clark Still, Columbia University), and SYNTREE (Trinity Software Inc.; www.trinitysoftware.com/Trinity/orgchem/SYNTREE.HTM).
**But not a “universal” assembler: “Though assemblers will be powerful (and could even be directed to expand their own toolkits by assembling new tools), they will not be
able to build everything that could exist” (Drexler8 at page 246). The term “universal assembler” appears only in a section heading in Drexler’s popular work Engines of Creation8
but not in the text; the term appears nowhere in Drexler’s technical work Nanosystems.10
Basic Capabilities • Pathways to Molecular Manufacturing 65
molecular dynamics program to operate the system: moving the tip from of the data-copying process, hence the set of instructions can be
reservoir to work area, moving it to contact the appropriate surface site, made as complex as is necessary to specify the rest of the system. By
moving it to regenerate the active tip, and then moving it back to add the same token, the instructions transmitted in a replication cycle
new atoms and molecules. This will include proper temperature effects, can specify the construction of an indefinitely large number of other
molecular vibrations, energy release upon the various chemical steps, artifacts.”
etc. The ground rules here are that a realistic force field be used and that
The estimated information content of self-replicating systems—
all pieces be treated at the atomic level (but some might be semi-rigid).
This will use the force field developed for nanosynthesis. The purpose of the length of the instruction tape—can be surprisingly small (Table
these simulations is to examine issues of vibration caused by chemical 2.1). Von Neumann’s original analysis1985 concluded that perhaps
forces as the tool picks up and delivers atoms to the growing surface. twelve different kinds of units of unknown complexity could be
Also we want to consider the effect of energy release in the chemical steps required as building materials, and Haldane2884 inferred that as many
on the thermal fluctuations in these systems (which may cause as ~105 individual parts might be needed to make a replicator. This
displacements and vibrations).”
inference was refuted just three years later with the arrival of the
Building mega-atom or giga-atom nanoproducts one at a time first in a stream of very simple but ingenious designs for mechanical
would be incredibly expensive and time consuming. For example, self-replicating machines that were assembled and operated in the
imagine that we wish to construct a simple medical nanorobot such late 1950s. In the first example,2879 a pair of joined ratchetlike
as the 1-micron spherical respirocyte1400 described in Chapter 22, blocks,2886 when placed in a “sea” of left and right blocks and then
which consists of ~18 billion atoms (dry structure). A factory physically agitated, replicated itself from this well-ordered input
employing a coordinated team of 100 macroscale SPM assemblers, substrate, making more block-pairs until all the single blocks were
each able to place ~1 atom/sec-SPM on a convergently-assembled used up, a process similar to chemical autocatalysis. More complex
workpiece achieves a pitiful manufacturing throughput rate of ~2 congeries of blocks, including clever four-block, eight-block, and
respirocytes per decade. Nanoscale assemblers with appendages ~106 12-block replicators that could replicate themselves in a sea of blocks
times smaller than macroscale SPM assemblers might plausibly were presented by Penrose.2880,2881 Jacobson2882 demonstrated a
achieve net assembly rates of ~106 atoms/sec-nanoassembler, but 3-unit replicator consisting of toy train engines circulating on HO
even a production line employing ~300 such nanoassemblers (which model railroad tracks, and Morowitz2883 designed a simple two-unit
the abovementioned 100-SPM factory team could build in ~1 year, device with one unit comprised of about a dozen components in-
assuming ~107 atoms/nanoassembler) can only manufacture ~1 cluding switches, batteries and electromagnets, that could assemble
respirocyte nanorobot per minute. At that rate, it would take ~2 copies of itself from parts floating on the water surface of a bathtub.
million years to build the first ~1 cm3 therapeutic dosage containing In 1998, Lohn and colleagues2885 gave two designs for simple
~1012 respirocyte nanorobots. self-replicating systems that could be constructed out of wood,
The necessary solution to this mass-production bottleneck is to batteries and electromagnets, with explicit analogies to nanoscale
employ any of several massively parallel approaches to manufacturing, fabrication. Several important conclusions may be drawn from these
including such techniques as self-assembly (Sections 2.3.1 and 2.3.2), examples:
convergent assembly, 10,2869 or, most usefully, self-replication First, replication is fundamentally so simple a task that machines
(Chapter 14). The basic advantage of self-replication is readily capable of displaying this behavior pre-date most of the modern
illustrated. Consider a single ~108-atom “seed” nanoassembler (having electronic computer era.
an onboard nanocomputer) that has been painstakingly built in ~106 Second, assembly is an inherently simpler operation than
sec using the abovementioned 100-SPM macroscale assembler team, fabrication. A complex part may embody hundreds or thousands of
working at ~1 atom/sec-SPM. The seed nanoassembler is first pro- prior fabrication and assembly operations, yet may be installed within
grammed to build a copy of itself, which it accomplishes (working at an assemblage in a single step. Hence nanopart assembly may be an
~10 6 atoms/sec-nanoassembler) in ~100 sec. These two easier candidate for early implementation in first-generation
nanoassemblers then each build a copy of themselves in another self-replicating molecular manufacturing systems than is molecular
~100 sec; now there are four nanoassemblers. After ~48 generations, fabrication.
requiring a total of ~80 minutes to complete, there are ~3 x 1014 Third, and most important, the simplest nanoreplicator may
nanoassemblers.* These nanoassemblers are then reprogrammed for require the ability to assemble, but not to (atomically) fabricate, in
the manufacture of 18-billion-atom respirocytes and are fed the order to replicate itself. A nanomachine capable of assembly alone
appropriate, presumably different, feedstock. This vastly expanded can replicate itself only from a very limited set of well-ordered input
nanoassembler manufacturing system can now produce ~1012 materials of relatively high complexity, but such a machine can be
respirocytes (~1 cm3 therapeutic dose) per minute. extremely simple both in structure and function. Certainly a
The design of machines able to make copies of themselves was nanomachine capable of both assembly and fabrication can replicate
first described by von Neumann.1985 Many variations on this theme itself from a more diverse and disordered set of more elementary
have been reviewed by Freitas and Gilbreath115 and Sipper,2871 and input materials—but only at the expense of far greater internal
design for self-replication in the context of nanoscale assemblers structural and functional complexity.
has been considered by Drexler,8-10 Merkle,116,2868,2872,2873 and
At least two distinct models of replication have been identified
Hall.2870 As Drexler10 notes: “It may seem somehow paradoxical
that a machine can contain all the instructions needed to make a in replicating systems design.115 The first model may be called the
copy of itself, including those selfsame complex instructions, but “unit replication” or organismic model (Fig. 2.34), in which the
this is easily resolved. In the simplest approach, the machine reads replicator is an independent unit which employs the surrounding
the instructions twice: first as commands to be obeyed, and then as substrate to directly produce an identical copy of itself; both the
data to be copied. Adding more data does not increase the complexity original and the copy remain fertile and may replicate again, thus
*Numerous complexities and limitations have been ignored here. For example, exponential growth cannot continue indefinitely in a finite environment with limited materials
transport speeds—e.g., a 2-nm wide nanopart suspended in 310 K water diffuses only ~26 nm in 10-6 sec (Eqn. 3.1). Mechanical replicating systems designed purely for molecular
manufacturing may be inflexible and brittle, employing limited energy resources and materials feedstocks not found outside of the immediate manufacturing environment.
Basic Capabilities • Pathways to Molecular Manufacturing 67
(i.e., natural biological nanomachines) are already widely available each nanomachine ~1000 times before final discard would then
over the counter for gastrointestinal refloration, as for example imply a net ~$1/cm3 treatment cost. Of course, in 1998 all such
Salivarex™ which “contains a minimum of ~2.9 billion beneficial estimates were mere guesswork, but the ultimate expectation of
bacteria per capsule”,3048 and Alkadophilus™ which “contains 1.5 relatively low-cost nanomedical treatments was certainly rational, if
billion organisms per capsule”,3049 both at a 1998 price of ~$0.2 x not provable.
10-9 per bacterium. This Chapter has demonstrated that there are many different
Another useful analogic approach to cost estimation is suggested pathways leading toward molecular nanotechnology, each one of
by the plunging price of computer power during the 20th century. which provides incremental benefits to motivate further travel down
Figure 2.36 shows the cost, in constant 1998 U.S. dollars, of a the paths (Fig. 2.37). The likelihood of all the paths being blocked
computer processing capability equivalent to ~1 TeraFLOP (1012 is low, even if we have little confidence that we can predict which
floating-point operations per second, ~1014 bits/sec assuming 64-bit approach will succeed first.8,9 Progress along the many pathways
words). The plotted data is from a compilation of 67 historical will provide precursor products, including some early medical
computers by Moravec1 through 1989, with an additional 27 data applications, but the ultimate achievement of molecular manufac-
points for other computers spanning 1973-1999 added by the author. turing will finally make nanomedicine feasible.
The chart shows that the cost of 1 TFLOP has fallen from $2 x 1020 As Drexler concluded Nanosystems:10 “Each step along [these
in 1908 (the mechanical Hollerith Tabulator) to just $6 x 106 in pathways] will present great practical challenges, but each step will
1998 (the SGI/Cray T3E-1200E), a 90-year price decline of almost 14 also bring valuable new capabilities. The long-term rewards, measured
orders of magnitude—on average, a halving every ~2 years, a in terms of scientific and technological capabilities, appear large.” This
century-long example of Moore’s Law. This trend may give us some author agrees. For the remainder of the present work, we shall assume
confidence that even if the first individual 1 micron3 nanorobot that a molecular manufacturing technology will someday exist that can
costs ~$100,000 to assemble (much like the first Nippondenso economically manufacture macroscopic batches of microscopic machines
microcar; Section 2.2), eventually the unit price may fall at least 14 comprised of atomically-precise nanoscale components. The medical
orders of magnitude to below ~$10-9 per nanorobot or <$1000 per applications and implications of such a technological capability are the
~1 cm3 dosage (1012 nanorobots). Recycling or remanufacturing principle subject of this three-volume book.
CHAPTER 3
Molecular Transport and Sortation
3.1 Human Body Chemical Composition
T
he human body consists of ~7 x 1027 atoms arranged in a
highly aperiodic physical structure. Although 41 chemical Table 3.2 Estimated Gross Molecular Contents of a Typical
elements are commonly found in the body’s construction 20-µm Human Cell398,531,758-760,938
(Table 3.1), CHON comprises 99% of its atoms. Fully 87% of
human body atoms are either hydrogen or oxygen. MW Number of
Somatic atoms are generally present in combined form as Molecule Mass % (daltons) # Molecules Molecule % Molecular Types
molecules or ions, not individual atoms. The molecules of greatest
nanomedical interest are incorporated into cells or circulate freely Water 65 18 1.74 x 1014 98.73 1
in blood plasma or the interstitial fluid. Table 3.2 summarizes the Other Inorganic 1.5 55 1.31 x 1012 0.74 20
Lipid 12 700 8.4 x 1011 0.475 50
gross molecular contents of the typical human cell, which is 99.5% Other Organic 0.4 250 7.7 x 1010 0.044 ~200
water and salts, by molecule count, and contains ~5000 different Protein 20 50,000 1.9 x 1010 0.011 ~5,000
types of molecules. Appendix B lists 261 of the most common RNA 1.0 1 x 106 5 x 107 3 x 10-5 –––
DNA 0.1 1 x 1011 46 3 x 10-11 –––
molecular and cellular constituents of human blood, and their normal TOTALS 100% ––– 1.76 x 1014 100% –––
concentrations in whole blood and plasma. This listing is far from
complete. The human body is comprised of ~105 different molecular
species, mostly proteins—a large but nonetheless finite molecular
parts list. By 1998, at least ~104 of these proteins had been sequenced, technology,1145 it is likely that the sequences and 3-D or tertiary
~103 had been spatially mapped, and ~7,000 structures (including structures of all human proteins will have been determined by the
proteins, peptides, viruses, protein/nucleic acid complexes, nucleic second decade of the 21st century.
acids, and carbohydrates) had been registered in the Protein Data Transporting and sorting such a broad range of essential
Bank which at that time was maintained at Brookhaven National molecular species will be an important basic capability of many
Laboratory.1144 Given the current accelerating pace of improving nanomedical systems. The three principal methods for distinguishing
and conveying molecules that are most useful in nanomedicine are
diffusion transport (Section 3.2), membrane filtration (Section 3.3),
and receptor-based transport (Section 3.4). The Chapter ends with
Table 3.1 Estimated Atomic Composition of the Lean 70-kg a brief discussion of binding site engineering (Section 3.5).
Male Human Body749,751,752,817
3.2 Diffusion Transport
Element Sym # of Atoms Element Sym # of Atoms Fluidic transfer of material, known as convective-diffusive transport,
can occur either by convection due to bulk flow or by diffusion due
Hydrogen H 4.22 x 1027 Cadmium Cd 3 x 1020 to Brownian motion. In convective transport, material is carried
Oxygen O 1.61 x 1027 Boron B 2 x 1020
Carbon C 8.03 x 1026 Manganese Mn 1 x 1020 along fluid streamlines at the mean velocity of the fluid, with a
Nitrogen N 3.9 x 1025 Nickel Ni 1 x 1020 velocity distribution such as that in Poiseuille flow (Section 9.4.1.5).
Calcium Ca 1.6 x 1025 Lithium Li 1 x 1020 Bulk flow is customarily regarded as the most important physiological
Phosphorus P 9.6 x 1024 Barium Ba 8 x 1019
Sulfur S 2.6 x 1024 Iodine I 5 x 1019
transport mechanism in the human circulation. Only for the smallest
Sodium Na 2.5 x 1024 Tin Sn 4 x 1019 molecules, such as water or glucose, does the time required to diffuse
Potassium K 2.2 x 1024 Gold Au 2 x 1019 across the width of a capillary roughly equal the time taken by a
Chlorine Cl 1.6 x 1024 Zirconium Zr 2 x 1019
Magnesium Mg 4.7 x 1023 Cobalt Co 2 x 1019
fluid element to flow the same distance (~0.02 sec). Larger
Silicon Si 3.9 x 1023 Cesium Cs 7 x 1018 molecules such as fibrinogen take ~100 times longer (~2 sec) to
Fluorine F 8.3 x 1022 Mercury Hg 6 x 1018 diffuse across one capillary width.
Iron Fe 4.5 x 1022 Arsenic As 6 x 1018 However, bulk flow in the body is usually laminar. Transported
Zinc Zn 2.1 x 1022 Chromium Cr 6 x 1018
Rubidium Rb 2.2 x 1021 Molybdenum Mo 3 x 1018 materials travel parallel to (and thus cannot reach) fluid/solid inter-
Strontium Sr 2.2 x 1021 Selenium Se 3 x 1018 faces such as the surfaces of blood vessels or membranes. Wall inter-
Bromine Br 2 x 1021 Beryllium Be 3 x 1018 actions are made possible by diffusion, a random process in which
Aluminum Al 1 x 1021 Vanadium V 8 x 1017
Copper Cu 7 x 1020 Uranium U 2 x 1017
particles can move transversely to fluid streamlines in response to
Lead Pb 3 x 1020 Radium Ra 8 x 1010 molecular-scale collisions.
Additionally, the movement of micron-scale devices within a bulk
Total: 6.71 x 1027
fluid flow is dominated by viscous, not inertial, forces (Section
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
72 Nanomedicine • Volume I
9.4.2.1). Molecular transport to and from such nanodevices is J=4πRDC {Eqn. 3.4}
governed by diffusion, not by bulk flow.
where J is the number of molecules/sec presented to the entire surface
3.2.1 Brownian Motion of the device, assumed to be 100% absorbed (but see Section 4.2.5),
A particle suspended in a fluid is subjected to continuous collisions, D (m2/sec) is the translational Brownian diffusion coefficient for
from all directions, with the surrounding molecules. If the velocities of the molecule to be absorbed, and C (molecules/m3) is the steady-state
all molecules were the same all the time, the particle would experience concentration of the molecule far from the device.337 (Blood con-
no net movement. However, molecules do not have a single velocity centrations in gm/cm3 from Appendix B are converted to molecules/
at a given temperature, but rather have a distribution of velocities m3 by multiplying Appendix B figures by (106 x NA/MW), where
of varying degrees of probability. Thus from time to time, a suspended NA = 6.023 x 1023 molecules/mole (Avogadro’s number) and MW
particle receives a finite momentum of unpredictable direction and = molecular weight in gm/mole or daltons.) For rigid spherical
magnitude. The velocity vector of the particle changes continuously, particles of radius R, where R >> RH2O, the Einstein-Stokes equation363
resulting in an observable random zigzag movement called Brownian gives:
motion. D = kT / (6 π η R) {Eqn. 3.5}
Einstein385 approximated the RMS (root mean square) displacement
of a particle of radius R suspended in a fluid of absolute viscosity η though this is only an approximation because D varies slightly with
and temperature T, after an observation period τ, as: concentration, with departure from molecular sphericalness, and
other factors.
Measured diffusion coefficients in water for various molecules
∆X = (kT τ / 3 π η R)1/2 (meters) {Eqn. 3.1}
of physiological interest, converted to 310 K, are in Table 3.3.
Diffusion coefficient data for ionic salts such as NaCl and KCl,
where k = 1.381 x 10 -23 joule/kelvin (K) or 0.01381 zJ/K which dissociate in water and diffuse as independent ions, are for
(Boltzmann’s constant). Particles under bombardment also experience solvated electrolytes. A 1-micron (diameter) spherical nanodevice
a rotational Brownian motion around randomly oriented axes, with suspended in arterial blood plasma at 310 K, with C = 7.3 x 1022
the RMS angle of rotation: molecules/m3 of oxygen and D = 2.0 x 10-9 m2/sec, encounters a
flow rate of J = 9.2 x 108 molecules/sec of O2 impinging upon its
∆α = (kT τ / 4 π η R 3 )1/2 (radians) {Eqn. 3.2}
surface. (The same calculation applied to serum glucose yields
J = 1.3 x 1010 molecules/sec.) The characteristic time for change
although for τ < τmin = M / 15 π η R, where M is particle mass (see mediated by diffusion in a region of size L scales as ~L2/D (Eqn. 3.9,
below), rotation is ballistic. below). Across the diameter of an L = 1 micron nanodevice, small
In human blood plasma, with η = 1.1 centipoise (1.1 x 10-3 kg/ molecules such as glucose diffuse in ~0.001 sec, small proteins like
m-sec) and T = 310 K, a spherical 1-micron diameter nanodevice hemoglobin in ~0.01 sec, and virus particles diffuse in ~0.1 sec.
(R = 0.5 micron) translates ~1 micron in 1 sec (vbrownian ~ 10-6 m/sec) Diffusion coefficients of the same molecules in air at room
or ~8 microns (~the width of a capillary) after 77 sec (vbrownian temperature are a factor of ~60 higher, because ηair ~ 183 micropoise
~ 10-7 m/sec), and rotates once in ~16 sec (τmin = 2 x 10-8 sec). In at 20˚C.
the same environment, a rigid 10-nm particle (roughly the diameter of In blood, the diffusivity of larger particles is significantly elevated
a globular protein) would translate ~8 microns in one second because local fluid motions generated by individual red cell rotation
(vbrownian ~ 10-5 m/sec) while rotating ~250 times, due to Brownian lead to greater random excursions of the particles.388 The effective
motion (τmin = 2 x 10-12 sec). diffusivity De = D + Dr, where the rotation-induced increase in
The instantaneous thermal velocity over one mean free path, the diffusivity Dr ~ 0.25 Rrbc2 g, with red cell radius Rrbc ~ 2.8 microns
average distance between collisions, is much higher than the net (taken for convenience as a spherical volume equivalent) and a typical
Brownian translational velocity would suggest. For a particle of mass blood shear rate (Section 9.4.1.1) g ~ 500 sec-1, giving Dr ~10-9 m2/sec
M = 4/3 π ρ R3 with mean (working) density ρ, the mean thermal in normal whole blood. The elevation of diffusivity caused by red
velocity is: cell stirring is just 50% for O2 molecules. However, for large proteins
and viruses the effective diffusivity increases 10-100 times, and the
vthermal = (3 kT / M)1/2 {Eqn. 3.3} effective diffusivity of particles the size of platelets is a factor of 10,000
At T = 310 K, a spherical 1-micron diameter nanodevice of normal higher than for Brownian molecular diffusion.
density (e.g., taking ρ ~ ρH2O = 993.4 kg/m3 to minimize ballasting The diffusion current to the surface of a nanodevice can also be
requirements; Section 10.3.6) has vthermal ~ 5 x 10-3 m/sec; for a spheri- estimated for various nonspherical configurations.337 For instance,
cal 10-nm diameter protein with ρ ~ 1500 kg/m3, vthermal ~ 4 m/sec. the diffusion current to both sides of an isolated thin disk of radius
R is given by J = 8 R D C. The two-sided current to a square thin
plate of area L2 is J = (8/π1/2) L D C. The steady-state diffusion current
3.2.2 Passive Diffusive Intake
to an isolated cylinder of length Lc and radius R is approximated by
Medical nanodevices will frequently be called upon to absorb
J = 2 π Lc DC / (ln (2Lc/R) - 1 ), for Lc >> R. The diffusion current
some particular material from the external aqueous operating through a circular hole of radius R in an impermeable wall separating
environment. Molecular diffusion presents a fundamental limit to regions of concentration c1 and c2 is J = 4 R D (c1-c2).
the speed at which this absorption can occur. (Once a block of solution
has passed into the interior of a nanodevice, it may be divergently 3.2.3 Active Diffusive Intake
subdivided and transported at ~0.01-1 m/sec along internal pathways Foraging nanodevices operating in aqueous environments may
of characteristic dimension ~1 micron far faster than the <1 mm/ only modestly exceed the maximum rates of passive diffusive intake
sec bulk diffusion velocity across 1 micron distances; Section 9.2.7.5.) described in Section 3.2.2 by engaging in active physical movements
For a spherical nanodevice of radius R, the maximum diffusive designed to increase access to the desired molecules, as described
intake current is: quantitatively below.
Basic Capabilities • Molecular Transport and Sortation 73
6. Valve RO and gate DO are opened. Pistons R and D are slowly atom. The fidelity of such fine resolutions depends strongly upon
and simultaneously pushed the rest of the way in. Concentrated the ability to hold constant the temperature of the chamber, since
return fluid passes through valve RO and back to the AI+ input D varies directly with temperature (Eqn. 3.5). Device temperature
port of the previous unit in the cascade for further extraction. stability will be determined by at least three factors: (1) the accuracy of
Concentrated diffusant fluid passes through gate DO and on to onboard thermal sensors in measuring T (∆T/T < 10 -6 ;
the AI- input port of the subsequent unit in the cascade for Section 4.6.1), (2) the rapidity with which the temperature
further purification. The valve and gate are closed; Chambers R measurement can be taken (10-9 to 10-6 sec; Section 4.6.1), and (3)
and D are now empty and ready for the next cycle. the time that elapses between the temperature measurement and
the end of the diffusive sortation process (which may be of the same
7. Return to Step (1). Adjacent units operate in counterphase while
order as the gate closing time, ~10-6 sec).
previous and subsequent units operate in synchrony, in a
Most of the waste heat is generated in this device by forced
two-phase system.
water sieving (Section 3.3.1). To remain within biocompatible
Increasingly purified sample passes through a multi-unit sortation thermogenic limits (~109 watts/m3), each unit may be cycled once
cascade as described above. For small molecules, a cascade of n ~1000 every ~3 millisec, a 0.8% duty cycle of a ~23 microsec sieving stroke.
units (total device volume ~1 micron3) completely resolves two mixed Subject to this restriction, each unit would consume ~1 picowatt in
molecular species with D2/D1 = 1.01. As a crude approximation, continuous operation. A unit presented with a ~0.1 M concentra-
D ~ 1 / MW1/3 for small spherical particles,390 so this cascade separates tion of small molecules processes ~106 molecules/sec (e.g., ~1 gm/
small molecules differing by the mass of one hydrogen atom which hour of glucose using 1 cm3 of n = 1000-unit cascades), or ~104
should be sufficient for most purposes. Structural isomeric forms of molecules/sec for a unit presented with large molecules at ~0.001
the same molecule, such as α-alanine and β-alanine, often have M, circulating ~109 molecules/sec of water as working fluid while
slightly different diffusion coefficients, thus are also easily running at 340 cycles/sec. Additional chamber segments on each
separable using a diffusion cascade. However, stereoisomeric (chiral) unit, combined with more complex diffusion circuits among the
forms cannot be sorted by diffusion through an optically inactive many units in a cascade, should permit the simultaneous complete
solvent like water. fractionation of the input feedstock even if hundreds of distinct
For large molecules, a 1 million-unit cascade (total device volume molecular species are present.
~1000 micron3) provides D2/D1 ~ 1.00001, sufficient to completely By 1998, diffusion-based separation had been demonstrated in
separate large molecules differing by the mass of a single carbon microfluidic devices.2689
76 Nanomedicine • Volume I
diamondoid can have pores with <0.1 nm feature sizes, although mill-like molecule handling system (Section 3.4.3) might preserve
H-free fullerene materials might avoid any possibility of dehydro- this order and greatly improve energy efficiency.
genation shearing.
Methods of positioning surfaces to accuracies of ~0.01 atomic 3.3.3 Gated Channels
diameter (~0.001 nm) are discussed in Section 3.5.6. Assuming pore Besides controlling nanopore size and shape, individual molecular
sizing blades require ~25 nm2 of diamondoid contact surface per transport channels can be gated either mechanically (e.g., ligand
pore and each blade travels 25 nm at 0.01 meter/sec during one gating)2348 or electrically (e.g., voltage gating).1050 Either method
cycle, sliding friction10 dissipates ~0.01 zJ/pore, or ~4 x 10-18 watts/ might usefully be employed to control molecular transport through
pore during each 2.5 microsec resizing cycle. Since fluid friction the surfaces of medical nanodevices in a process that could very
approaches kT for nanometer-size holes changing size in ~10-9 sec, loosely be described as molecular transistor gating.
maximum blade speed is ~1 m/sec and the fastest resizing cycle is A good example of mechanical gating in biology is the nicotinic
~10-8 sec. acetylcholine receptor channel, probably the best understood
A single sieving unit with controllable pores can be moderately ligand-gated channel.391,396 Nerve impulses are communicated across
efficient. Consider a design similar to that described in Section 3.3.1, neuromuscular junctions and autonomic ganglia via neurotransmitters
except for a separate chamber and piston on either side of the filter such as acetylcholine. STM images419 confirm that the receptor itself is
block. Suppose that the particles desired to be extracted are of cylindrical, a bundle of 5 rod-shaped polypeptide subunits arranged
radius r, and the next smallest possible pore size is r - ∆r. The device like barrel staves with outside diameter ~6.5 nm. The receptor
operates in two phases. In the first phase, the sample is placed in the protrudes 6 nm on the synaptic side of the membrane and 2 nm on
first chamber, pore size is set equal to r, then the first piston forces the cytoplasmic side. The water-filled channel pore lies along the
the fluid through the membrane. Particles larger than r remain behind
symmetry axis, lined by 5 α-helices, with a 2.2 nm wide mouth on
and are flushed from the first chamber. The pores then
the synaptic surface, a 0.65 nm waist where the structure dives
contract to r - ∆r, and the second piston pushes the remaining filtrate
through the cell membrane, and a 2 nm wide cytosolic exit.
back into the first chamber. After this second phase, particles of
Normally, the channel is closed and no ions may pass. In this
radius ~(r ± ∆r) remain in the second chamber at significantly higher
closed state, the channel is occluded at the waist by a ridge of large
concentration and may be removed for further use. Analogous
residues forming a tight hydrophobic ring. Each subunit has a bulky
double-sieve editing paradigms are commonplace in biological
leucine at the bend in the α-helix, a critical position. When two
systems.1520
acetylcholine molecules bind to the receptor, these helices allosterically
Other designs might work equally well, such as a 3-chamber
tilt, shifting the position of the ridges. The pore becomes open
flowthrough design using a variable pore membrane with pores of
because it is now lined with small polar residues rather than by large
size r between the first and second chamber, a membrane with pores
hydrophobic ones. This conformational change allows 2.5 x 107
of size r - ∆r between the second and third chamber, and a piston at
Na+ ions/sec to flow through the channel, about 10% of the
either end (one pushing, one pulling), thus concentrating molecules of
diffusion-limited rate. (Anions like Cl– cannot enter the pore
size r ± ∆r in the central chamber. M. Krummenacker suggests fixed
because they are repelled by rings of negatively charged residues
chambers with a moving sieve operated as a dragnet. Filtration
positioned at either end of the receptor.)
processes may be most useful in performing complete separations
Acetylcholine binding opens the gate in less than 100 microsec
of complex mixtures. But they are inefficient in the sense that the
under physiologic conditions. Subsequent rapid destruction of
energy expended to orient molecules passing through pores is wasted
acetylcholine by acetylcholinesterase, an enzyme tethered to the
if the molecules are allowed to randomize on the other side; a eutactic
membrane surface by a covalently attached glycolipid group, closes
the gate in ~1 millisec. Much faster gating action (~10-8 - 10-6 sec)
could be achieved by nanodevices operating variable-scale nanopores
(Section 3.3.2) in response to sensor data or other control signals.
Such signals could drive the insertion or retraction of diamondoid
rods, wedges, or trapdoors across the channel lumen to regulate the
transmission of molecules having specific sizes, shapes, and charge
distributions.
Transport channels through nanodevice surfaces may also be gated
electrically.392 In contrast to the acetylcholine receptor, which is
relatively nondiscriminating and allows both inorganic and organic
cations to pass, the voltage-gated calcium channel has a highly
discriminating mechanism with a Ca++:Na+ permeation ratio on the
order of 1000:1. (The high specificity of the voltage-gated Ca++
channel is a consequence of a single-file pore mechanism involving
a pair of specific Ca++ ion binding sites. Selectivity is assured if either of
the two sites is occupied by Ca++, as monovalent ions do not bind
strongly enough to the free site or generate sufficient electrostatic
repulsion to push the first Ca++ ion through the channel.395) Potassium
channels1311,3435-3437 are 100 times more permeable to K+ than to
Na+, and sodium channels favor the passage of Na+ over K+ by a
factor of 12. All three of these voltage-gated channels are important
in the generation and conduction of neural action potentials.
Fig. 3.4. Circular dilating “iris” diaphragm mechanism for dynamic A nerve impulse is an electrical signal produced by the flow of
nanopore sizing. ions across the plasma membrane of a neuron. Neuron interiors
80 Nanomedicine • Volume I
have high concentrations of K+ and low concentrations of Na+. The size, shape, and electronic charge may be created and employed in
resting potential of a neuron is -60 mV. An action potential may be the construction of a variety of highly efficient molecular sortation
generated when the membrane potential is slightly depolarized to and transport devices, described below. A discussion of binding sites
-40 mV. This opens the Na+ voltage-gated channels, rapidly and receptor engineering follows in Section 3.5.
accelerating depolarization to a peak of +30 mV in ~1 millisec. Then
Na+ channels close and K+ channels open, allowing K+ ions to exit 3.4.1 Transporter Pumps
the cell, restoring the -60 mV resting potential. Only ~1 ion of While gated channels enable ions to flow rapidly through
every ~106 Na+ and K+ ions present in the local extracellular me- membranes in a thermodynamically downhill direction, active
dium and the axoplasm participate in each such nerve impulse. pumps use a source of free energy to force an uphill transport of
The sodium channel is a single polypeptide chain with four ions or molecules. In biology the energy supply is usually ATP or
repeating units. Each repeating unit folds into six transmembrane photons of light; medical nanomachines can make use of vastly more
alpha helices, including one that is positively charged called the S4 diverse energy sources (Chapter 6). Actually, the term “pump” may
helix. The S4 helix is the voltage sensor that triggers the opening of be something of a misnomer because the action is highly specific—
the gate. Three positively charged residues on each S4 helix are paired only one or a very small number of molecular species are selectively
at the resting membrane potential with negative charges on other transported.
transmembrane helices in a staircase geometry. The initial small Molecular pumps generally operate in a four-phase sequence:
depolarization event produces a spiral motion of each S4 accompanied (1) recognition (and binding) by the transporter of the target molecule
by the net movement of one or two charges to the extracellular side from a variety of molecules presented to the pump in the input
of the membrane, essentially turning this left-handed substrate; (2) translocation of the target molecule through the
hydrogen-bonded “molecular screw” through a ~60˚ rotation.395 membrane, inside the transporter mechanism; (3) release of the
This outward 0.5-nm translation of the four S4 segments opens the molecule by the transporter mechanism; and (4) return of the trans-
sodium gate by removing a steric barrier to ion flow. The energy porter to its original condition, so that it is ready to accept another
cost of moving ~6 electrical charges (~10-18 coul) from the cytosolic target molecule. Such molecular transporters that rely on protein
to the extracellular side of the membrane against a ~100 mV potential conformational changes are ubiquitous in biological systems, and
(thus opening the gate in ~75 microsec) is ~100 zJ. Quantum are illustrated schematically in Figure 3.5.
tunneling activation of sodium channels, taking 1-1000 microsec, The minimum energy required to pump molecules is the change
has been analyzed by Chancey.679 in free energy ∆G in transporting the species from one environment
Artificial ion-gated polymer membranes were reported in having concentration c1 to a second environment having concentration
1982,393 protein engineering of switchable pore-forming proteins c2, given by:
is well-known,880 and “intelligent gels” are being developed that
can change size and molecular porosity in response to chemical, Z e F ∆V
electrical or thermal stimuli. In 1998, however, electroporation was ∆G = kT ln(c 2 / c1 ) + {Eqn. 3.18}
NA
a more commonly used method in biological research and a useful
technique for “transfecting” cells in genetic studies. Electroporation
employs a brief intense pulse of electricity to provide a force that
opens cellular pores, enabling the insertion of macromolecules like
DNA into cells of interest; laser pulses reduce cell loss to 10% by
using a square-wave pulse to effect rapid and reversible pore
formation.1295 Artificial pH-gated 200-nm diameter nanopores2335
and natural pH-gating of virion pores in the cowpea chlorotic mottle
virus2391 were demonstrated in 1998.
The first true voltage-gated nanomembrane was fabricated by
Charles Martin and colleagues in 1995.394 This membrane consists
of cylindrical gold nanotubules with inside diameters as small as
1.6 nm. When the tubules are positively charged, cations are
excluded and only negative ions are transported through the
membrane. When the membrane receives a negative voltage, only
positive ions are transported through the tubules. Nanodevices may
combine voltage gating with pore size and electrosteric constraints
to achieve precision transport control with moderate molecular
specificity at diffusion-limited throughput rates. In 1997, an ion
channel switch biosensor with sub-picomolar sensitivity and
quantitative detection time of ~600 sec was demonstrated by an
Australian research group.3039,3040
where k = 0.01381 zJ/K (Boltzmann constant), T = 310 K, Ze is the devices will operate at MHz frequencies.1177 They should be able to
number of charges per molecule transported (i.e., the valency), transport much larger molecules, and may also be fully reversible.
F = 9.65 x 104 coul/mole (Faraday constant), ∆V is the potential in
volts across the membrane, and NA is Avogadro’s number. So for 3.4.2 Sorting Rotors
example, transport of an uncharged molecule across a c2/c1 = 103 Drexler’s molecular sorting rotor 10 is a related class of
gradient (typical in biology) costs ~30 zJ. An extremely aggressive nanomechanical device capable of selectively binding molecules from
c2/c1 = 106 concentration gradient costs ~60 zJ/molecule, plus solution and then transporting these bound molecules against
another ~30 zJ/ion if we are moving Ca++ ions against a 100 mV concentration gradients (Fig. 3.7). The archetypal sorting rotor is a
potential. An artificial nanopump of dimension ~10 nm moving at disk with 12 binding site “pockets” along the rim exposed alternately to
a conservative ~1 cm/sec velocity operates at MHz frequencies, the external solution and interior chamber by axial rotation of the
transporting ~106 molecules/sec for a continuous power consumption disk. (Other designs may have more, or fewer, pockets.) Each pocket
of ~0.03 pW at c2/c1 = 103. Such a pump has a mass ~10-21 kg. selectively binds a specific molecule when exposed to the solution.
Transporter pumps need not be limited to the movement of a Once the binding site (Section 3.5) rotates to expose it to the
single molecular species in a single direction, which biochemists interior chamber, the bound molecules are forcibly ejected by rods
call a uniport transport mechanism.3649 Numerous well-known thrust outward by the cam surface (or using some other means by
biological systems are capable of moving two molecules simultaneously which receptor affinity can be adjusted during the inbound transport
in one direction (symport mechanisms), two molecules process). In the case of protein molecules, the debinding geometry
sequentially in opposite directions (antiport mechanisms),3642-3648 must be carefully designed to avoid denaturation during ejection.
and charged molecules in one direction only, thus building up Also, the rotor in Figure 3.7 implicitly assumes that target
an electrical charge on one side of the membrane (electrogenic mecha- molecules remain in the liquid or gaseous state after importation.
nisms).3633-3637,3643 Such pumps exist in nature for numerous ions, M. Krummenacker observes that most bloodborne molecular spe-
amino acids, sugars, and other small biomolecules.398 Active drug cies will precipitate as solids unless they are well-solvated; thus
efflux systems400 and multidrug resistance399 are made possible by the nanomedical sorting systems may require internal solvent or in some
expression of bacterial genes coding for molecular pumps that are cases should be made completely eutactic (Section 3.4.3). The dis-
constantly evolving new specificities to increasing numbers of covery of positionally disordered water molecules resident inside
microbicidal drugs. protein hydrophobic cavities1047 suggests that good rotor designs
The action of the Na+ - K+ antiporter, a familiar ion pump present may also need to include solvent drainage channels.
in all mammalian cells, is illustrated in Figure 3.6. Three Na+ and Molecular sorting rotors can be designed from about 105 atoms
two K+ ions are transported per 10 millisec cycle, requiring the (including housing and pro rata share of the drive system), measuring
hydrolysis of one ATP molecule to ADP to drive the conformational
roughly 7 nm x 14 nm x 14 nm in size with a mass of 2 x 10-21 kg.
changes. (More than one-third of the ATP consumed by a resting
animal is used to pump these two ions.) Hydrolysis of ATP liberates Rotors turn at ~86,000 rev/sec with a conservative rim speed of 2.7
~80 zJ/molecule of free energy, so the antiporter is transporting Na+ mm/sec and an almost negligible drag power of ~10-16 watts against
and K+ at a cost of 16 zJ/ion at a 0.5 KHz frequency. Pump site the fluid, sorting small molecules at a rate of 106 molecules/sec with
density is ~1000/micron2 of cell membrane in neural C fibers.800 laminar flow. From Eqn. 3.18, the energy cost of small-molecule
(The Na+ - K+ pump can also be operated in reverse to synthesize sortation at 310 K ranges from ~10 zJ/molecule at low pressures
ATP from ADP by exposing the mechanism to steep ionic gradients.) (c2/c1 = 10) up to ~40 zJ/molecule when pumping against the highest
By contrast, artificial nanomechanical antiporter and symporter head pressures (c2/c1 = 104, ~30,000 atm for natural bloodstream
concentrations of salt with osmotic pπ ~ 3 atm), consuming speed/frequency multipliers,10 and may also be employed to drive
0.01-0.04 pW per device in continuous operation. Rotors are fully mechanosynthetic chemical reactions. The benchmark mechanism
reversible, so they can be used to load or unload target molecules uses 10-nm diameter rollers to carry closely packed reagent devices
depending on the direction of rotor rotation. Cylindrical rotors with measuring 4 nm x 4 nm x 2 nm, or 32 nm3. A 20-roller mill mecha-
many receptor rows are somewhat more energy-efficient, and rotor nism 1 micron long has a ~2 micron long belt with 500 reagent
lifetimes10 should be >106 sec (Chapter 13). devices and delivers 106 molecules/sec at a belt speed of 4 mm/sec.
Typical molecular concentrations in the blood for target molecules Total power dissipation is ~1.4 x 10-18 watts, a rate of ~0.001 zJ per
of nanomedical interest are ~10-11 – 10-3 molecules/nm3, which moiety (or per reagent device) delivered or ~10-6 zJ/nm traveled per
should be sufficient to ensure ~99% occupancy of rotor binding reagent device. Total mill mechanism mass is ~6 x 10-20 kg.
sites (Section 3.5.2). Rotors targeting serum hormones and other An alternative to roller/belt mill mechanisms is a non-connected
low-concentration species at the parts-per-billion level must slow to stream of pallets pushed along tracks, also in vacuo. Such tracks
<1 rev/sec to ensure complete receptor occupancy and to avoid may include merging junctions, distribution junctions, multi-plane
exceeding diffusion limits. crossings and switching stations, as well as straight and curved
Sorting of ionically charged species can use binding sites that sections. Assuming each pallet is a 32 nm3 reagent device held to
display opposite charge, effectively increasing the affinity of the the track by pins in grooves resembling cam followers, energy
binding site for the charged species. Many ionic species dissolved in dissipation by phonon scattering10 is given approximately by:
water are actually more complex than their symbolic representation
would suggest. As an example, a naked proton (H+) in water is 4 ε p ω therm v
2
always highly hydrated, usually as H5O2+ or H7O3+,996 or even as Pdrag = {Eqn. 3.19}
3 v sound
H9O4+ in strong acid solutions.2337 Small ions from Li+ to I– are
also found in solvent cages, bound with energies 330 zJ relative where εp = 2 x 108 joules/m3 (phonon energy density), σtherm (a
to vacuum;2338 for instance, Li+ and I- are coordinated to 4-6 water thermally-weighted scattering cross section) ~10-20 m2 for reagent
molecules.1149,3235 As a result, the design of an appropriate binding devices of mass m = 10-22 kg assuming a sliding contact of stiffness
site or filtration process for such ions can likewise become more ~30 N/m in a moderately stiff medium, v = 4 mm/sec sliding speed,
complex. The existence of biological channels that show remarkable and vsound = 104 m/sec (~speed of sound in diamond), giving Pdrag
selectivity for specific ions (e.g., Na+ channels that largely exclude ~4 x 10-21 watts per reagent device, or Pdrag / v ~ 10-6 zJ/nm traveled
K+ ions, and vice versa; Section 3.4.1) provides one design approach per reagent device (pallet). Note that volume containerization of
for dealing with such species. pallet-transported molecules is least efficient at the smallest scales,
Drexler10 has also proposed cascades of sorting rotors (Fig. 3.8) where surface area per unit enclosed volume is highest, since energy
to achieve high fidelity purification and a contaminant fraction of usage is proportional to the surface area of the carrier. Containerization
<10-15. However, since only ~1010 small molecules can be stored in (Section 9.2.7.7) of n >> 1 molecules for large-pallet transport is
1 micron3 volume (typical for nanomedical devices), 100% process more efficient.
purity requires a contaminant fraction of only <10-10 which can be A less energy-efficient, but far more versatile, internal molecular
ensured in micron-scale nanosystems using at most 5 stages, starting transport device is the 100-nm telescoping manipulator arm10
from a dilute input substrate containing only 1 part per billion of described in Section 9.3.1.4. This flexible ~10-19 kg device employs
the target molecule with each stage providing a concentration factor of a binding tip to pick and place small and large molecules alike,
~104. For statistically pure extractions of more common molecules moving them at ~1 cm/sec with repeatable placement accuracy of
in blood and cytoplasm, a 3- or 4-stage cascade will usually suffice. 0.04 nm. Multiple devices can be used to establish an internal ciliary
Note that the optimal receptor structure may differ at different stages transport system (Section 9.3.4); standardized volume containerization
in a cascade,10 and that each 12-arm outbound rotor can contain of molecules permits rapid stereotypical handoff motions and
binding sites for 12 different impurity molecules. The first-stage efficient parcel routing. Conveyance through a 100-nm arc takes
receptor will likely pass only a relatively small number of different 10-5 sec consuming 0.1 pW while the arm is in motion, or ~10 zJ/nm
contaminant species, so the number of outbound rotors in the entire traveled per reagent molecule or per container transported (vs. ~1000 zJ
system can probably be reduced to a small fraction of the number per typical covalent bond).
of inbound rotors. In molecular cytobiology, vesicles and organelles are transported
throughout the interior of a cell by riding on microtubular cables
3.4.3 Internal Transport Streams crisscrossing the cytosol (Section 8.5.3.11). For example, neural
After pump mechanisms described above have reliably sorted vesicles show transport speeds up to 2-4 microns/sec.938
externally-encountered target molecules into reservoirs filled with
species of a single type, a medical nanodevice may require these 3.5 Molecular Receptor Engineering
molecules to be transported to specific internal locations for further Molecular recognition requires a detailed surface
processing. Bulk fluid flow or fluidized (solvated or suspended) complementarity between the target molecule and its receptor. The
transport through nanopipes may suffice for some purposes interplay of various molecular forces between ligand and receptor
(Section 9.2.5). However, in many cases it will be necessary to present causes them to selectively bind together, typically engineered to
reagent molecules to other subsystems as a well-ordered stream of occur in ~10-6 sec. It is useful first to briefly review and quantify the
precisely positioned moieties transported in vacuo, especially for principal physical forces at work.
mechanochemical operations (Chapter 19).
For this purpose, Drexler10 proposes molecular mills—eutactic 3.5.1 Physical Forces in Molecular Recognition
systems of nanoscale belts moving over rollers, with reagent-binding Covalent bonds, which occur when atoms share electrons, are
devices mounted on the belt surface (Fig. 3.9). This class of device the strongest bonds. Aside from metals and salts, most material
can be assembled into complex molecular transportation networks objects are made of atoms held together by covalent bonds. The
using conditional switching, crossed-axis belting, and transit atoms comprising biological molecules like proteins, nucleic acids
Basic Capabilities • Molecular Transport and Sortation 83
and lipids are strung together mostly by single, double, or triple complementary elements allows numerous orthogonal specific
covalent bonds, as are receptors and diamondoid nanomechanical associations, enabling self-assembly of many components; by com-
structures. Interatomic bond strengths range from 181 zJ/bond for parison, covalent chemistry offers a poor diversity of reactivities.
O-F up to 1785 zJ/bond for C-O.763 Covalent bond lengths range An additional advantage is that the formation of noncovalent bonds
from 0.10-0.16 nm within CHON-atom molecules, giving a typical often is not hindered by high energy barriers. At least five types of
covalent bond rupture force of ~10 nN/bond. noncovalent bonds may be distinguished: electrostatic, hydrogen,
But as Jean-Marie Lehn765 points out, “there is a chemistry van der Waals, π aromatic, and hydrophobic.
beyond the molecule”—noncovalent supramolecular chemistry
(Section 2.3.2). The bonds employed in molecular recognition are 1. Electrostatic Bond — The electrostatic bond between two
weak noncovalent bonds. Noncovalent bonds are largely responsible charged particles (e.g., the “salt bridge” in proteins) is a dipole
for the secondary and higher order structure of macromolecules. On a interaction whose energy Ee is given by Coulomb’s law as:
per-bond basis, noncovalent bonds are 1-3 orders of magnitude weaker
than covalent bonds. However, the possibility of combining within e2 Z1Z 2
Ee = exp( −K dh r) (joules) {Eqn. 3.20}
a limited area a great number of noncovalent bonds having comple-
4π ε0 κ er
mentary elements allows the formation of a large specific association
whose affinity may be of the same order of magnitude as a covalent where e = 1.60 x 10 -19 coul (elementary charge), ε0 = 8.85 x
bond. 401 The high combinatorial diversity provided by many 10-12 farad/m (permittivity constant), Z1 and Z2 are the numbers of
Fig. 3.9. Molecular mills for internal transport: simple transfer between two reservoirs.
84 Nanomedicine • Volume I
attractant charges, r is the distance between the charges, and κ e is lysozyme monoclonal antibody Fv active binding site found 86
the dielectric constant (74.3 for pure water at 310 K, usually distinct interatomic contact points with antigen-antibody separations
reduced to ~40 in a hydrophobic environment). The bond is ranging from 0.25-0.46 nm, averaging 0.36 nm. 416 Since
strengthened if the charges are in a hydrophobic environment. intermolecular dispersion forces act on all molecules, there are prob-
Conversely, the presence of electrolytes weakens the bond ably no ligands with MW > 400 daltons which cannot be receptored
energy due to a shielding effect, given by Kdh, the Debye-Huckel (Section 3.5.5). That is, van der Waals interactions ensure that vir-
reciprocal length parameter, which has a value of 1.25 nm-1 for tually all molecules of nanomedical interest are theoretically bindable
0.15 M NaCl (~1% solution, ~human blood). Thus two unit charges noncovalently.
separated by 0.3 nm produce an interaction energy of Ee = 19 zJ in
a hydrophobic environment, 10 zJ in pure water, and 6.3 zJ in 1% 4. Aromatic π Bonds — A fourth type of interaction (π electron
salt water. Long-range electrostatic trapping has been observed in to π electron), called “aromatic” or “π” bonding, occurs when two
single-protein molecules at liquid-solid interfaces, raising the aromatic rings (conjugated π systems) approach each other with
implication that the interaction of protein molecules with biological the plane of their aromatic rings overlapping, with successive
cell surfaces may be much more efficient than predicted by random π-bonded systems stacked like layers in a cake. This results in a
diffusion.2144 noncovalent attractive force with a bond strength of ~40-50 zJ. (That
Most isolated amino acids in neutral solution are zwitterionic— is, the planes of conjugated π systems attract each other when
the molecule has no overall charge but carries both a negatively superimposed.) π bond stacking forces contribute to nucleic acid
charged group (carboxyl, CO2–) and a positively charged group stability at least as much as the hydrogen bonds between bases.401
(amino, NH3+). In proteins the individual amino acids are poly-
merized, giving a peptide backbone which is electrically neutral 5. Hydrophobic Forces — Finally, there are the strong hydrophobic
except for the ends of the chain. Most of the standard amino acids forces, due entirely to solvent entropy changes. When two nonpolar
found in proteins have uncharged side chains, although histidine, residues approach each other, the surface area exposed to solvent is
lysine and arginine each have a positive charge at neutral pH and reduced, increasing the entropy of all the water present and
both glutamic and aspartic acids normally carry a negative charge. decreasing the entropy of the residues, adding to the binding
energy a hydrophobic free energy of ~17 zJ/nm2 of contact surface
2. Hydrogen Bond — A second important noncovalent interaction area that was formerly exposed to water.413
is the hydrogen bond, a dipole formed when a hydrogen atom
covalently bonded to an electronegative atom is shared with a second In designing an artificial binding site, the above forces may be
electronegative atom (typically an oxygen, nitrogen or fluorine atom), combined to achieve the desired level of affinity and specificity for
such that the proton may be approached very closely by an unshared a given ligand. All forces are not equally useful in this regard, however.
pair of electrons. Hydrogen bonds are largely responsible for the For example, hydrophobicity is the major factor in stabilizing
unusual thermodynamic properties of water and ice, and the DNA protein-protein associations.402 But hydrophobicity is almost entirely
double-helical and protein α-helical and β-structure conformations nonspecific, hence contributes little to ligand discrimination. By
are extensively hydrogen bonded. Highest bonding energies occur contrast, the proper formation of hydrogen bonds and van der Waals
when donor and acceptor atoms are 0.26-0.31 nm apart. Typical contacts require complementarity of the surfaces involved. Such
hydrogen bond strengths in proteins are 7-50 zJ. surfaces must be able to pack closely together, creating many contact
points, and charged atoms must be properly positioned to make
3. Van der Waals Interaction — A third important noncovalent electrostatic bonds. Thus van der Waals and polar interactions may
force is van der Waals interactions (London dispersion forces).1149 contribute little to the dynamic stability of the ligand-receptor
There is an attractive component due to the induction of complex, but they do determine which molecular structures may
complementary partial charges or dipoles in the electron density of recognize each other.402 Other design elements of binding sites, such
adjacent atoms when the electron orbitals of two atoms as directed channeling of substrates into the receptor,2017 may also
approach to a close distance. There is also a strongly repulsive compo-
prove useful.
nent at shorter distances, when the electron orbitals of the adjacent
atoms begin to overlap, commonly called steric hindrance. The van In analyzing molecular forces, note that at the nanoscale level,
der Waals attractive bonding energy between two parallel plates of surface/surface, molecule/surface, and molecule/molecule interactions
area A and separation zsep is approximated by: may feature very complicated behaviors. Nanodevices performing
work may generate both thermodynamic and mechanical local
HA nonequilibrium conditions, so calculations based on the general
E vdW = {Eqn. 3.21} forms of interactions and on macroscopic expressions valid at
12 π z 2sep equilibrium conditions should be taken only as basic estimates.
where the Hamaker constant H = 37 zJ for water, 66 zJ for glycerol,
340 zJ for diamond (Table 9.1). For A = 0.4 nm2 (small molecule), 3.5.2 Ligand-Receptor Affinity
zsep = 0.3 nm, then E vdW = 4 zJ (water) to 8 zJ (small organic For a ligand binding to a receptor in a solvent, there will be a
molecules)—close to the mean energy of a thermally excited harmonic characteristic frequency with which existing ligand-receptor complexes
oscillator, kT ~ 4.3 zJ at 310 K. While van der Waals bonds are dissociate as a result of thermal excitation, and a characteristic
individually very weak, they are also very numerous since they frequency with which empty receptors bind ligands as a result of
involve all pairs of neighboring atoms. For example, experimental Brownian encounters, forming new complexes, with the frequency
analysis of an antigen molecule trapped in the anti-hen egg-white of binding proportional to the concentration of the ligand in solution,
Basic Capabilities • Molecular Transport and Sortation 85
cligand (molecules/nm3).10 For simple processes, the equilibrium estimate of 161 zJ binding energy required to ensure reliable receptor
constant Kd, taken in the direction of dissociation, is: occupancy for small plentiful molecules.10
Kd = kd / ka (molecules/nm3) {Eqn. 3.22}
3.5.3 Ligand-Receptor Specificity
-1
where kd is the dissociation rate constant (sec ) and ka is the While affinity measures the strength of the binding of a ligand
association rate constant (nm3/molecule-sec). The ka rate constant to a receptor, specificity defines the degree to which a receptor can
reflects mainly the molecular weight of the ligand, and thus varies distinguish between similar ligands. That is, the affinity of the target
little among antibody, enzyme, or other receptor systems. For example, molecule for the receptor must be greater than the affinity of any
Delaage401 notes that changing the solution pH for growth hormone other ligand in the environment that is competing for that same
from 7.5 to 4.0 increases Kd by a factor of 3000, due to kd increasing by receptor, by some threshold multiple.
a factor of 1600 but ka decreasing only by a factor of 1.7. Hence it How much greater is enough? In natural dynamic cellular systems,
is the rate constant of dissociation, kd, which accounts for the vast the threshold multiple appears to be a factor of ~102-103. For example,
bulk of affinity in receptor systems. the carrier which expels Ca++ from erythrocytes presents a variation
Thus receptor affinity is usually taken as the inverse of the in Kd of 10-6 to 10-3 in going from the interior to the exterior of the
dissociation rate constant, which may be placed in the context of cell.404 The active transport of amino acids by hepatocytes normally
the half-life of the ligand-receptor complex approximated401 by: involves Kd ~10-1, but under conditions of deprivation a high affinity
carrier with Kd ~10-3 comes into play.405
t1/2 ~ ln(2) / kd (sec) {Eqn. 3.23}
However, the key to assessing specificity in the nanomedical
Observed half-lives range from <0.1 microsec (kd ~ 107 sec-1) for context would be to tally all the competing molecules in the in vivo
the enzyme catalase to a few months (kd ~ 10-7 sec-1) for enzyme environment, determine which are the nearest competitors, and then
inhibitors such as the Kunitz inhibitor of trypsin406 and for design to avoid them by imposing appropriate energy barriers. By
avidin-biotin binding.407 The smaller the kd (or the Kd), the greater 1998, only a very few competitive ligand-receptor binding analyses
the affinity and so the more firmly the receptor grasps the ligand. had been performed.1078 Until a complete molecular inventory of
The probability Poccupied that a receptor will be occupied10 is given the human body becomes available, the following crude estimate of
by: nearest-neighbor differences must suffice.
The human body contains a minimum of Nprot ~105 distinguish-
c ligand able proteins (Section 3.1). The maximum number of distinguishable
Poccupied = Punoccupied {Eqn. 3.24} proteins in the biosphere was given by Kauffman766 who estimates
Kd a useful biological catalytic task space of Nprot ~108 distinct protein
where Punoccupied = 1 - Poccupied. To ensure Poccupied = 99% receptor forms, a tiny subset of the ~20500 possible 500-residue protein
occupancy, Kd must ~ cligand / 100. For target molecules present at sequences. If the average protein is constructed from Nresidue ~500
the 10-3 - 10-11 gm/cm3 concentrations typically found in human amino acids (MW ~50,000 daltons), then the average protein may
blood (Appendix B), cligand = 3 x 10-3 molecules/nm3 for glucose to differ from its most similar neighbor by nvar ~log (Nprot)/log (Nresidue)
cligand ~ 10-11 molecules/nm3 for female serum testosterone, giving = 1.9-3.0 residues. (The precise magnitudes of Nprot and Nresidue are
a range of Kd ~ 10-4 - 10-13 molecules/nm3 to achieve 99% occupancy. not crucial to our conclusion.) Most proteins are confined to cells
How much binding energy per receptor will this require? The containing Nprot ~ 5000 different protein types each (Table 3.2);
free energy of dissociation ∆Gd of a ligand-receptor complex is given that evolution has probably optimized local specificity to
related to its equilibrium dissociation constant Kd by: ensure that closely competing crucial ligands rarely appear in the
same cell, it seems reasonable to assume that the average
∆Gd = - kT ln(Kd / K0) {Eqn. 3.25} closest-neighbor ligand may differ from the average target ligand by
which refers to a standard reference state where all chemical species at least nvar ~ 1 residue.
are 1 M (i.e., K0 ~ 0.6 molecules/nm3) and attributes a free energy How much is receptor affinity reduced when binding molecules
of zero to a complex with a dissociation constant of 1 M.402 differing by n var ~1 residue from the target ligand on
For T = 310 K, the range of required Kd gives a range for ∆Gd of receptor-accessible surfaces—the minimum threshold required to
39.4 zJ for glucose (at typical serum concentrations) to 128 zJ for ensure specificity within a cell? In one experiment the relative affinity
female serum testosterone. of an antibody constructed for succinylglycinamide-linked histamine
However, when ligand and receptor associate there is a loss of (histamine-SGA), which was the target molecule, and the same
three degrees of freedom in each of translational and rotational molecule but with one methyl group or one carboxylic group removed
entropy, which may be estimated using the classical Sackur-Tetrode and replaced with a hydrogen, was 1.45 x 104 or 2.5 x 105, respectively,
equations, giving an entropic free energy range (for translation and due to steric hindrance.401 Similar investigations with antibodies
rotation combined) of ∆Gs = 80 zJ for very small molecules (MW for SGA-linked serotonin produced relative affinities of 500-1000,408
~10 daltons), to 120 zJ (MW ~102 daltons), 200 zJ (MW ~104 and with antibodies for single alanine substitutions in Human
daltons), and 280 zJ for large molecules (MW ~106 daltons).427 Growth Hormone (HGH), ~1000.418 The relative affinity of a
Thus to form a ligand-receptor complex with a dissociation particular RNA oligomer for theophylline and caffeine, two ligands
constant Kd, the receptor design must provide a free energy of binding which differ by only a single methyl group, was measured experi-
of at least: mentally as 10,900.1078 Computational receptor experiments in
which CH replaces N suggest a decline in relative affinity of
∆Gtotal = ∆Gd + ∆Gs {Eqn. 3.26} ~5x104.10 Indeed, the change of a single hydrogen atom on a ligand
or 120-410 zJ/molecule for designed receptors achieving 99% is usually sufficient to destroy its specificity for, or activity within, a
occupancy operating over the likely range of physiological particular enzyme. The single-residue affinity reduction at a
concentrations and temperatures. This is consistent with Drexler’s receptor-accessible surface appears to be of order ~103 - 105.
86 Nanomedicine • Volume I
Table 3.6 Maximum Binding Energy Available in a Dispersion-Force Receptor with 0.3-nm Contact Boundary for CHON
Target Molecules of Various Sizes
hinges.2548 Active binding sites for small simple molecules such as 0.3 nm mean range, and dispersion-force receptors can offer
NO,2912,2913 CO,3228 and C2H42914 are well-known. exceptionally high affinities for molecules >1000 atoms.
Ultimately, receptors will be designed to nanoscale precision and What about specificity? Given the ability to design diamondoid
may be constructed using diamondoid materials.1199 Electrostatic, binding sites to at least localized <0.01 nm tolerances, chirality is
hydrophobic, and hydrogen-bond forces will add immensely to readily detected and (purely as a design exercise) it may even be
artificial receptor specificity and are essential for binding small possible to distinguish diatomic nitrogen and oxygen on the basis
molecules. For example, using a 0.2-nm range in a saline environment, of size alone. The molecular lengths (major axis) of N2 and O2 are
10-40 charge contacts would be required to bind molecules of 0.250 nm and 0.253 nm, but the molecular widths (minor axis) are
various sizes and concentrations using electrostatic force alone, which 0.140 nm and 0.132 nm, respectively. (Diatomic molecules get
is ~0.5 charge/nm2 over the entire surface of a 60,000 dalton globular longer and narrower at higher molecular weight.) Thus N2 is
protein (vs. ~1 charge/nm2 for the surface of an isolated zwitterionic distinguishable from O2 on the basis of width (~0.01 nm). With a
amino acid). Or, a 7 nm2 hydrophobic cavity having the exact folded van der Waals energy well depth of 1.1-1.4 zJ for N2 and O2, in a
shape of the target ligand generates ~120 zJ binding energy as the tight receptor these gases are bound at an energy density corresponding
molecule stuffs itself into the cavity to exclude its surface from solvent to 3000-4000 atm of pressure.
water.
But consider a theoretical receptor that employs van der Waals 3.5.6 Minimum Feature Size and Positioning Accuracy
dispersion forces alone. Atoms comprising the typical protein or Maximum displacement measurement accuracy in nanoscale
CHON target molecule in the human body have an average atomic devices is ~0.01 nm (Section 4.3.1), and RMS thermal displacement
mass of ~6 amu/atom and an average density of 1500 kg/m3, giving in diamondoid bonds is ~0.01 nm at 310 K (Section 3.5.4). Ther-
a mean molecular volume of ~6.7 x 10-30 m3 per atom in the target mal displacements in 10-nm long diamondoid rods are ~0.01 nm
molecule. Assume for simplicity a spherical receptor surface that at a 1-nm rod width, ~0.02 nm at 0.5-nm width, and ~0.10 nm at
forms a negative image of the surface of the target molecule. The 0.3-nm width.10 However, it is possible to construct components
receptor surface lies ~1.5 x (minimum van der Waals contact to even narrower tolerances.
distance) ~0.3 nm from the perimeter atoms of the target molecule, For instance, a single C-O bond inserted into a diamondoid rod
and completely encloses the target molecule (thus requiring at least in a collinear carbon chain extends rod length by 0.1402 nm, the
one moving part). Table 3.6 shows that the theoretically available C-O bond length. An adjacent rod into which an N-N bond is
maximum binding energy EvdW, using only dispersion forces (from similarly inserted is extended by 0.1381 nm, the N-N bond length.
Eqn. 3.21), should be sufficient to adequately bind all but the small- By bonding these rods (aligned at one end) it is possible to build
est target molecules according to the criteria set forth in Section diamondoid structures having 0.002-nm features** (at the other
3.5.2. (Proteins are actually ellipsoidal with a much larger surface end), which at 310 K will nonetheless suffer thermal displacements
area Ap = 0.111 MW2/3 nm2,413 than if they were spherical*, so of ~0.01 nm or more. Similarly tiny displacements can be induced
Table 3.6 figures are conservative for protein binding; proteins in binding cavity surfaces by inserting a foreign atom deep inside
typically have a ~60%-85% interior packing density.3211) Dispersion the bulk diamondoid structure, causing dislocation strains that
forces alone can provide the minimum required binding energy of decline in magnitude at greater distances from the compositional
~120 zJ with Ap ~6 nm2 of contact surface (MW > 400 daltons) at disturbance.***
*The formula for Ap is valid for small and medium size monomeric proteins (50-320 residues). The ratio of actual protein surface area to the surface area of a smooth ellipsoid
of equal volume increases with molecular weight, since larger proteins are more highly textured and aspherical in shape. For oligomers whose monomers have 330-840 residues,
surface areas ~MW and are 20%-50% greater than those given by Ap.
**For even finer feature control, the ground state atomic radius Ra depends on nuclear mass (mn), proton mass (mp) and electron mass (me) through the reduced mass of
the electron µe = me mn / (me + mn) ~ me (1 - (1836 Amass)-1), or Ra ~ 1/µe, where Amass is nucleus mass number and mp/me = 1836. Thus, a 25-nm rod consisting of 162 planes
of C12 atoms is ~0.1 picometer (pm) longer than a 162-plane rod of C13 atoms; a single ground-state deuterium atom is measured as ~0.4 pm smaller than a hydrogen atom.
SQUIDs and x-ray interferometers have been used to measure displacements of 10-7 nm, or ~1% of the nuclear diameter.445
***J. Soreff points out that such strain fields have components at various spatial frequencies, and that at high spatial frequencies there is much design freedom but the effects
decay exponentially with a short characteristic length, hence design choices are not spread uniformly throughout the constraint space but rather are clustered. As a result,
it may not be possible to achieve a 0.01-nm designed receptor topography simultaneously everywhere across an entire binding surface, nor may it be possible via surface binding
alone to distinguish molecules which differ only deep in their interiors.
88 Nanomedicine • Volume I
It is also possible to translate diamondoid components through to the smaller piston produces a 0.001 nm displacement in the larger
a picometer step size,433 much smaller than the unavoidable RMS piston. (Here again the finite size of molecules may produce
thermal displacements, using any of several methods; for example: “knobby” performance as fluid particles slip from one stable configu-
ration to the next.)
A. Levers — Consider a 10-nm lever joined to a fixed bar by a
pivot at one end, and driven axially by a ratchet interposed between E. Compression — Consider a rod upon which a compressive
lever and bar at the other end. Ratchet movements translate to smaller force of 100 nN/nm2 (near the maximum diamondoid strength)
displacements at positions along the lever distant from the ratchet. has been imposed. Affixed to the rod are two crossbars spaced 4 nm
Thus a follower rod attached to the lever 1 nm from the pivot and apart. If the force on the rod is increased to 101 nN/nm2, the gap
driven by a ratchet with 0.01-nm steps moves ~0.001 nm per ratchet between the crossbars compresses by ~0.001 nm.
step.
3.5.7 Receptor Configurations
B. Screws — Consider a 3-nm diameter cylindrical screw with a Many different useful receptor configurations may be readily
1-nm pitch. Rotating the screw through a 0.01-nm circumferential envisioned, of which the following brief descriptions are but a small
displacement causes the screw to move laterally by ~0.001 nm, which sample. Note that most large target molecules of nanomedical
may be transmitted elsewhere in the machine by an interest are proteins which are probably floppy enough to permit
attached follower rod. Of course, nanoscale screws or gears are sensitive entry into reasonably open multiply-concave rigid receptor structures;
to the precise cancellation of the potentials and hence cannot be if not, hinges are easily added to the receptor design.
perfectly smooth and circular, producing some
unavoidable “knobbiness” under load. 3.5.7.1 Imprint Model
Molecular imprinting421,422 is an existing technique in which a
C. Gear Trains — Consider a 32-nm diameter worm gear with cocktail of functionalized monomers interacts reversibly with a target
1-nm teeth. One rotation of the gear requires 100 rotations of the molecule using only noncovalent forces. The complex is then
worm; hence a 0.1 nm displacement applied to the worm cross-linked and polymerized in a casting procedure, leaving
produces a 0.001 nm displacement in the gear. More efficient (and behind a polymer with recognition sites complementary to the target
coaxial) compound planetary gear trains commonly employed in molecule in both shape and functionality (Fig. 3.11). Each such site
transmissions achieve displacement ratios up to 10,000:1, a hundred constitutes an induced molecular “memory,” capable of selectively
times better than the above example. binding the target species. In one experiment involving an amino
acid derivative target, one artificial binding site per (3.8 nm)3 polymer
D. Hydraulics — Consider a sealed, fluid-filled, tapered pipe. A block was created, only slightly larger than the (2.7 nm)3 sorting
piston 1000 nm2 in area is mounted at one end; another piston 10 rotor receptors described by Drexler10 (Section 3.4.2). Chiral
nm2 in area lies at the other end. A displacement of 0.1 nm applied separations, enzymatic transition state activity, and high receptor
affinities up to Kd ~ 10-7 have been demonstrated, with specificity
against closely competing ligands up to ∆Kd ~ 10-2 (~20 zJ).
Several difficulties with this approach from a diamondoid
engineering perspective include:
Fig. 3.12A. 2-D schematic representation of a 3-D solid mosaic model artificial receptor: Multiform block design.
*Higher level descriptions may allow considerable additional information compaction, as for instance where a 30-bit word indexes a single receptor structure stored in a library
containing perhaps 109 distinct designs.
Basic Capabilities • Molecular Transport and Sortation 91
Fig. 3.16. Schematic of large-molecule shuttle pump using fragmentable binding ring and iris diaphragms.
efficiently bind it, with a particular affinity and specificity (as a investigate automated cram-packing of predefined cavities using
design specification). This discovery procedure may involve a process randomly branched polymers, is a preliminary effort in this general
akin to molecular imprinting (Section 3.5.7.1), fluorescent dye direction,425 although the algorithmic task of discovering an
affinity matching on testing chips (Chapter 20), Structure-Activity unknown receptor contour may be considerably more challenging.
Relationships (SAR) by NMR techniques,424 or pin cushion receptor Another approach to receptor mapping would be the reversible
mapping (Section 3.5.7.4). chemical or mechanical denaturation of the receptor protein
Second, presented with an arbitrary protein-built binding site followed by precise nondestructive amino acid sequencing (Chap-
embedded in living tissue, the system or user must be able to infer ter 20), from which tertiary structure and activity could then be
the molecule(s) which the given receptor could bind, and to compute computationally inferred. Algorithms to perform such computations
the affinity and specificity of that activity. This capability may are the subject of intense current research interest.952 Even imperfect
require a rather diverse steric toolkit. Biological receptors are tertiary structure predictions should greatly reduce the search space,
constructed in one of ~500-1000 distinct shapes or “domains,” such so that only a partial residue sequencing may be necessary for
as the well-known Y-shaped antibody immunoglobulin domain unambiguous identification from a library of possible proteins. Once
(~100 residues) and other assorted clefts, folds, kringles and coils. the target ligand structure has been inferred, the subsequent design
Several hundred distinct fold families are known, though it is believed and manufacture of receptor-specific agonists and antagonists,
there are only ~20 major domain types,414 and Chothia2604 believes including catalysts and cofactors, activators and inhibitors, promoters
that “the large majority of proteins come from no more than one and repressors, should be comparatively easy.
thousand families.”
One mapping technique would employ a series of rodlike probes 3.5.9 Large Molecule Binding, Sorting and Transport
inserted into the receptor cavity like a pick gun or other lockpicking Is there any size limit for target molecules to be transported?
tool. After physically securing the receptor, the first crude probes Natural receptors have already been found for large molecules
quickly map the cavity to nanometer scale. Based on this preliminary including low-density lipoproteins (LDLs) > 1,000,000 daltons426
information, subsequent probes having ever-finer discrimination and high-density lipoproteins (HDLs).1038
chart smaller features as well as charge distributions by inserting a The methods described in earlier Sections can be adapted for
predetermined set of test rods with functionalized tips in a standard binding large molecules (>1000 atoms; Fig. 3.15), including molecules
sequence, to rapidly prune the huge configurational space down to far wider than the binding device itself (e.g., ~200-nm diameter
a single unique electrophysical shape using the minimum possible virus particles and larger). Making a binding site for a large molecule
number of tests. (A 1 nm3 volume of multi-element diamondoid should be physically easier (albeit computationally more challenging)
receptor structure has ~10148 possible distinct configurations, by than making a binding site for a small molecule because of the greatly
one conservative estimate,10 requiring at least 492 binary tests to increased area of interaction. For example, a binding energy of 400 zJ
eliminate all but one configuration. Antibody domains contain ~1050 may be realized by creating a dispersion-force binding area covering
possible configurations, requiring 166 binary tests.) Cavity Stuffer, only ~25% of the surface of a 10,000-atom target molecule (Table
a software package comprising an experimental design tool to 3.6) or a mere ~0.02% of a 200-nm virus particle.
92 Nanomedicine • Volume I
This makes possible the concept of binding pads—small surfaces then fragmented, destroying binding affinity and unlocking the target
with dimples (concave or convex), each dimple consisting of molecule, which escapes via diffusion. The shuttle returns to the
precisely-placed nanometer-scale features that are complementary pickup side, the receptor is pressed together again, and the cycle
to specific patches (e.g., epitopes) on the surface of the large target repeats. A biocompatible solvent environment is maintained
molecule. (Specificity is lost for portions of the molecule outside during large-protein manipulation tasks.
the particular patches.) Each dimple could effectively grasp the side Assuming a roughly spherical large molecule and laminar fluid
of the large molecule without having to fully enclose it—a capability flow at 1 atm forcing pressure (Section 9.2.7), a 10-nm diameter
useful in nanorobot foot pads during cell walking and anchoring molecule moves through a 20-nm long pump (~10-20 kg, ~106 atoms)
(Section 9.4.3), in handles for nanociliary or nanomanipulator in ~10-6 sec at ~0.02 m/sec, consuming ~0.02 pW during transfer.
transport functions (Section 9.3.2), and for chemotactic sensing A 200-nm virus-size target molecule moves through a 400-nm long
(Section 4.2.6). (For example, macrophage receptors for LDLs employ pump (~10-17 kg, ~109 atoms) in ~10-2 sec at ~60 microns/sec,
a “pad” consisting of three globular cysteine-rich domains.426) The consuming ~10-16 watts during transfer; at ~0.0002 atm, release
large compliance of target protein molecule subunits should prove time is diffusion limited. The transfer force exerted on a 10-nm
curative for any misalignment problems caused by cumulative small molecule is ~1 pN, ~600 pN on a 200-nm virion; a binding energy
errors in bond lengths across large diamondoid receptor structures.
of 400 zJ at a 0.2-nm contact distance gives a binding force of ~2300
Rather than using sorting rotors, which become unwieldy when
pN, sufficient to hold a particle of either size firmly during transport
large molecule binding pockets must be used, the shuttle pump
and release.
illustrated schematically in Figure 3.16 may provide reasonably
efficient large molecule sortation and transport. The shuttle pump J. Soreff points out that as protein size increases, so does the
consists of a diamondoid tube within which a receptor ring moves energy available for local minima in the binding. Desired proteins
between iris diaphragms at either end (shuttling mechanism not may become stuck in incorrect positions, or undesired proteins may
shown). The receptor ring is constructed as two or more binding become partially adhered to a receptor. Besides designing to minimize
pad segments. For molecule pickup, the ring is pressed together, these possibilities, using a multireceptor cascade with different
forming an annular binding region for the target large molecule, combinations of binding patches at each stage should allow complete
which binds and is shuttled to the other side. The receptor ring is exclusion of undesired large-molecule species.
CHAPTER 4
Nanosensors and Nanoscale Scanning
4.1 Nanosensor Technology
M
edical nanorobots need to acquire information from their present in the test sample at concentration cligand. Exposure of the
environment to properly execute their assigned tasks. Such receptor array to the test sample for a time tEQ necessary to reach
acquisition is achieved using onboard nanoscale sensors, diffusion-driven equilibrium gives a probability of receptor occupancy
or nanosensors, of various types. Nanosensors allow for medical Pocc ~ 0.91 in a receptor with Kd ~ 0.1cligand, Pocc ~ 0.50 in a receptor
nanodevices to monitor environmental states at three different with Kd ~ cligand, and Pocc ~ 0.09 in a receptor with Kd ~ 10cligand.
operational levels: During each measurement cycle, all steric probes are simulta-
neously extended into their associated receptor volumes at a time
1. Internal nanorobot states, tEQ after presentation of sample to the array. Probes which reach
full extension register an empty receptor; those which cannot fully
2. Local and global somatic states (inside the human body), and extend register an occupied receptor. After registration, the probes
3. Extrasomatic states (sensory data originating outside the human are retracted and ejection rods are thrust into all receptors (typically
body). requiring ~1 nanonewton (nN) of force for occupied receptors) to
empty them while the test chamber is flushed clear in preparation
The general physical limits to sensory perception are for the next cycle to begin. Ideally, the probe rod pushing into the
reviewed by Block810 and Bialek.811 binding site should push the bound molecule further into the binding
The specific nanosensor technologies required include sensors site to avoid complications that may arise due to competing kinetic
to detect chemical substances (Section 4.2), displacement and motion barriers, and ejection rods should push molecules far enough to
(Section 4.3), force and mass (Section 4.4), and acoustic (Section ensure that the next resample is independent.
4.5), thermal (Section 4.6), and electromagnetic (Section 4.7) Consider a series of N steric probe units as proposed by Drexler.10
stimuli. Typical sensor device mass, volume, and sensitivity limits Each probe measures 8 nm x (2.5 nm)2 ~ 50 nm3 and has mass ~ 2
are summarized in each Section. In vivo bioscanning is briefly described x 10-22 kg. The ratio of the dissociation constants of adjacent units
in Section 4.8, followed by external macrosensing in Section 4.9. is κ = K di / Kdi+1 > 1, with K d1 ~ 10-4 molecules/nm3 and KdN
Methods of getting sensors in and out of the body are explained in ~ 10-13 molecules/nm3 typically in the human body, and so N = 1
Chapter 16, and methods of getting sensor information out of the + {log10 (Kd1/KdN) / log10 (κ)}.
body are described in Chapter 7. A discussion of sensor Minimum measurement error occurs when cligand exactly matches
biocompatibility is deferred to Chapter 15.3234 the Kd of a probe unit, that is, when cligand = Kdi (i.e., Poccupiedi = 0.5).
Maximum measurement error occurs when cligand lies exactly midway
4.2 Chemical and Molecular Nanosensors between two probes such that Kdi > cligand > Kdi+1, or, more specifically,
The area of chemical microsensors is well developed, and there at the geometric midpoint cligand = (Kdi K di+1)1/2 = Kdi κ-1/2. In this
is increasing research interest in nanoscale chemical sensors,438 case, Eqn. 3.24 becomes
“chemosensors” 1226 and “biosensors”. 989 The most common
nanomedical application of chemical sensors will be to measure the
c ligand
concentration of specific molecules and biopolymers in aqueous Poccupied i = P {Eqn. 4.1}
solvent—whether in blood serum, interstitial fluid, or cytosol. This −1/2 unoccupied i
K di κ
may be accomplished using ordered arrays of receptors or by using
sorting rotors to directly count molecular populations in known where Punoccupiedi = 1 - Poccupiedi. Additionally, sampling error is ~Nm-1/2
sample volumes. Spatial and temporal concentration gradient sensing when Nm independent measurements are taken (i.e., Nm measurement
is also essential in navigation, communications, and in mediating cycles employing all N probe units during each cycle), for Nm >> 1,
rapid response to environmental stimuli. Chemotactic sensors may establishing an error bound on the probability of receptor occupancy
be used to sample the chemical composition of surfaces. of Poccupiedi ± Nm-1/2. If two concentrations c1 = Poccupiedi / (1 -
Poccupiedi) and c2 = (Poccupiedi + Nm-1/2) / (1 - (Poccupiedi + Nm-1/2))
4.2.1 Broadband Receptor Arrays may be distinguished, where Poccupiedi is given by Eqn. 4.1, then the
minimum detectable concentration differential ∆c /c is
One simple broadband concentration sensor, shown schematically10
in Figure 4.1, consists of a graduated series of receptors having
∆c/c = [c 2/c1 ] − 1 =
(1 + κ )N
−1/2 −1/2
m
−1
uniformly high specificity but engineered with progressively greater −1
affinities (successively smaller equilibrium dissociation constants Kd 1 − (1 + κ ) −N
−1/2 −1/2
m
(molecules/nm3); Section 3.5.2) for the target molecule, which is {Eqn. 4.2}
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
94 Nanomedicine • Volume I
For common small molecules, tEQ ~10-6 sec; for common large
molecules, tEQ ~0.2 x 10-6 sec, but a sample chamber ~(25 nm)3 in
size is diffusion-limited to a minimum tEQ ~ 10-5 sec for cligand 10-4
nm-3. For the rarest small molecules in the human body, tEQ ~ 800 sec,
~200 sec for rare large molecules, and a larger chamber may also be
required. Preconcentration of the test sample by
dehydration using sorting rotors (Section 3.4.2) to rapidly remove
water from the sample chamber reduces tEQ to 10-40 sec for very
rare molecules.
Steric probes using a driving force10 of ~100 pN, over 2 nm of
motion per cycle require 200 zJ/measurement. If 1000 measurement
cycles of a 10-probe sensor suffice to determine concentration to ~2
significant figures, this information costs ~0.002 pJ to acquire, a
power consumption of from ~10 pW for large common molecules
to ~10-9 pW (~0.6 kT/sec) for small rare molecules while the sensor
is working. Power dissipation may run up to ~10 times higher,
depending upon the number of occupied receptors that must be
cleared via ejection rods during each cycle.
( 2/Nr )
For κ >> 1, Eqn. 4.2 reduces to: (∆c / c)large ~ (1 + κ1/2) / Nm1/2. In ∆c/c = ( N r − 1) −1 {Eqn. 4.4}
the limit as κ approaches 1 and Nm >> 1, Eqn. 4.2 reduces to:
(∆c / c)small ~ κ-1/2 (∆c / c)large. If A = receptor unit active area (~50 nm2), L = receptor unit
For κ = 10 (an N = 10-probe sensor, sufficient to span the entire length (~10 nm), and receptor arrays are packed in parallel sheets
Kd = 10-4 to 10-13 molecules/nm3 range using one probe per decade), with separation ∆x (~10 nm, for small-molecule diffusion in ~10-6
∆c / c = 0.94 (94%) at Nm = 100, 0.20 (20%) at Nm = 1000, (0.06) sec) to allow sample access, sensor volume Vs = AL Nr (1 + (∆x / L))
6% at Nm = 10,000, and 0.006 (0.6%) at Nm = 106 measurement and sensor scale ~ Vs1/3. Thus a sensor with Nr = 100 receptor units
cycles. Little additional discrimination is obtained by using more achieves ∆c / c = 0.10 (10%) with a (46 nm)3 sensor; Nr = 1400
than N ~ 10 probes in the sensor. For Nm = 1000, ∆c / c = 0.89 receptor units achieves ∆c / c = 0.01 (1%) with a (112 nm)3 sensor.
(89%) at κ = 178 (N = 5 probes), 0.20 (20%) at κ = 10 (N = 10 A dedicated micron-scale nanodevice employing a (1.44 micron)3
probes), 0.136 (13.6%) at κ = 1.23 (N = 100 probes), and 0.135 sensor array having 3 million receptor cells could at best distinguish
(13.5%) at κ = 1.0021 (N = 10,000 probes). Note that ∆c / c = 0.20 0.001% concentration differentials in ~ 3 sec (from Eqn. 4.6) for
(20%) is equivalent to detecting a pH variation of ~0.08 (e.g., common molecules like serum glucose.
10(0.08) - 1 ~ 0.20). The ion channel switch (ICS) biosensor (aka. the “Australian
Sensor cycle time ~tEQ may be crudely approximated by the sensor”) can detect small-molecule concentrations as low as ~10-14
number of random ligand-receptor encounters (Nencounters ~ 100; nm-3 in a ~600 sec measurement time.3039,3040
Drexler10) necessary to ensure binding divided by the number of ligands
striking the receptor surface per second,434 or 4.2.3 Counting Rotors
Concentration may be determined by varying exposure time to
1/2 the sample. One energy-efficient design (Fig. 4.3) uses an input
N π MWkg
t EQ ~ encounters (sec/cycle) {Eqn. 4.3} sorting rotor running at varying speeds (according to target
A c ligand 2 kT N A concentration) synchronized with a counting rotor (linked by rods
where A = active receptor cross-sectional area ~0.1 nm2 for small and ratchets to a data storage register device) to assay the number of
molecule (MW ~100 gm/mole) receptors to ~10 nm2 for large molecules of the desired type that are present in a known volume of
molecule (MW ~105 gm/mole) receptors; cligand = 10-2 nm-3 for the fluid. The counting rotor uses a steric probe, moved up and down
most common molecules to 10-12 nm-3 for rare molecules in the in synchrony with the arrival of a binding site under the test probe,
human body; MWkg = target ligand molecular weight in kg/mole, to count the number of molecules transferred by the sorting rotor.
k = 0.01381 zJ/K (Boltzmann constant), T = 310 K (human body The fluid sample is drawn from the environment into a 4000 nm3
temperature), and NA = 6.023 x 1023 molecules/mole (Avogadro’s reservoir (Lreservoir ~ 16 nm) with the equivalent of 104 refills/sec on
number). a flow-through basis, using paddlewheel pumps or reciprocating
Basic Capabilities • Nanosensors and Nanoscale Scanning 95
Fig. 4.2. Schematic of narrowband chemical concentration nanosensor array using receptors of a single type.
pistons (Section 9.2.7; not shown) operated slowly enough to avoid ~100 zJ/count for the rarest molecules in the human body.
damaging molecules in the sample volume. This sensor, which Large-molecule concentrations may be measured using a shuttle
measures 45 nm x 45 nm x 10 nm comprising ~500,000 atoms pump (Section 3.5.9) and a counting device.
(~10-20 kg), should count N ~ 104 - 105 molecules/sec of small
common molecules present at typical human serum concentrations 4.2.4 Chemical Assay
of 10-3 - 10-2 nm-3, such as glucose, with the rotor spinning at ~1% It may also be useful to design a sensor that is capable of detecting as
of normal speed (Section 3.4.2). Clogging of intake apertures in many different chemical species as possible, in contrast to detecting
vivo is addressed in Sections 3.3.1 and 9.2.3, and in Chapter 15. the precise concentration of a single species, for use in
For rare molecules with c ~ 10-11 nm-3, the count rate for a single chemomessaging (Section 7.4.2.4), chemonavigation (Section 8.4.3),
sensing rotor falls to N ~ 10-4 molecules/sec. However, a (340 nm)3 cellular diagnosis (Chapter 21), and other in vivo assay work.
reservoir (a ~104 larger chamber volume) serviced by a bank of 104 Counting rotors may be used for this purpose. Each 12-receptor
rotors (4 x 10-18 kg additional mass) improves the count rate for sorting rotor/counting rotor pair has a minimum 400 nm3 volume.10
rare molecules to N ~ 1 molecule/sec; that is, Allowing an additional ~800 nm3 per pair to account for power,
control, mechanical attachments and housings, which includes ~300
nm3 per pair for sample chamber volume and sample access,
Ṅ ~ 2500 c ligand L3reservoir (molecules/sec) {Eqn. 4.5}
requires ~100 nm3 per receptor, roughly the same as for the steric
probe units described in Section 4.2.1. A dedicated 1 micron3 chemical
Sample preconcentration may allow further improvement by a assay nanorobot, which includes ~0.25 micron3 sample volume, with
factor of up to 10-100. Energy requirements are comparable to those ~107 pairs (receptors) could thus continuously scan for as many as
for sorting rotors (Section 3.4.2) except for the need to retrieve ~all ~107 different chemical species, counting N ~ 1 large molecule/
target molecules from a known sample volume, which slows the sec at concentrations of cligand ~ 10-10 molecules/nm3.
sorting process, requiring ~10 zJ/count for common molecules and
4.2.5 Chemical Nanosensor Theoretical Limits
Berg and Purcell337 estimated that an ideal concentration sensor,
limited only by diffusion constraints and drawing through a spherical
boundary surface of radius rs, provides a minimum detectable
concentration differential ∆c / c of
Berg and Purcell337 also found that the capture of small molecules microns) at top speed (20-40 microns/sec), a minimum temporal
at nanorobot surfaces can be surprisingly efficient. Specifically, for gradient of 0.1% per second. This appears very efficient, since the
a spherical nanodevice of radius R, across whose surface are uniformly counting rotor sensor proposed in Section 4.2.3 is not much better,
distributed Nr receptor spots of radius rr, the maximum diffusion achieving ~0.01% per second. As for peak gradients, the 10-probe
current absorbed by the receptor array, Jarray, is receptor array sensor described in Section 4.2.1 can detect a maximum
concentration change (e.g., from an already-known rare concentration)
N r rr {Eqn. 4.7} in ~10-4 sec, a peak temporal gradient of ~1015 % per second.
Jarray = J
N r rr + π R
4.2.8 Chemotactic Sensor Pads
where J = maximum diffusive intake current, given by Eqn. 3.4. For
Besides concentration sensing, chemical sensors may be used to
rr = 1 nm and R = 1 micron, the Jarray is fully 50% of J using only Nr
determine the chemical characteristics of surfaces. A binding pad
= 3100 surface receptors, which occupy a mere 0.1% of the total
coated with an array of reversible, possibly reconfigurable, artificial
device surface area.
receptors (Section 3.5.9) may be pressed against test surfaces such
For a purely sensory spherical nanodevice, a uniform distribution
as cell membranes, or the perimeters of very large molecules, in
of a relatively small number of chemoreceptors confers optimal
order to detect the presence of specific chemical ligands. If pad
sensitivity. However, in applications where sensors (which attract
receptor specificity is high for the target ligand, then the degree of
and then release) are in competition with pumps (which strongly
pad “stickiness” to the test surface is a good measure of the population
attract and then remove) for the same target molecules at the
of target ligands on that surface. Probing two-dimensional surfaces
nanodevice surface, greater sensing efficiency may be achieved by
with receptors may be constrained by orientation effects, since binding
clustering the sensors, as in a “nose” organ.437
may require a specific relative orientation of ligand and receptor.
Proteins may be modified as they age within biological cells. For
Compliant pad receptors can reduce this problem but may impair
instance, under steady state conditions, ~10% of protein molecules
lateral resolution—there is a three-way tradeoff among angular
may exhibit carbonyl (oxidation) modifications,2138 glycosylation
tolerance, lateral resolution, and multioriented multicopy receptors.
(non-enzymatic), and dysfunctional proteins may be ubiquitinized
A physical contact sensor prevents confusion of surface-bound and
(Chapter 13) and phosphorylated under enzyme control. Heat shock
free-solvated ligands of the same species. The selective and revers-
also modifies proteins. Chemosensor receptors must be carefully
ible stickiness of such pads can also be exploited for locomotion
designed to accommodate changes in target ligand structures or
(Section 9.4.3.1).
sites that are likely to be subject to such alterations.
Molecular adhesion experiments in chemical force microscopy440,1066
and interfacial force microscopy 441 using AFM probes with
4.2.6 Spatial Concentration Gradients functionalized tips (Section 2.3.3) typically detect maximum adhesive
Medical nanodevices can detect both extremely steep and noncovalent force differentials of 40-160 piconewton (pN)/ligand
extremely shallow spatial concentration gradients. For example, a for competing ligands at a peak-force distance of ~0.2 nm. Forces
receptor array sensor (Section 4.2.1) consisting of 10 steric probe >10 pN are readily measured by nanosensors (Section 4.4.1), so
units has a total volume of ~1000 nm3 including its prorated share binding pad sensors should give an exact count of the number of
of drive systems, housings, etc. In just a few measurement cycles, target ligands present per unit area of test surface if (receptor areal
adjacent sensors can detect a maximum concentration change from number density) > (ligand areal number density) > (1 ligand / pad
10-2 nm-3 to 10-11 nm-3 across a mean nanosensor separation of 10 area), and if contact time is adequate. Receptors for many different
nm on a nanodevice surface, a steep chemical spatial gradient of
ligands can be mounted on moving rotors or belts, or employed as
~1010% per nanometer. J. Soreff points out that maintaining a steep
concentration gradient of a freely diffusing species implies a power interchangeable tool tips (Section 9.3.2), thus allowing a single sensor
dissipation of ~kT per molecule per time to diffuse a concentration- pad to reconfigure its specificity or sensitivity under external control.
halving distance. For a common, small, tethered molecule with cligand
~ 3 x 10-3 molecules/nm3 that diffuses ~1 nm in tdiff ~ 1 nanosec, 4.2.9 Receptor Sensors
implied power density Dmol ~ kT cligand / tdiff ~ 1013 watts/m3, a Ligand mimics may also be used to allow a medical nanodevice
power density that might possibly be encountered in the vicinity to detect a particular receptor in its environment. Each such “receptor
of chemoelectric transducers (Section 6.3.4.5). (Such high power sensor” is a protruding physical structure that mimics all or part of
densities never occur on macroscale dimensions, and heat rapidly the electrosteric structure of the ligand to which the target receptor
diffuses at nanoscale dimensions; Sections 4.6.1.) has maximum specificity. For example, probes consisting of artificial
Similarly, counting rotor sensors (Section 4.2.3) for small common
structures that simulate antigen peptides (8-15 amino acids long)
serum molecules like glucose deployed at opposite ends of a 1-micron
nanodevice can detect a concentration differential of ~10-4 over a bound in an MHC-like structure439 (Section 8.5.2.1) could be used
~1 sec measurement period, a shallow chemical spatial gradient of to sense the presence of specific T-cell receptors.
only ~10-5 % per nanometer. Even lower gradients may be detected Sensing pads displaying ligand mimic structures are brought into
by communication (Chapter 7) between physically separated contact with the test surface. Any target receptors present will bind
cooperating nanodevices. to a mimic structure, thus may be counted as the sensor sweeps
slowly across the surface. Immediately after recognition has occurred,
4.2.7 Temporal Concentration Gradients the mimic structure may be reversibly fragmented, destroying
Koshland and Macnab435 have shown that bacteria possess a receptor/mimic affinity and allowing the receptor to release the
mechanism for sensing small temporal concentration gradients. A mimic. Mimics are mounted on the sensor pad with an appropriately
bacterium detects a spatial gradient of attractant not by comparing elastic compliance to prevent structure detachment during a
the concentration at its head and tail, but rather by traveling through measurement scan.
space and comparing its observations over time. E. coli can measure Receptor sensing is most useful in detecting receptors for large
a ~0.01% gradient436 during the time it travels one body length (~2 molecules. In the case of receptors for small molecules, there may
Basic Capabilities • Nanosensors and Nanoscale Scanning 97
sometimes be insufficient space in the target molecular volume to 4.3.2). This compares favorably with the stereocilia of the inner ear,
match the surface electrosteric structure, to accommodate ligand which can only detect 100 pm displacements in 10-5 sec.446
fragmentation control rods or cables, or to build internal boundaries
sufficient to permit ligand fragmentation without creating undesirable 4.3.2 Velocity and Flow Rate Sensors
reactive species. Some of these problems with small-molecule Typical thermal velocities of nanoscale diamondoid components
receptors may be partially overcome by employing an annular at 310 K, from Eqn. 3.3, are ~60 m/sec for 1 nm3 objects, ~2 m/sec
repulsive ring through which a mimic ligand may be forcibly retracted for (10 nm)3 objects, 0.06 m/sec for (100 nm)3 objects, and 0.02
without fragmentation, but receptor orientation effects will present m/sec for 1 micron3 objects. These thermal motions are in degrees
additional constraints. of freedom whose range of motion is largely confined, by design, to
sub-nanometer distances (Section 4.3.1) within nanoscale measuring
4.3 Displacement and Motion Sensors devices. However, objects of nanomedical interest may have
The ability to precisely measure position and displacement, velocities ranging from ~10-9 m/sec (Section 9.4.4.2) to ~103 m/sec
velocity and acceleration, rotation and orientation are essential (e.g., the speed of sound in water), and may include biological
requirements for nanoscale locomotion, physical manipulation, and elements in the environment or internal machine components. Thus
navigation. A comprehensive analysis is beyond the scope of this it is useful to explore the fundamental limitations involved in
book, but the following approximations should prove useful in measuring the full range of this physical variable.
nanomedical design. There are at least two simple ways to determine a velocity. First,
velocity may be measured by transferring the kinetic energy of a
4.3.1 Displacement Sensors moving object or fluid volume to a sensor element. The movement
Diamondoid parts may contain features, or be positioned, in of the sensor element is then clocked as it traverses a known distance.
picometer (1 pm = 10-12 m) steps, much smaller than the unavoidable Second, and more efficiently, the passage of the moving object may
RMS thermal vibrations (Section 3.5.6). The nanomanipulator robot sequentially trip two latches located a known distance apart, again
arm described in Section 9.3.1.4 may be moved in picometer revealing the moving object’s velocity; alternatively, detecting the
increments, and the RMS thermal longitudinal displacements at presence or absence of a protruding feature on a passing body using
the tip of a 20-nm long, 10-nm wide diamondoid lever is ~1 pm.10 probe rods (e.g., Fig. 4.5) can determine velocity without any
Displacement sensitivity of 10 pm is routinely achieved in STMs. It requirement for large kinetic energy transfers. The need for physical
is claimed this can be improved down to the ~1 pm level;433 STM gating movements by sensor components and computational register-
resolution of 2 pm has been demonstrated experimentally.1260 A shift operations using diamondoid rods moving at ~GHz clocking
C60 molecule used as the active element in an electromechanical speeds10 suggests a conservative minimum stable sensor cycle time
amplifier transmits ~100 times more electrical current when physically of ~10-9 sec (Section 10.1).
compressed by 100 pm,561 suggesting a minimum deformation The two principal restrictions on the maximum detectable
detection limit of a few picometers. (A strain gauge and a vibration velocity vmax are the maximum linear dimension of the sensor element,
sensor using a (17,0) carbon nanotube (~2000 atoms) has been or Lsensor, and the minimum event time that may be accurately
proposed.2908) discriminated, or ∆tmin. For a sensor element with thermal noise
Thermally-induced positional uncertainty in the displacement energy ∆E ~ 10 kT = 43 zJ at 310 K, the quantum mechanical limit
of nanoscale components is approximated10 by the classical value is ∆tmin / (2 ∆E) ~ 10-15 sec. ∆tmin is also limited by the thermal
variation in length of the individual latches. If the minimum detectable
∆x~ (kT / ks)1/2 {Eqn. 4.8} latch displacement is ∆x ~ 10 pm (Section 4.3.1), and the maximum
where T is temperature (K) and ks is the Hooke’s law spring constant, speed of latch displacement is approximately the speed of sound in
or restoring force stiffness (N/m). At 310 K, this classical the latch material (e.g., vsound ~ 17,300 m/sec for diamond), then ∆t ~
approximation is accurate to within 10% of the quantum ∆x / vsound ~ 10-15 sec, near the quantum mechanical limit. ∆t is
mechanical treatment for harmonic oscillators with RMS displacements further restricted by the minimum detectable phase variance
∆x 10 pm.10 Spring stiffness ks is ~0.1 N/m for nonbonded between latches located at either end of the sensor. An
(noncovalent) interatomic interactions, ~30 N/m for covalent bond acoustically-transmitted clock pulse emitted from a centrally-located
angle bending, ~400 N/m for covalent bond stretching, and ~1000 source that is ∆x closer to one of the two latches can discriminate a
N/m for solid 1 nm3 diamondoid blocks.10 At 310 K, springs of phase variance of ∆x / Lsensor ~ 10-5 taking Lsensor ~ 1 micron, so
such stiffness produce minimum displacement uncertainties of 200 the minimum discriminable time is again ∆tmin ~ 10-5 Lsensor / vsound
pm, 10 pm, 3 pm and 2 pm, respectively. ~ 10-15 sec; hence vmax ~ Lsensor / ∆tmin ~ 109 m/sec ~ c (= 3 x 108 m/
The log ratio of detection energy to noise energy, the signal/ sec, the speed of light).
noise ratio (SNR), for a displacement sensor is derived from the However, unlike photons, physical objects moving in an aqueous
harmonic potential (1/2) ks x2 as medium are normally limited to the speed of sound in that
medium,* e.g., vsound ~ 1500 m/sec in water at 310 K (Table 6.7). If
signal energy k ∆x 2 vmax is taken as ~103 m/sec, then for a sensor of size Lsensor ~ 1
SNR ~ ln ~ ln s {Eqn. 4.9}
noise energy 2 kT micron the required time discrimination is only ∆tmin ~ Lsensor /
vmax ~ 10-9 sec.
Assuming a very stiff ks = 600 N/m, a minimal SNR = 1 gives a The minimum detectable velocity v min is limited by the
minimum detectable displacement of 6 pm, or 10 pm at a more minimum measurable linear displacement ∆x ~ 10 pm and the
reasonable SNR = 2 (20 dB). The conservative conclusion is that limits of our patience in making the measurement. For a maximum
∆xmin ~ 10 pm displacements should be reliably detectable by medical measurement time of tmeas ~ 1 sec, vmin ~ ∆x / tmeas ~ 0.01 nm/sec
nanosensors in vivo, in a measurement time tmeas ~ 10-9 sec (Section in vacuo. In a nanomedically-relevant aqueous medium, the systematic
*Crystal dislocations,3042 high-speed bullets, detonation waves and other nanomedically-relevant phenomena can exceed the local speed of sound, but supersonic operations
are hardly conservative and a turbulent medium adds additional sources of error to the measurement.
98 Nanomedicine • Volume I
4.3.3.2 Displacement Accelerometers use pressure sensors capable of 10-6 atm resolution (Section 4.5.1)
Formed elements in the human bloodstream (e.g., red cells, white to infer local blood flow accelerations to an accuracy of ± 0.01 g
cells, platelets) typically are buffeted by much smaller accelerations. from sequential measurements taken 1 mm apart.
For example at 310 K, instantaneous random thermal accelerations
of athermal ~ 500 g’s are experienced by a 0.2-micron virus particle, 4.3.3.4 Pivoted Gyroscopic Accelerometers
~0.05 g’s by a 2-micron platelet, ~10-4 g’s by a 10-micron neutrophil— Consider a cylindrical gyroscope spinning at an angular velocity
and ~0.4 g’s by a 1 micron3 spherical nanorobot. Force-based sensors ω (radians/sec), with radius r and thickness h, whose center of gravity
cannot easily detect such low accelerations, since the smaller the lies a distance Lp from a frictionless pivot point along the rotational
sensor, the larger the amin for a given SNR (Eqn. 4.11). An alternative axis. The pivot point defines the center of a spherical sensor grid of
approach uses displacement sensors to determine an object’s velocity radius R ≥ (r2 + 4h2)1/2 having distinguishable grid elements located a
twice in rapid sequence, allowing acceleration to be computed from distance ∆x ~ 1 nm apart. Under uniform acceleration a, the gyro-
the difference. scope precesses around its spin axis at an angular velocity ωp = 2 a
Consider a constantly accelerating object that triggers three Lp / ω r2 = ∆x / R tmeas, where tmeas is measurement duration. Hence
clocking latches at positions x1, x2, and x3, in sequence. Time and the minimum detectable acceleration is
position of the object are measured as (x1, t1), (x2, t2), and (x3, t3).
The measured constant acceleration is then given by ∆x r 2 ω (m/sec2) {Eqn. 4.16}
a min =
2 L p R t meas
v 32 − v 21
a= (m / sec 2 ) {Eqn. 4.12}
t 32 − t 21 by comparing precessional motion against the grid.
In choosing an ω with which to measure amin, there is an upper and
where v32 = (x3 - x2) / (t3 - t2), v21 = (x2 - x1) / (t2 - t1), t32 = (t3 + t2) / 2 a lower limit. The upper bound is the bursting strength condition
and t21 = (t2 + t1) / 2. If adjacent latches are an equal distance xlatch 1/2
apart so that xlatch = (x3 - x2) = (x2 - x1), and taking t1 = 0, then Eqn. 2 σw
ω = ω max < (rad/sec) {Eqn. 4.17}
4.12 reduces to ρ r2
a=
(
2 x latch 2t 2 − t 3 ) (m/sec2) {Eqn. 4.13} where σw is a safe working stress = 1010 N/m2 (~0.2 tensile strength)
t3 t (t − t2 ) for diamond10 and ρ is the density of the gyroscope material (~3510
2 3
kg/m3 for diamond). The lower bound is the minimum spin angular
Assume that a slowly accelerating external object passes three velocity below which the pivoted gyroscope cannot spin stably
clocking latches that are fixed to the exterior of a nanorobot of radius about the vertical axis and begins to wobble,448 thus ruining the
R. Measurements of the object’s velocity incur an unavoidable error measurement. The lower bound is given by
due to nanorobot thermal motion. The object is observed to pass
1/ 2
between latch pairs during a measurement time ~tmeas. During this 2 1 2
same interval, from Eqn. 3.1 the nanorobot translates a distance 4 a min L p r + 3 h
∆X = (kT tmeas/ 3 π η R)1/2, incurring a maximum velocity measure- ω = ω min = {Eqn. 4.18}
ment error of ~∆X / tmeas, and thus from Eqn. 4.12 a maximum π h ρ r6
acceleration measurement error of ~2 ∆X / tmeas2 if (t3 - t2) ~ (t2 - t1)
~ tmeas. Thus the minimum detectable acceleration is If ωmax / ωmin > 1, then nonwobbling spin velocities are available
1/2
4 kT below the bursting speed of the gyroscope cylinder. Since this ratio
a min ~ (m/sec2) {Eqn. 4.14} scales with R, there is a minimum sensor size Rmin below which no
3
3 π η R t meas useful spin velocities are available. Combining Eqns. 4.16 and 4.18
Taking T = 310 K, η = 1.1 x 10-3 kg/m-sec and R = 1 micron, and solving the quadratic in ω gives
then amin ~ 10-7 g’s for tmeas = 1 sec; amin ~ 0.004 g’s for a more
reasonable tmeas = 10-3 sec measurement time in the in vivo environment. 1
2 ∆x r 2 + h 2
Onboard reference oscillators with the requisite accuracy are 3
R min = {Eqn. 4.19}
described in Section 10.1. 1/2
π h t meas r 3 (2σ w ρ)
4.3.3.3 Fluid Acceleration Sensors
Biological fluid accelerations may also be inferred from For tmeas = 10-3 sec, Rmin 69 microns (optimum r = 48 microns,
measurements of spatial pressure gradients. Ignoring frictional and h = 25 microns); for tmeas = 1 sec, Rmin 6.9 microns (optimum r
gravitational forces and assuming laminar flow, fluid acceleration = 4.8 microns, h = 2.5 microns). Thus it appears that pivoted gyro-
afluid is given by scopic accelerometers likely will be employed only in devices >> 10
∆P microns in size (but see Section 4.3.4.1). Microscale gyroscopes
a fluid = − (m/sec2) {Eqn. 4.15} implemented in silicon have been discussed by Greiff1383 and others.447
ρ ∆x
where ρ = fluid density (e.g., blood plasma is an almost incompressible 4.3.3.5 Accelerative Onset
Newtonian fluid, with ρ ~ 1025 kg/m3 at 310 K) and ∆P is the Aside from pure acceleration, the rate of accelerative onset—
measured change in pressure over a distance ∆x. The mitral and sometimes called jolt, surge, or jerk—can produce additional
aortic valves in the heart (∆P / ∆x ~ 105 N/m3, afluid ~ 10 g’s,474 ∆x ~ damaging effects on macroscale mechanical and biological structures.
a few cm), as well as valves in the veins and lymphatics, operate as For example, the effects of accelerative onset (a) on the human body
bistable analog decelerometers employing this principle.444 Micron- were studied by Col. John Paul Stapp1714 in a series of aggressive
scale medical nanorobots traveling across blood vessel surfaces could rocket sled experiments conducted during the 1950s.1714-1716 For
100 Nanomedicine • Volume I
human subjects, cardiovascular shock was entirely absent for a condition ω < ωmax (Eqn. 4.17) as pψ ~ I3 ω, where I3 = (1/2) m r2,
500-600 g/sec but began to appear at a 1100-1400 g/sec, at 1-40 the moment of inertia around ψ. Hence:
g accelerations. Human tolerance to linear decelerative force is deter-
1/2
mined both by rate of onset and peak acceleration; the endurance 2 1 2
limit for well-restrained healthy young males has been given as 500 kT r + 3 h
g/sec and 50 g for 0.2 sec durations.1717 ∆θ nutate ~ (radians) {Eqn. 4.20}
4
By 1998, the effects of accelerative onset on nanomechanical 2 π σw h r
structures had not been extensively studied, but similar limits might
apply to nanomachines. For example, a diamond rod of length Lrod For T = 310 K, r = 0.5 micron, h = 1 micron, σw ~ 1010 N/m2,
= 1 micron, cross-sectional area Srod = 0.01 micron2, mass mrod = ∆θnutate ~ 0.8 microradian.
3.5 x 10-17 kg, and working strength Wrod ~ 5 x 1010 N/m2 (Table Second, the gimbal bearings have small frictional losses, exerting
9.3) fails when subjected to a static acceleration afail Wrod Srod / small torques on the gyro and causing a small precession away from
m rod ~ 10 12 g. But accelerative shocks can produce dynamic the original orientation. The angular velocity of precession ωprecess
amplification in the response spectrum of elastic systems. Dynamic ~ Tgimbal / (I3 ω) (rad/sec) where Tgimbal is the frictional torque caused
stress rises to a peak of roughly twice the corresponding static value by an imperfect gimbal bearing. Assume that the gimbal is driven
when apeak 4 νres amax for a trapezoidal pulse shape, where νres is by external forces to oscillate at some frequency νgimbal, and that a
the frequency of natural vibration of the system,363 because the gimbal bearing dissipates power at the rate of Pgimbal (watts), so that
stresses from the free oscillations of the system, induced by the each oscillatory motion of the gimbal dissipates Egimbal = Pgimbal/
changes in the acceleration of the system, can add to the static stresses νgimbal (joules). If the angular amplitude of the gimbal motion is αgimbal
from the acceleration, with damage done by the total stress. Taking (radians) and the gimbal radius is rgimbal, then the gimbal bearing
ks ~ 1 N/m for the rod described above, then νres ~ 30 MHz (Section travels Xgimbal = αgimbal rgimbal (meters) per gimbal oscillation and
4.3.3.1) and apeak ~ 1020 g/sec at amax ~ 1012 g. For comparison, the the force applied in dissipating an energy Egimbal is Fgimbal = Egimbal/
teragravity nanocentrifuge (Section 3.2.5) has mass m ~ 10-17 kg Xgimbal. Thus, the torque applied by each gimbal oscillation event is
and is spun up to amax = 5 x 1011 g’s in 10-6 sec, giving a 5 x Tgimbal = Fgimbal rgimbal = Pgimbal / (νgimbal αgimbal); Pgimbal = kp vgimbal2
1017 g/sec << apeak. (see Drexler10), where vgimbal = αgimbal νgimbal r gimbal is the sliding
speed of the gimbal bearing surfaces during movement and k p is
4.3.4 Angular Displacement a constant that depends solely on the geometry of the bearing.
There are circumstances in which it is necessary for a medical The change in orientation angle caused by each gimbal oscillation
nanodevice to measure, establish or maintain a preferred orientation, event is ∆θosc = ωprecess / νgimbal. The number of gimbal oscillations
as for example nanorobots with a clearly defined “top” and “bottom” or N = t νgimbal, where t is elapsed time since the gyro was last
nanodevices performing lengthy intracellular operations requiring calibrated. If gimbal oscillations are independent and randomly
precision stationkeeping. Measurement of rotation rates may also distributed, then the total change in orientation angle is very roughly
be required. ∆θprecess ~ ∆θosc N1/2; assuming rgimbal ~ r, then:
1/2
4.3.4.1 Gimballed Nanogyroscopes ∆θ precess ~
(
2 k p α gimbal t ν gimbal ) (radians) {Eqn. 4.21}
Pivoted gyroscopes of the type described in Section 4.3.3.4 are π r2 h ρ ω
impractical for orientational sensing in all but the largest medical
nanodevices. Setting ωmax (Eqn. 4.17) equal to ωmin (Eqn. 4.18), From Drexler10, kp = 2.7 x 10-14 watt-sec2/m2 as a conservative value
taking amin = g = 9.81 m/sec2 (gravitational acceleration), and for a small (~2 nm) stiff bearing. Random hydrodynamic flows
optimizing for minimum sensor size gives a critical nonwobbling induced by thermal fluctuations inside biological cells have a
nonbursting spin velocity ωcrit ~ 6.8 x 107 radians/sec at a minimum characteristic duration tfluct ~ 10 millisec,1069 which suggests αgimbal
device radius of ~35 microns. If a pivoted gyroscope is smaller than ~ 0.06 radians (~3˚) from Eqn. 3.2 for an R ~ 1 micron in cyto
this minimum radius, then spinning it slower than ωcrit causes the nanorobot. Taking r = 0.5 micron, h = 1 micron, ρ = 3510 kg/m3
gyro to tumble helplessly, while spinning it faster than ωcrit tears the for diamond (giving m ~ 3 x 10-15 kg), ω = 1 x 109 rad/sec (just
gyro apart. below the ωmax ~ 4.8 x 109 rad/sec bursting speed), and assuming
However, a triaxially gimballed nanogyroscope may be regarded νgimbal ~ tfluct–1 = 100 Hz (to which the results are not terribly
as having its pivot point near its center of mass, so Lp becomes very sensitive), then ∆θprecess ~ 10-8 t1/2 (radians). Thus a ∆θprecess ~ 1
small and ωmin becomes very slow, making nanogyroscopes feasible microradian orientation shift takes ~1 hour; a ∆θ precess ~ 4
in medical nanorobots. Taking h = 1 micron, r = 0.5 micron, ρ = microradian shift takes ~1 day; and a ∆θprecess ~ 70 microradian
3510 kg/m3 and amin = g in Eqn. 4.18, then if the gimbals are aligned (~10 arcsec) shift takes ~1 year. (Total angular error ∆θtotal = ∆θprecess
such that Lp = 1 nm between the pivot point and the effective center of + ∆θnutate.) Thus a gimballed nanogyroscope may be sufficiently
gravity along the rotation axis, then ωmin ~ 400 rad/sec. If gimbal stable to serve as a readily storable, easily transportable, and highly
tolerances are improved to Lp = 0.1 nm, then ωmin ~ 125 rad/sec. accurate onboard orientation standard.
How stable is a nanogyroscopic orientation standard? There are
two principal considerations. 4.3.4.2 Nanopendulum Orientation Sensing
First, Brownian thermal rotation in all three angular degrees of A nanopendulum may also be employed for orientational sensing.
freedom (θ, ϕ and ψ) gives rise to a small nutation around the As one example of a large class of related devices, consider a simple
nanogyroscopic precession axis of magnitude ∆θnutate ~ pϕ / pψ, where rigid spherical nanopendulum of radius r and mass m, with a large
pϕ and pψ are angular momenta of the gyro.448 The minimum value hemispherical bob free to swing through the entire solid angle about
for pϕ is approximated by (1/2) kT ~ (1/2) pϕ2 / I1, where I1 = a central pivot point (Fig. 4.5), with a gimballed housing to allow
(1/4) m r2 + (1/12) m h2, the moment of inertia around ϕ, and m = active avoidance of the pivot support beam. The nanopendulum
π r2 h ρ. The maximum value for pψ is given by the burst-strength bob moves along a spherical surface located far enough from a
Basic Capabilities • Nanosensors and Nanoscale Scanning 101
Fig. 4.5. Spherical nanopendulum sensor for angular displacement and rotational velocity.
concentric spherical sensor grid of radius R = r + zsep to minimize Bob gravitational energy Ebob = m g r sin ∆θmin ~ m g r ∆θmin for
van der Waals interactions (Sections 3.5.1 and 9.2), with bob and small displacements. The bob swings freely at the minimum
sensor surfaces electrically neutral or uniformly mutually repulsive. displacement if Ebob/Edrag >1. If m = 10-15 kg, r = 500 nm, and S =
Much like the pin cushion receptor model (Section 3.5.7.4), the 1 nm2, then vturn < 2.5 m/sec or ω < 49 megaradians/sec for the bob
sensor grid consists of a spherical array of diamondoid sensor rods to swing freely (vs. vthermal = 3.6 mm/sec (Eqn. 3.3) and ωres ~ 9900
∆x ~ 1 nm wide that are rapidly and simultaneously extended into rad/sec for this pendulum).
the evacuated sensor cavity to determine bob position during a The bob-up/bob-down energy differential is ~2 m g r = 9.8 zJ
measurement cycle of duration tmeas. Radial sensor rod velocity ~ 2.3 kT for m = 10-15 kg and r = 500 nm. To distinguish opposite
should exceed typical tangential bob velocity by at least 1-2 orders orientations (∆θ ~ π) requires Nmeas ~ (kT / 2 m g r)2 ~ 1 measurement
of magnitude. For the example given below, a sensor stud on a for this sensor. To distinguish ∆θmin ~ 2 milliradians requires averaging
500-nm bob that is turning at vturn ~ vthermal = 3.6 mm/sec passes a Nmeas ~ (kT / Ebob)2 ~ 190,000 independent measurements (of
~1 nm sensor rod in ~280 nanosec; a sensor rod displacing ~1 nm ~0.002 kT/measurement) or tmeas ~ 190 microsec using a sensor
in the radial direction in ~1 nanosec travels at vrod ~ 1 m/sec. This rod clock cycle of ~1 nanosec. Thus, after subtracting out the effects of
nanopendulum may serve both as an orientation sensor and as a translation displacements as determined by linear accelerometers
rotation rate sensor, using principles similar to vestibular (semicircular (Section 4.3.3), a nanodevice can measure angular displacements in
canal) mechanics.449 its orientation to within ± ∆θmin in a measurement time tmeas ~10-4
If a simple nanopendulum spherical sensor housing with bob sec. With sensor rods moving at ~1 m/sec, energy dissipation for
initially at rest in a uniform vertical gravity field g is rotated through each rod sliding in its housing is ~0.01 zJ/cycle (Section 10.2.1). If
the smallest detectable angle θmin (radians) around the center pivot, only ~100 test rods need be triggered to continuously track the
then ignoring friction, the bob’s position over the sensor grid moves moving stud, then a sensor rod clock cycle of ~1 nanosec implies a
a distance ∆x, hence continuous nanopendulum power dissipation of ~1 pW; additional
drag power loss between stud and contacting rod is only Pdrag
∆θmin = ∆x / r {Eqn. 4.22}
~0.0004 pW.
For ∆x = 1 nm and r = 500 nm, ∆θmin ~ 2 milliradians (~0.1 Many other configurations of this basic device are readily
deg). For a practical sliding interface (e.g., between bob and sensor conceived and may be more volume-efficient, including nested
surface) of contact area S and turning velocity vturn, Drexler10 estimates spheres or ovoids, two-dimensional rocking disk sections for in-plane
frictional dissipation, primarily driven by shear-reflection drag and rotational measurements (three devices required for monitoring all
band-stiffness scattering, as Pdrag ~ k1 vturn2 S, where k1 ~ 400 kg/ angular degrees of freedom in a rigid rotator), and multiaxial
m2-sec, hence the energy dissipated between the bob and the nearest circumferential tracks or tubes containing rolling balls or sliding
sensor rod (the one interacting with the bob) is Edrag ~ k1 vturn S ∆x. plugs. J. Logajan suggests that a pair of linear three-dimensional
102 Nanomedicine • Volume I
translation accelerometers should be able to unambiguously extract 60-nm thick, silicon cantilever.3256 The theoretical limit on the force
the 3 translation and 3 rotation components of all possible acceleration sensitivity of the AFM has been estimated as 10-18 - 10-19 N for
vectors. Rotation about any axis will result in distinctly different temperatures near absolute zero445,489 using fiber optic interferometry
mass displacements while accelerated translation along any axis will or other techniques. However, many of these methods are impractical
result in identical displacements. or impossible to employ in medical nanodevices.
What is the minimum force Fmin likely to be detectable by
4.3.4.3 Nanopendulum Tachometry nanorobot sensors? Several lines of reasoning produce consistent
The smallest angular velocity detectable using a simple answers. For example, force may be measured by the displacement
nanopendulum is given approximately by ωmin ~ ∆x / r tmeas = 2 ∆x of a beam against the known resistive pressure provided by a
milliradian/sec (~0.1 deg/sec) for ∆x = 1 nm, r = 500 nm, and tmeas spring of minimum stiffness ks; that is, Fmin ~ ks ∆x. However, the
= 1 sec. The largest detectable angular velocity ωmax ~ 2 π / tmeas if energy stored in the spring must exceed thermal noise energy, with
tmeas is the minimum time required to count one complete rotation SNR ~ ln (ks ∆x2 /2 kT) (Eqn. 4.9), giving Fmin = 2kT eSNR / ∆x.
of the sensor; the smallest tmeas ~ 2 π / ωmax ~ 100 nanosec for ωmax For T = 310 K and SNR = 2, Fmin = 100 pN at ∆x = 0.6 nm, 10 pN
~ 49 megaradians/sec—or ~5% of the bursting speed (Eqn. 4.17) at 6 nm, and 1 pN at 60 nm. Indeed, the natural molecular motors
for an r = 1 micron spherical diamondoid nanodevice. (kinesin, dynein, and actin-myosin) have isometric force outputs
What rotational displacements will normally be encountered by on the order of 1-14 pN per protein molecule, which are routinely
an in vivo medical nanorobot? From Equation 3.2, a 1-micron device observed using microscale cantilever spring sensors
experiences instantaneous Brownian rotations of ωB = (kT / 4 π η measuring total forces of 10-100 pN.452-455,1058,1247 Breaking antigen-
R3 τ)1/2 radians/sec, where τ = (MWkg / 32 π kT NA cH2O R4)1/2, antibody or receptor-ligand interactions generally requires rupture
the mean time between molecular collisions with the device (mostly forces in the 50-300 pN range.3200 A force of ~160 pN separates
by water molecules), from Equation 4.3, where cH2O ~ 3.3 x 1028 biotin that is seated in its avidin receptor; ~85 pN pulls iminobiotin
molecules/m3. For R = 0.5 microns and T = 310 K, τ ~ 6 x 10-20 out of the avidin receptor.1075 A force of ~300 pN ruptures a hydrogen
sec/collision and ωB ~ 7 x 109 rad/sec, with each displacement of bond between two isolated water molecules,1030 but >3000 pN are
~ τ ωB = 4 x 10-10 radian, none of which are detectable. However, likely to be needed to rupture a single C-C covalent bond.10,1131
the net of all Brownian rotational displacements is one rotation The rupture strength of single covalent bonds has been directly
every 16 sec, ~0.4 radian/sec (Section 3.2.1). measured experimentally by AFM as, for instance, 2000 ± 300 pN
The largest measurable angular displacements in vivo are caused for Si-C (528 zJ/molecule dissociation enthalpy, 0.185 nm bond
by tumbling due to differential shear forces in the bloodstream. length) and 1400 ± 300 pN for Au-S.3193
Normal vessel wall shear rates in physiological bloodflow range from Force sensing may also require using measurement devices that
100-1400 radians/sec in the larger arteries to 500-4000 radians/sec involve sliding interfaces of two mutually inert periodic surfaces.
in the smaller arteries and capillaries.386 The measured rolling This motion may be characterized by the potential energy of inter-
velocity of white cells during vascular “tank tread” locomotion action, ~0.1-1 zJ as determined by Monte Carlo simulations of
(Section 9.4.3.6) on venule walls is ~40 micron/sec, or ~8 radians/ typical diamondoid material at 0.2-0.5 nm separations.10 Assuming a
sec, which may be encountered by nanodevices employing minimum 0.5 zJ energy barrier, for small sliding contacts the typical
cytocarriage (Section 9.4.7). The human vestibular mechanism has force amplitude Fmin ~ 1.7 x 1010 ∆Vbarrier ~ 8.5 pN.10
a frequency response range of 0.048-260 radians/sec.449 A force of 10 piconewtons across a small-molecule receptor (0.3
Thus, the maximum range of physiologically relevant rotation nm)3 of surface area 0.09 nm2 represents an energy density of ~108
rates is 10-2 to 104 radians/sec. Since the natural harmonic frequency J/m 3 x 0.027 nm 3 = 2.7 zJ ~ 0.6 kT. And the nanorobotic
of a simple nanopendulum is ωres = (g/r)1/2 = 4400 radians/sec for r manipulator arm described in Section 9.3.1.4 is capable of
= 500 nm, the possibility of forced oscillations and resonance need ~picometer step sizes, representing a minimum applicable force of
be faced only when measuring the highest likely physiological rotation Fmin ~ 10 pN assuming 0.04 m/N compliance10 for the entire
rates, in which case the addition of a damping force Fdamp ~ m vturn mechanism. Thus as a conservative estimate, the smallest force that
ωres during resonance events should eliminate the problem. Fdamp is reliably detectable (and applicable) by nanodevices is probably
for critical damping peaks at ~mg ~ 0.01 pN for the m = 10-15 kg, r ~10 pN.
= 500 nm case (vturn ~ 2 mm/sec). Finally, a nanosensor of dimension L able to distinguish two
forces differing by ∆F newtons has a probability of erroneous
4.4 Force Nanosensors measurement10 of
Piconewton forces may be applied and must be detected by medical Perr ~ exp (-L ∆F / 4 kT) {Eqn. 4.23}
nanodevices. Pendulum- and cantilever-based sensors may be used
to probe nanoscale forces, to monitor the ambient gravitational field, For ∆F = 10 pN and T = 310 K, Perr = 1% for L = 8 nm, or 0.01%
to measure molecular-scale masses to single-proton accuracy, and to for L = 16 nm, so reliable nanoscale picoforce sensors may be
discriminate among molecules having different isotopic composition. ~10-20 nm in size.
A,470 a 20% reduction in glucose metabolism, increased resistance using spring (rod) material of density ρ, Young’s modulus E, and
to antibiotics, increased number of pseudopodia on monocytes, and shear modulus G.* The natural resonance period for this unloaded
changes in cytoplasmic streaming velocity and frequency.469 system is T0 = (2 π Lbeam/Lspring) (m0/ks)1/2 = Z m01/2, where Z =
As of 1998, the exact mechanism by which the leukocyte “gravity (2 Lbeam / Lspring rrod2) ((G lrod3 + E π rrod2 lrod) / E G)1/2 and m0 = ρ
sensor” operates remained unknown. It has been speculated that (Vsample + π Lbeam Rbeam2 + π lrod rrod2). Gravitational loading is
differences in densities of several organelles, such as the nucleolus, negligible for suspension system mass m << (ks Lspring2 / g Lbeam2) ~
the ribosomes, and the centrioles, could generate detectable pressures 10-15 kg; m ~ 10-20 kg in the exemplar system.
on the structure of the cytoskeleton under gravitational loading469,471 After adding a test mass ∆m to the sample holder, the resonance
mediated through mechanosensitive stretch-activated ion channels period increases to Tm = Z (m0 + ∆m)1/2, which may be detected if
or the extracellular matrix.468 While indirect gravitational effects Tm - T0 ∆tmin ~ 1 nanosec, the minimum convenient time interval
that modify the cellular environment (such as reduced sedimentation (Section 10.1). Hence the minimum detectable molecular weight
or decreased thermal convection due to hypogravity) could also be ∆MW, expressed in proton masses (mp = 1.67 x 10-27 kg), is
responsible, a direct interaction of the gravitational force with cellular
2
structures472,473 appears to be the most likely sensor mechanism. ∆MW = ∆m/m p = m −p1 m1/2 ( )
0 + ∆t min /Z − m0 (protons)
For instance, if a change in gravitational loading equivalent to the
force generated by a natural molecular motor (F ~ 1 pN; Section {Eqn. 4.25}
4.4.1) is detectable by the cytoskeleton, and this force is applied to
the entire mass of a (10 micron)3 cell (m ~ 10-12 kg), then the mini- In Figure 4.6, beam and rod are coiled in two dimensions
mum detectable gravitational acceleration is g ~ F/m ~ 1 m/sec2 = (although three-dimensional coiling, more difficult to depict, provides
0.1 g, which should be adequate to detect the onset of hypogravity. maximum compactness). Lbeam and lrod are chosen to minimize total
A nanomechanical gravity sensor of similar size to a macrophage coil area Acoil = 2 Rbeam Lbeam + 2 rrod lrod. Using aluminum for the
cell may be at least 100,000 times more sensitive. For example, the rod and beam (E = 6.9 x 1010 N/m2, G = 2.6 x 1010 N/m2, ρ = 2700
energy of a tethered mass swinging freely in a uniform gravity field kg/m3), Lbeam = 1200 nm, lrod = 1920 nm, rrod = 0.5 nm, Vsample = 1
is approximately Eg ~ m g ∆h, where ∆h is the maximum vertical nm3, and ∆tmin = 10-9 sec, then ∆MW ~ 1 proton for Lspring = 1 nm
amplitude of the motion. To be detectable, oscillator energy must >> ∆xmin = 0.01 nm, the minimum measurable displacement (Section
exceed thermal noise energy, so SNR ~ ln (m g ∆h Nmeas1/2 / kT), 4.3.1). (For Lspring > 1 nm, physiological ~1 g accelerative loads
giving gmin = kT eSNR / m ∆h Nmeas1/2 ~ kT eSNR / ρ L4 Nmeas1/2 for on a ~1 micron nanorobot in which the sensor is embedded produce
a bob mass of density ρ and size L3, Nmeas independent measurements, undetectable accelerative beam displacements < ∆xmin.)
and assuming ∆h ~ L. If T = 310 K, SNR = 2, Nmeas = 1, and ρ =
21,450 kg/m3 (Pt), then gmin = 0.1 g for L ~ 1 micron, 0.01 g for L
~ 2 microns, 10-5 g for L ~ 11 microns, and 10-6 g for L = 20 microns,
the size of the average human tissue cell (Section 8.5.1).
Regarding nanogravimeter design, for a pendulum of length L
in a gravity field g ~ 9.81 m/sec2 (1 g), the resonant period of the
motion Tres = 2 π (L/g)1/2 = 2 x 10-3 sec for L = 1 micron, 9 x 10-3
sec for L = 20 microns. If ∆tmin = 1 nanosec is the minimum
detectable decrease in resonant period caused by an increase in gravity
from g to g + ∆g, then the minimum detectable change in gravitation
force is
L 10−9
∆g / g = 1 − 2 ~ 1/2 {Eqn. 4.24}
g kg L
for a medical nanorobot, where kg = (∆tmin / 2 π) + (L/g)1/2. For L = 1
micron, ∆g / g ~ 10-6; for L = 20 microns, ∆g / g ~ 2 x 10-7.
*The lrod-3 dependence of ks is not strictly valid for a folded structure because the forces at the end of a folded spring have a smaller mechanical advantage, so the structure
acts somewhat stiffer. Further investigation is warranted. However, a large number of alternative low-stiffness structures are available including van der Waals contacts with
low loading, gas springs, diamagnetic traps and actively controlled electrostatic traps [J. Soreff, personal communication, 1997].
104 Nanomedicine • Volume I
Moving the suspension rod closer to the sample holder reduces mass detection sensitivity at room temperature and 1 atm pressure
device sensitivity. For Lspring = Lbeam, minimum ∆MW ~ 1200 with an eigenmode frequency of 10 GHz;1195 an electrically-driven
protons, permitting moderately large molecules to be weighed in carbon nanotube-based resonant-beam balance demonstrated ~10-17
minimum time (~10-6 sec). Using a very thin sensor configuration kg (~1010 proton or ~0.01 micron3 mass) sensitivity in 1999.3023
(hsensor~20 nm) and coils occupying ~50% of sensor cavity space, Existing surface acoustic wave (SAW) devices458 are chemical
sensor dimensions are (79 nm)2 x 20 nm giving a massometer volume sensors that can measure areal mass densities as small as 80 picogram/
~105 nm3 or ~0.01% of the total volume of a 1 micron3 nanorobot. cm2, or 0.01 N2 molecule per nm2 of surface, though current
Sensor mass is ~ 3 x 10-19 kg, including diamondoid housing and devices are limited to ~micron 2 areas. A proposed quartz
prorated share of support mechanisms. If one measurement cycle microresonator microbalance could detect a 10-6 molecular monolayer,459
including sample loading/unloading operations can be completed the equivalent of 5 x 10-9 molecule per nm2. Detection of ~400 million
every ~10 microsec, then the device processes its own mass of glucose protons using an MRFM vibrating rod ~60 nm thick was demonstrated
molecules in ~10 sec. Note that biological molecules weighed in air by Rugar3256 in 1998.
or in vacuo may lose water of hydration, whereas weighing in water
presents other complications that merit further investigation. 4.4.4 Isotope Discrimination
J. Soreff points out that for a molecule on a spring, the precision It will often be useful in nanomedicine to distinguish molecules
of the measurement is linked to the sharpness of the resonance, containing different isotopes of the same chemical elements, for
which is optimized to the degree the vibrational frequency of the example to count the number of organic molecules in a sample that
spring/molecular mass system is kept well below the vibrational contain radioactive C14 atoms in place of stable C12 atoms or to
resonance frequencies of the molecule itself. The following discussion make direct assays of heavy radiometal-contaminated tissues.
reports the results of a simple lumped-element analysis of the effects of Nanodevices may also sort isotopically heteronuclear molecules into
internal vibration on the massometer completed for the author by homonuclear fractions, for example to separate deuterochemicals
J. Soreff, which confirms the previously described performance from hydrochemicals or to acquire isotopically pure materials with
estimates for the massometer. which to construct:
Suppose that it is desired to weigh some mass M to a precision
∆M by attaching it to a weak measuring spring (spring constant a. small, high-speed rotors with precisely balanced mass distributions;10
kweak) and measuring the shift in resonant frequency. The shift in
frequency due to coupling to an internal mode of the sample must b. components with extremely fine size differences (Section 3.5.6);
be less than (1/2) (∆M / M) (1 / 2 π) (kweak/M)1/2. If the sample has c. nanostructures with maximum thermal conductivity (Table 4.1),
some lowest internal mode frequency νint, then approximating the or mixed isotopes to reduce thermal conductivity (Section
sample as two M/2 masses separated by xstrong connected by a strong 6.3.4.4 (D)); or
spring (kstrong) gives νint = (1/π) (kstrong/M)1/2. If this sample is attached
to a weak measuring spring of length xweak, which is in turn attached to d. long-lived isotopically pure structures that generate no internal
a rigid support, then the equations of motion are: radioactivity, thus promoting longer device lifetimes (Chapter 13).
The most reliable sensor for discriminating among isotopes
( M/2) x strong =
//
( )
− k weak x weak + k strong x strong − x weak within target molecules is the single-proton massometer (Section
{Eqn. 4.26} 4.4.3). Isotopes of any chemical element differ in mass by at least
~1 neutron (~protonic) increments. Thus a massometer with single-
( M/2) x strong = k strong ( x weak − x strong )
// {Eqn. 4.27} proton resolution can resolve all isotopes starting from chemically
pure samples. Isobars (atoms having the same mass number) and
Setting xweak = est and xstrong = R est where t = time, s = time isotones (atoms having the same number of neutrons) may be
constant, and R = -(1 + (2 kweak / M s2)), and since the angular finally resolved chemically; nuclear isomers differing in mass by
frequencies of the two springs are ωstrong = 2 π νint = 2 (kstrong/M)1/2 ~0.001 amu cannot be resolved. Teragravity centrifugation (Section
and ωweak = (kweak/M)1/2, then the lower frequency solution for ωweak 3.2.5) and time-of-flight particle-beam deflection techniques (Section
<< ωstrong may be approximated by s = i ωweak (1 - ωweak2 / 2 ωstrong2) 4.7.1) may also prove useful.
and so the (undesired) fractional change in frequency due to the Isotopes vary in many subtle ways due to their mass differences,
flexibility of the object to be weighed is although it is not yet clear how a potential isotope nanosensor might
exploit some or all of these distinctions:
1/2
ω weak /ω strong < ( ∆M/M) {Eqn. 4.28}
A. Line Shifts — The electronic energy states of atoms or molecules
depend on the reduced nuclear mass, causing a spectral line shift
For a molecule sample size of Lsample, νint ~ vsound / Lsample ~ 500 of ~1.0005 between hydrogen and deuterium, less among heavier
GHz for vsound ~ 1500 m/sec and Lsample ~ 3 nm; M = ρ Lsample3 = isotopes, detectable spectroscopically.
2.7 x 10-23 kg for ρ = 1000 kg/m3. To detect the mass difference of
a single proton in a sample molecule, sensor Q = M / mp = 16,000; B. Hyperfine Structure — Isotopes differ in electrical quadrupole
from Eqn. 4.28, the sensor may operate at a factor of Q1/2 below moment, nuclear spin and magnetic moment, giving rise to
νint, or νspring ~ νint / Q1/2 ~ 4 GHz. A period of 0.25 nanosec is hyperfine structure in the optical spectra, especially in the heavier
slightly too short to allow a phase shift of ∆tmin ~ 1 nanosec, since elements. For example, the magnetic moments of hydrogen and
the period is only one-quarter of this. However, a phase shift of π deuterium (2.79268 and 0.857387 nuclear magnetons,
radians should accumulate in tmeas = Q / 2 νspring ~ 2 microsec and respectively) are distinguishable via NMR (Section 4.8.3). The NMR
should be detectable by looking at magnitudes of forces. Interestingly, frequency in a 10 kilogauss magnetic field is 42.5759 MHz for H,
an SPM microprobe of circular cross-section and exponential profile 6.53566 MHz for D. Of course, not all isotopes are NMR sensitive.
with a 0.1 nm2 tip has been proposed that could also reach ~proton
Basic Capabilities • Nanosensors and Nanoscale Scanning 105
Common Rarer
Bulk Property Units Isotope Isotope Comments
C. Vibrations and Rotations — Molecular spectra are especially mixtures,3046 constitute proofs of principle that at least some of the
sensitive to isotopic changes, since the quanta of vibrational and bulk properties listed in Table 4.1 may become useful in achieving
rotational energies are directly dependent upon the masses of the nanoscale isotopic separation or purification.
atoms involved, and there are also some subtle effects from differences
in nuclear spin. Separations are commonly achieved by laser 4.5 Pressure Sensing
excitation. This Section describes the ability of medical nanodevices to detect
and measure fluid pressure variations while functioning inside the
D. Cross-Sections — Isotopes have different thermal neutron human body. Generation of acoustic signals for power transmission
capture cross sections; for instance, the cross-section of C12 is 3.7 x (Section 6.3.2), communication (Section 7.2.1), and navigation
10-3 barns (1 barn = 10-24 cm2) compared to 9 x 10-4 barns for C13 (Section 8.3.3) are considered elsewhere. Acoustic macrosensing is
and <10-6 barns for C14. (Electron scattering might be better, since described in Section 4.9.1.
the electron is less likely to cause the nucleus to fission and it is
generally difficult to use neutrons to probe samples on the molecular 4.5.1 Minimum Detectable Pressure
scale.) Similarly, the neutron cross-section for H2O is 0.6 barns A change in the ambient pressure in a fluid environment (∆P)
compared to 9.2 x 10-4 barns for D2O. may be determined by measuring the change in volume (∆V) of a
fixed quantity of gas at constant temperature, relative to a known
E. Other Properties — Isotopes differ slightly in various bulk sensor volume at a known reference pressure. (Thermal sensors else-
properties, many of which could be measured in submicron-scale where in the nanorobot provide readings by which corrections can
aliquots by nanosensors. The ability of both large mammals and be made for temperature variations.) If the sensor volume consists
micron-size photosynthetic plant cells to preferentially concentrate of a cylinder of fixed cross-sectional area, the change in volume is
C12 or C13 in organic matter,1094 and the predicted ability of carbon converted into a linear displacement of a piston located at the interface
nanotubes to selectively extract tritium from low-concentration H2-T2 between gas and fluid environment. The change in Gibbs free
106 Nanomedicine • Volume I
energy10 is ∆G = ∆P ∆V, while thermal noise ~kT. Pressure sensor a maximally sensitive spring having an energy of ~kT when stretched
signal/noise ratio SNR ~ ln (∆P ∆V / kT), so at the minimum ∆G by L, and piston mass m, is
the minimum detectable pressure ∆Pmin is measured at the maximum 1/2
possible volume change, or Vsensor (the sensor volume), given 1 k
ν res = s {Eqn. 4.32}
approximately by 2π m
measure of fluid concentration and physical phase. C. Phoenix suggests precision thermometers.462,1699 Thermocouple probes with 100 nm
storing liquids in a piston, allowing direct and precise molecular tips have already shown ~100 microkelvin sensitivity,463 tunneling
volume readout, in designs where this is convenient; in theory, a thermometers capable of measuring thermoelectric potential localized
piston that slides the minimum measurable distance of ~10 pm to atomic-scale dimensions have been proposed,464 and experiments
(Section 4.3.1) within the 2-nm-diameter throat of a water-filled leading toward “yoctocalorimetry” were being pursued in 1998.2928
cylinder could detect the removal of a single water molecule from For comparison, heat sensors in human skin have ∆Tmin / T ~ 3
the column. x 10-4 (~90 millikelvins), and the infrared sensor pit of the rattle-
snake is sensitive to an energy intensity of ~0.8 pJ/micron2 in a
4.6 Thermal Nanosensors measurement time tmeas ~35 millisec and achieves ∆Tmin / T ~ 3 x
The ability of medical nanodevices to measure both absolute 10-6;701,826 mosquitos register ∆Tmin / T ~ 6 x 10-6 at a distance of
temperature and changes in temperature is crucial for monitoring ~1 cm.
in vivo physiological thermoregulatory mechanisms and intracellular
energy transactions. Precision thermal sensing is also important 4.6.2 Piston-Based Temperature Sensors
within nanoscale devices to provide corrective input for pressure, Consider a coiled cylinder of cross-sectional area A filled with
chemical, and displacement sensors, and to improve the stability of gas at pressure P, with a piston at one end whose movement is
onboard clocks. General limits of thermal sensing are considered resisted by a constant-force spring (Fig. 4.7). Increasing gas
in Section 4.6.1, followed by several proposals for specific temperature from the coldest temperature at which the sensor will
implementations. operate (piston at maximum ingress), T0, to some warmer temperature T1
causes the piston to move from position x0 to position x1 while the
4.6.1 Minimum Detectable Temperature Change spring holds pressure constant at P inside the cylinder during the
A sensor system consisting of N atoms has (3N-6) internal measurement. If ∆x is the smallest measurable piston displacement
coordinates and thus ~(3N-6) oscillators, each with an average energy and ∆T = T1 - T0, then the poorest accuracy is
of ~kT assuming no modes are high enough to be frozen out. However,
x1 − x 0 ∆x
the standard deviation of the energy of the oscillators around the ∆T / T0 =
x0
=
x0
1/2
= N −meas ( N + 1)−1/2 {Eqn. 4.35}
mean energy is ~kT, and these energy fluctuations are uncorrelated
(ignoring coupling between the oscillators), so (3N-6) of them will because ∆x has a thermal noise component as well,10 and the number
have an average fluctuation of kT (3N-6)1/2. (By comparison, the of gas molecules N = nd Vsensor where nd ~ 1028 gas molecules/m3 at
energy in one 10-micron infrared photon is ~5 kT.) As a result, an P = 1000 atm (Table 10.2). Sensitivity is maximized at the largest
instantaneous measurement of the total energy of all N atoms gives feasible x0; for ∆T / T0 = 10-6 (~300 microkelvins at 310 K) and ∆x
a minimum detectable temperature change ∆Tmin of = ∆xmin = 1 nm (Section 4.2.1), then x0 = 1000 microns, N = 109
−1/2 −1/2
gas molecules at 1000 atm (using the van der Waals equation of
∆Tmin / T = (3N − 6) ~ (3N meas n d Vsensor ) state) and 310 K taking Nmeas = 1000, giving Vsensor = 10-19 m3 and
thus a cylinder cross-sectional area of A = Vsensor / x0 = (10 nm)2.
{Eqn. 4.34} There are ~1000 gas molecules per nanometer of cylinder length,
for a set of Nmeas independent temperature measurements using a each traveling with mean thermal velocity vt ~ 500 m/sec (Eqn.
sensor of volume Vsensor constructed with material of atomic number 3.3). Tightly coiled into a cubical volume, the folded sensor size is
density nd, which might be maximized using diamond (nd = 1.76 x Lsensor ~ Vsensor1/3 ~ (464 nm)3 and measurement time tmeas = Nmeas
1029 carbon atoms/m3). ∆tmin ~ 1 microsec. Sensor mass is ~10-16 kg.
Thermal equilibration time tEQ ~ L2 CV / Kt (Eqn. 10.24) for a
sensor of size L, of heat capacity CV (1.8 x 106 joules/m3-K for
diamond) and of thermal conductivity Kt (2000 watts/m-K for
diamond460). Thus, tEQ ~ 10-13 sec for a sensor of size L = 10 nm,
10-11 sec for L = 100 nm, and 10-9 sec for L = 1 micron, so thermal
sensors up to 1 micron in size should easily achieve thermal equili-
bration within a typical measurement cycle time ∆tmin ~ 10-9 sec.
Sensor measurement time tmeas = Nmeas ∆tmin.
A (57 nm)3 sensor can detect ∆Tmin / T = 10-4 (~31 millikelvins
at 310 K) in a single measurement (Nmeas = 1), with measurement
time tmeas ~ 1 nanosec. A sensitivity of ∆Tmin / T = 10-6 (~310
microkelvins at 310 K) may be achieved using either a ~1 micron3
sensor with a single measurement (Nmeas = 1, tmeas = 1 nanosec) or a
(124 nm)3 sensor with Nmeas = 1000 independent measurement
cycles and tmeas = 1 microsec. Finally, a 1 micron3 sensor can detect
∆Tmin / T = 3 x 10-9 (~1 microkelvin at 310 K) with Nmeas = 100,000
independent sensor cycles, giving a measurement time tmeas ~ 100
microsec.
These figures are confirmed by experimental estimates of detector
noise temperature, such as ∆Tmin / T = (k / L3 CV)1/2 ~ 10-6 for a
silicon nitride detector678 with CV = 5.2 x 106 joules/m3-K and L
~ 1 micron. It has been calculated that sensitivity of ~1 microkelvin Fig. 4.7. Two-dimensional representation of a three-dimensional
is theoretically possible using quartz electronic microresonators as micro-kelvin piston-based coiled-cylinder temperature sensor.
108 Nanomedicine • Volume I
The coiled tube design, though not strictly necessary, is nonetheless Hence, to achieve ∆T ~ 1 microkelvin at T0 = 310 K with this
convenient because it allows a continuous sensor element to be sensor may require Nmeas ~ 47 million independent measurements
arbitrarily distributed through the nanorobot volume, to be of ∆tmin = 1 nanosec each, or tmeas ~ 47 millisec.
concentrated in multiple specific interior regions, or to be placed Micromechanical silicon cantilever heat sensors (microcalorimeters)
inside nanorobot components that will be required to flex such as of ~20,000 micron3 volume have already achieved ∆Tmin = 10
metamorphic protuberances. If instead the working gas is placed in microkelvins at room temperature (∆Tmin / T ~ 3 x 10-8), responding
a cubical box of side Lbox with a sensor piston of area Ap, any change to ~1 pJ of heat in a measurement time tmeas ~ 1 millisec. 461
in temperature causes the piston to move a distance ∆x = (Lbox3/Ap) Thermal-expansion nanosensors might also exploit the temperature
(∆T / T0) ~ (k T0 / ks)1/2, where ks = (Ap/Lbox2) (N kT0 / Lbox2), sensitivity of viscoelastic materials (e.g., modulus of relaxation).
from Drexler;10 hence
1/2
4.6.4 Mechanochemical Temperature Sensors
(
∆T / T0 ~ A p / N L2box ) {Eqn. 4.36} Since binding rates are temperature sensitive, a chemical
concentration sensor using steric probes immersed in a sample
containing a precisely known concentration of target ligands can be
which argues for a small piston, a large box, and a high operating
used as a temperature sensor. Similarly, enzyme reaction rates increase
pressure to achieve maximum sensitivity. For Ap = 100 nm2, N = 109
with a change in temperature according to
molecules, and Lbox = 464 nm, ∆T / T ~ 10-6.
10 ln(k 2/k1 )
∆T = {Eqn. 4.39}
4.6.3 Thermal-Expansion Temperature Sensors ln(Q 10 )
Consider a thin rod of length x and width w, constructed as a
sandwich of two dissimilar materials each of thickness h, having where ∆T = T2 - T1, k1 and k2 are the reaction rate constants at
coefficients of linear expansion α1 and α2, respectively (Fig. 4.8). temperatures T1 and T2, and Q10 is the well-known temperature
When heated, the two materials expand differentially to lengths of coefficient—the ratio of the rates of reaction measured at two
x (1 + αi ∆T) (neglecting the quadratic and higher-order terms in temperatures 10˚C apart. Q10 ~ 2 for most enzymes, but may range
αi), producing a cantilever deflection of θt = (x/h) (α1 - α2) (radians) up to 4 for some enzymes that catalyze reactions with unusually
from simple geometry. The minimum detectable temperature change high activation energies. Assuming Q10 ~ 4, the (112 nm)3 sensor with
∆Tmin = 2 π ∆xmin / x θt or ∆c / c = 0.01(1%) from Section 4.2.2 can distinguish temperatures
0.07 K apart; the huge (1.44 micron)3 sensor with ∆c / c = 10-5
8 π h3 w 2 ∆x min {Eqn. 4.37} (0.001%) resolves ∆T ~ 72 microkelvins. Because of their relative
∆Tmin = 2
(α1 − α 2 ) Vrod volumetric inefficiency, such sensors are best used in large ∆T
applications. Similar considerations apply to thermal sensors based
where volume of the sandwich rod Vrod = 2 h w x. Taking ∆xmin = on the temperature sensitivity of protein folding (as in heat shock
10 pm, α1 = 2.38 x 10-5 /K for aluminum,460 α2 = 8 x 10-7 /K for protein mediators of cellular responses to a 5 K change465,466), protein
diamond at 310 K,460 h = w = 5 nm, and assuming sensor volume thermal contraction,1261 and thermal conformation rate constants for
Vsensor ~ 2 Vrod in a tightly packed three-dimensional coil configuration, protein α helices that typically coil in ~10-6 sec.467,2324 The quantum
∆Tmin = 1 microkelvin for an L3 ~ (227 nm)3 sensor ~ 1% of the tunneling transmission coefficient for ion channels is also exquisitely
volume of a 1-micron nanorobot. Use of a suitable negative-coefficient temperature-sensitive679 and thus could serve as the basis of a
material for α2, such as the ceramics zirconium tungstate1025 and nanoscale thermal sensor.
cordierite, can further reduce L by 5%-10%.
Measuring the volume of the sensor is essentially like taking an
4.6.5 Spatial Thermal Gradients
inventory of total stored thermal energy, which has a kT N1/2
Two (200-400 nm)3 thermal sensors located at either end of a
fluctuation term from adding the N uncorrelated kT fluctuations; hence
1-micron nanorobot can detect temperature changes as small as 10-6
−1/2 K per micron, a ~1 kelvin/m spatial gradient. The maximum
∆T / T0 ~ ( N meas n d Vsensor ) {Eqn. 4.38}
detectable gradient in nanomedical systems would involve adjacent
measurements differing by ~100˚C, a peak spatial gradient of ~108
kelvins/m. The detection event must be completed before the two
sensors can thermally equilibrate, e.g., tmeas < tEQ = L2 CV / Kt (Eqn.
10.24). If the material between the sensors is mostly diamondoid,
then tEQ ~ 10-9 sec; if mostly water, then tEQ ~ 10-5 sec, for L = 1
micron.
gradient of 1011 kelvins/sec, far in excess of physiological rates.* External sources may also contribute to detectable nanomedical
Detection of the minimum ~1 microkelvin change between two electric fields within the human body, though usually to a lesser
measurements taken 1 sec apart probably represents the minimum degree. Placing a hand flat between two plates charged to Ep = 3 x
practical temperature gradient, ~1 microkelvin/sec. For comparison, 106 volts/m (near the breakdown voltage for air) induces an instantaneous
the record-holder in the insect world is the eyeless cave beetle field of E ~ Ep / κwater = 42,000 volts/m transversely through the
Speophyes lucidulus, whose antennae can detect thermal change rates limb. (A DC field induces ion current flows which accumulate surface
as small as ~3000 microkelvins/sec.812 charge and cancel out the internal field after ~one RC time.) Electric
The extraordinary thermal conductivity of diamond ensures that fields directly beneath high-tension power lines are 2,000-11,000
endogenous nanorobot waste heat is rapidly conducted to the volts/m, or 50-1000 volts/m at a lateral displacement of 25 meters
surrounding aqueous medium. For example, a 1 micron 3 along the ground.477 Household appliances produce 200-300 volt/m
diamondoid nanorobot generating 10 picowatts of onboard power fields;477 20 amperes flowing through standard Romex copper wiring
at its core experiences a temperature differential of ~10-8 K between in the walls of a house produces 100-600 volts/m in the middle of a
core and perimeter (using thermal conductivity Kt = 2000 watts/ room, up to 24,000 volts/m at the wall (E = B / µ0 ε0 c; c = the
m-K for diamond460), well below minimum detectable limits. speed of light, B from Eqn. 4.44); static sparks from carpet walking
are ~10,000 volts/m, and ~105 volts/m makes hair stand on end.
4.7 Electric and Magnetic Sensing Quiescent atmospheric charge is ~100 volts/m, rising to 5000 volts/m
during severe thunder-storms oscillating from positive to negative
4.7.1 Electric Fields over a ~10,000 volt/m range. Lightning bolts (~20 coul 0.002-sec
The electric field E (volts/m) caused by a single point charge q discharge) produce 60,000 volt/m spikes at a distance of 10 meters
(e.g., an electron or singly-charged ion) is given by Coulomb’s law as from the strike, 600 volts/m at a range of 1 kilometer. Electron-
hole avalanches in semiconductors are initiated by fields 5 x 107
qe volts/m.129 Penal electrocutions use ~1500 volts/m. (See also Section
E= {Eqn. 4.40}
4 π ε0 κ e r 2 7.2.3.)
Direct force sensing of these electric fields is ineffective; from
where qe = 1.60 x 10-19 coul (one charge), ε0 = 8.85 x 10-12 farad/m Eqn. 4.40, the minimum detectable field Emin = Fmin / q = 6 x 107
(permittivity constant), κ e = dielectric constant of the matter volts/m using Fmin = 10 pN (Section 4.4.1) and a single-charge sensor.
traversed by the electric field (κe = 74.31 for pure water at 310 K, Particle deflection seems more efficient. Consider a collimated stream
5.7 for diamond, 1 for vacuum or air), and r = distance from the of singly-charged particles, each of mass m and initial velocity V0
charge, in meters. The field at a distance of 1 nm from a point entering an evacuated test chamber of length L and experiencing a
charge is ~109 volts/m in air, 2 x 107 volts/m in water. The force uniform electric field E, causing a lateral displacement ∆x = q E L2 /
between two unit charges F = qe E = 230 pN in air, 3 pN in water, 2 m V02 measured by the sensor. For this measurement, SNR ~ ln
at 1-nm separation. (m V02 / 2 kT), so the minimum detectable electric field is
What is the magnitude of electric fields likely to be encountered
in nanomedical situations? Electric fields in the human body may 4 kT ∆x min e SNR {Eqn. 4.41}
E min = (volts/m)
be generated from internal or external sources. Internally, ions and q L2
individual molecules may carry static electric fields. For example,
For ∆xmin = 10 pm (Section 4.3.1), T = 310 K and SNR = 2,
the surface of an isolated charged amino acid (Section 3.5.5) has ~1
Emin = 10,000 volts/m for a sensor of size L = 28 nm, or 100 volts/
charge/nm2. Debye-Huckel shielding due to counterion flow in salty
m for L = 280 nm, allowing measurement of all nanomedically
fluids (as are found in the human body) reduces these fields very relevant fields that are homogeneous across the entire device. Using
rapidly with distance. From Eqn. 3.20, the static field from a single the larger 280-nm sensor, time of flight is ~10-12 sec for electrons or
charged amino acid floating in human plasma falls from ~6 x 106 ~10-9 sec for U238 ions, permitting tmeas ~ 10-9 sec and dissipating at
volts/m at a range of 1 nm to 0.7 volts/m at r = 10 nm. In plant least ~30 pW waste heat (due to kinetic impact) in continuous
cells, photosynthetic “receivers” detect gradients in the electrochemical operation. Time-varying electric fields can be measured up to
potential of the order of 1 eV across distances on the order of 1 nm, tmeas-1 ~ GHz frequencies, and electric current may be determined
an instantaneous ~109 volts/m. using standard techniques because current density is scale-invariant.10
The most important internal electrical sources are the electro- Care must be taken to eliminate measurement error due to exogenous
chemical gradients caused by gated channel and transporter magnetic fields. Piezoelectric or other electromechanical transducers
molecular pump operations at the intracellular level; muscular, can convert electricity into mechanical signals (Section 6.3.5)
membrane, digestive, and neural activity at the intercellular and appropriate for all-mechanical computation and control systems.
organ level (see also Section 4.9.3.1); and piezoelectric fields generated Another class of electric field detector of similar size and
by movement of collagenous tissues (e.g., tendon and elastin), bones, sensitivity is the electrosensitive gel sensor. For example, the negatively
and many other biological materials.1939–1942,3089–3095 Typically these charged heparan sulfate proteoglycan network found in the secretory
sources generate potentials of 10-100 millivolts over distances of granule matrix expands 50% in volume within milliseconds of
0.01-10 microns, producing local fields in the range of 103-107 volts/m. exposure to a -2 volt/micron field, and the response appears linear
For example, the 50 millivolt transmembrane potential necessary with voltage.498 Thus the length of a 400-nm long gel-filled sensor
to open a sodium channel corresponds to an electric field of 5 x 106 of fixed cross-sectional area should expand a minimally-detectable
volts/m. (See also Section 4.8.7.) Interestingly, implanted electrical 10 pm (= ∆xmin) in a 100 volt/m field. Similar sensitivities to small
devices such as pacemakers may produce up to 600 volts/m one periodic fields, analogous to shark electroreceptors (maximum
millimeter from the casing. sensitivity ~10-7 volts/m,813), are found in ion-channel embedded
*Heating and cooling rates during ultrasonic cavitation in water exceed ~109 kelvins/sec.625
110 Nanomedicine • Volume I
artificial membranes that selectively amplify electric signals in noisy distance of 3 cm and 0.01-2 microtesla at a 1-meter range477 (electric
environments via stochastic resonance.514 Stochastic resonance in shavers produce 0.4-60 microtesla at a range of 15 cm1294). 20-amp
neurons permits detection of electric fields as weak as 10 volts/m.566 Romex wiring in the walls of a house can produce 2 microtesla in
The theoretical limits have been analyzed by Weaver and mid-room, up to 80 microtesla at the wall, though in 1998 the
Astumian814 and by Block,810 who conclude that the minimum average strength in 98% of U.S. homes from artificial sources was
detectable static field for a hollow spherical sensor of radius rsen and 0.05-0.09 microtesla, typical exposures throughout the day were
shell membrane thickness dmem (capacitance Ce = 4 π ε0 κe rsen2 / 0.1-1 microtesla, and the federal workplace standard was a maximum
dmem) is of 100 microtesla.1099 Magnetotactic marsh bacteria,501 birds and
insects502,503,1089 can detect the geomagnetic field vector (identifying
2 kT d mem 1/2
E minDC = 2 (volts/m) {Eqn. 4.42} Earth’s magnetic poles), which is 30-70 microtesla, depending on
3 rsen 4 π ε 0 κ e geographic position. Behavioral thresholds have been measured as
0.005-0.02 microtesla for pigeons and 0.001-0.01 microtesla for
Using κe = 74.31 for water at T = 310 K, rsen = 0.5 micron and honeybees,815,816 and no more than 1000-2000 microteslas for
dmem = 10 nm gives EminDC = 200 volt/m. Increasing rsen to 5 microns human subjects.1130 Some biochemical changes have been observed
reduces Emin to ~2 volts/m. To detect a periodic field of frequency in human cells exposed to ~10-100 microtesla 60 Hz fields,477,1099
νe by sampling over (νe tmeas) cycles for a measurement time tmeas, although the data are controversial; it appears the fields pump iron
Block810 gives atoms through cell membranes, potentially causing peroxidation or
other damage to occur. In 1998, transcranial magnetic stimulation
was used to expedite recovery of motor skills for stroke patients,
E minDC {Eqn. 4.43} and was being explored as a treatment for depression and a means
E minAC = 1/2
(volts/m)
( ν e t meas ) of altering patient mood. Lightning bolts (i ~ 10,000 amp/discharge)
produce 200 microtesla spikes at a distance of 10 meters from the
strike, 2 microtesla at a range of 1 kilometer.
Using νe = 1 MHz and tmeas = 1 sec gives EminAC = 0.2 volt/m.
Computer simulations of a fully heterogeneous human body
Cylindrical sensors are 10-100 times more sensitive, and sensitivity
divided into 37,000 (1.31 cm)3 voxels produced a maximum induced
may possibly be further enhanced by coupling the periodic electric
current of 8.84 amp/m2 (average ~1 amp/m2) when the body was
potential to a Michaelis-Menten type enzyme or a similar
exposed to a uniform 60 Hz 1-tesla magnetic field.930 Patients
nanomechanism embedded in the sensor shell to achieve tuning.814
undergoing Echo-Planar MRI scanning report “tickling” and “pain”
Fields as small as ~10-4 volts/m may be detectable by ~20-micron
when exposed to field changes exceeding 60 tesla/sec; ventricular
mammalian living cells;814 such detection may trigger biochemical
fibrillation may result from myocardial current densities of 4 amp/
observables which may be monitored or eavesdropped by resident
m2, which is induced at 250 tesla/sec.490
nanomedical devices. Submicron-scale electrometers capable of ~0.1
The simplest magnetosensor is a freely pivoting permanent magnet
electrons/Hz1/2 (charge per unit bandwidth) have been demonstrated
that experiences a restoring force when the magnet’s axis is not
experimentally, and also single-electron transistors (SETs) to 10-4
aligned with the external field. This “compass effect” is also
electron/Hz1/2, with the potential to reach 10-6 electron/Hz1/2 .2926
employed by magnetotactic bacteria, which have ~0.1 micron
Galvanotropic bacteria have been reported in the literature.3351
ferromagnets in magnetosomes in their cells that allow them to detect
Radiofrequency receivers for power transmission and communication
and track the geomagnetic field vector.501,2330 Permanent magnets
in vivo are described in Sections 6.4.2 and 7.2.3. Antenna radiation
of cross-sectional area Amagnet and length lmagnet made of Alnico or
patterns may also be useful in diagnostics and macrosensing
Alcomax (ρ ~ 8000 kg/m3) can provide Bmagnet ~ 1.4 tesla. (In 1998,
applications (Section 7.2.3). Piezoelectric macrosensing of bone loads
the record flux density was 13.5 tesla for dipole magnets,697 ~27
is briefly described in Section 4.9.3.3.
tesla for resistive magnets. 1026) The force on such a magnet
immersed in an external field of flux B is F = B Bmagnet Amagnet / µ0,
4.7.2 Magnetic Fields so the minimum detectable flux Bmin is
The most significant source of biomagnetic fields, generated by
electric charges moving as currents through the body, is neural µ 0 κ m Fmin {Eqn. 4.45}
Bmin =
impulses. The magnetic field generated by these currents is given by Bmagnet A magnet
Ampere’s law as
If the minimum detectable force is Fmin = 10 pN (Section 4.4.1),
µ0 κ m i {Eqn. 4.44} Bmin = 50 microtesla for Amagnet = 0.4 micron2, about right for
B=
2πr magnetotactic bacteria, and Bmin = 2 microtesla for Amagnet = 2
micron2.
where B is magnetic flux density (teslas), µ0 is the permeability The limitations of force sensing may be avoided by suspending
constant (~4π x 10-7 henry/m), relative permeability κm = 1 for most the bar magnet from its center of mass and allowing it to oscillate in
biological materials and in vacuo, i is electric current (~0.2 micro- vacuo about its stable equilibrium position in the external field B,
amperes for human nerve impulses), and r = distance from the current- making a simple harmonic oscillator with period
carrying conductor. Hence B ~ 0.04 microtesla for r = 1 micron,
adjacent to an axonal conductor. For comparison, magnetic fields 1/2
directly beneath high-tension power lines are 10-40 microtesla, or µ 0 κ m I mag
t magnet = 2 π {Eqn. 4.46}
2-8 microtesla at a lateral displacement of 25 meters along the B B magnet A l
magnet magnet
ground.477 Household appliances produce 1-1000 microtesla at a
Basic Capabilities • Nanosensors and Nanoscale Scanning 111
where the moment of inertia Imag = mmagnet ((Amagnet/4) + (lmagnet2/12)). documented case of a physiological role for chlorophyll in animals
Oscillator energy Em ~ B Bmagnet Amagnet lmagnet / µ0 κm, so the has been found in the fish Malacosteus niger, which uses a chlorophyll
minimum detectable external field is derivative to see far-infrared light.1528 Mammalian cells also act as
indirect UV sensors (e.g., see Section 10.4.2.3), as for instance when
µ 0 κ m kT e SNR {Eqn. 4.47} energy absorption induces perturbations of membrane structure or
Bmin =
Bmagnet A magnet l magnet a conformational change in membrane proteins, activating the JNK
cascade below 300 pJ/micron 2,481 and centrosomes may serve as
For Bmagnet = 1.4 tesla, Amagnet = (660 nm)2, lmagnet = 660 nm, T = 310 cellular directional IR sensors in single fibroblast cells.1960 Integration
K and SNR = 2, then Bmin = 0.1 microtesla and tmagnet = 6 x 10-4 sec times for photon sensors are briefly treated in Section 4.9.4.
(~tmeas), allowing a ~KHz sampling frequency. Magnet mass mmagnet Artificial “bioelectronic” cyanine-quinone chromophore molecules
~ 2 x 10-15 kg. Several classes of molecular magnets have been ~1 nm in size can detect optical photons of wavelengths λ = 580-630
described in the literature.2598-2600 nm, and can trigger and reset in 1-3 picosec (governed by the
Another class of magnetosensor detects the change in dimensions tunneling times associated with reformation of the zwitterionic states
when a magnetic body is magnetized, which is called magnetostriction. of the inputs21,480), in theory permitting ~100 GHz modulations
For instance, iron-cobalt ferrite expands by ∆L / L ~ 7.5 x 10-4 at to be received. Exciton-generating poly(p-phenylene vinylene)
saturation magnetostriction in a ~1 tesla field, permitting detection polymer switches have the potential to achieve ~THz switching
of ~10 millitesla field changes using a 1 micron sensor and ∆x min speed;733 a birefringent Kerr medium also switches in a few pico-
~ 10 pm. Small magnetostrictive volume changes make possible seconds. Chalcogenide glass has viscosity >1013 kg/m-sec in darkness,
a sensor of even greater sensitivity. A field of ~0.2 tesla causes a but ~5 x 1011 kg/m-sec under illumination.1306 Proposals for specific
fractional volume increase of ~10-6 in iron and up to 40 x 10-6 in implementations of photoergic transducers (Section 6.3.6) and
some iron-nickel (~30% Ni) alloys. A (370 nm)3 magnetostriction optical cables (Sections 6.4.3.2 and 7.2.5.2) are elsewhere.
sensor monitored by stretch sensors with displacement sensitivity
∆xmin = 0.1 nm (~1 atomic radius) can in theory detect Bmin ~ 0.1
4.7.4 Particulate and High-Energy Radiation
microtesla. Magnetostriction is nonlinear with applied field, and
High energy photons including x-rays (λ ~ 2 nm, ~105 zJ or
there are significant hysteresis effects which may confuse data
0.0001 picojoule) and gamma rays (λ ~ 0.002 nm, ~0.1 picojoule),
interpretation. However, multisensor arrays combining positive-
and ejecta from the decay of radioactive nuclei such as α-particles
and negative-magnetostriction materials should enhance signal
(helium nuclei, ~1 picojoule) and β-particles (free electrons, 0.01-0.1
extraction. Since the change in volume is small, temperature com-
picojoule) may be extremely destructive to nanomechanical
pensation may be required.
systems (Chapter 13) and are difficult to reliably measure quantita-
Hall effect probe microscopes have demonstrated 10 microtesla
tively. For example, a charged particle with 0.01 pJ of kinetic energy
sensitivity with 350 nm spatial resolution,478 and alternative
(K.E.) traversing a decelerative electrostatic field of 109 volts/m
nanoscale magnetic detectors such as direct-current SQUID
requires K.E./qE ~ 60 microns to slow to a halt. However, par-
(superconducting quantum interference device) magnetometers,
ticle-induced visual sensations have been observed by dark-adapted
stray field devices, and magnetic spin sensors are being developed.450
astronauts in space,504 and Ruderfer702 has suggested that even solar
In 1999, microSQUID could measure magnetic moments as small
neutrinos may be detectable by the human brain (though most
as ~104 Bohr magnetons3274 or ~10-19 J/tesla, roughly 7 x 106 protons
physicists would find this implausible). The nucleoelectric transducer
or a 14-nm iron cube. Magnetoencephalographs using SQUID
described in Section 6.3.7.1 could be adapted to serve as a directional
magnetometers to measure external electromagnetic fields produced
α particle sensor.
by neural traffic in the brain can register 10-6 - 10-3 microtesla
signals.810 Other biomagnetic measurement techniques have helped
to investigate electrophysiological disturbances in heart muscle and 4.8 Cellular Bioscanning
in the brain.479 By 1998, microcoils as small as 100 microns in The goal of cellular bioscanning is the noninvasive and non-
diameter had been constructed using microcontact printing of 25 destructive in vivo examination of interior biological structures. One
micron wide silver wires, producing magnetic flux densities >0.4 tesla of the most common nanomedical sensor tasks is the scanning of
with a 10 milliamp current, switchable in <10-3 sec.1196 cellular and subcellular structures. Such tasks may include localization
and examination of cytoplasmic and nuclear membranes, as well as
4.7.3 Optical Sensing the identification and diagnostic measurement of cellular contents
In biosystems and nanosystems alike, the detection of an optical including organelles and other natural molecular devices, cytoskeletal
photon is a high-energy event. A single photon of red light at λ = structures, biochemical composition and the kinetics of the cytoplasm.
700 nm carries an energy of 280 zJ, a blue photon at 400 nm conveys The precision and speed of medical nanodevices is so great that
500 zJ, and an ultraviolet (UV) photon at 200 nm transmits 1000 they can provide a surfeit of detailed diagnostic information well
zJ to its receptor. These energies, ranging from 65-234 kT, exceed beyond that which is normally needed in classical medicine for a
thermal noise by a wide margin, hence are all easily detectable reliably complete analysis of somatic status. Except in the most subtle cases
by suitable nanosensors. Note that optical photon detection does a malfunction in any one component of the cellular machinery
not require a nanosensor the size of one wavelength or larger—for (Section 8.5) normally provokes a cascade of pathological observables
example, 1-nm chlorophyll molecules have no difficulty absorbing in many other subsystems. Detection of any one of these cascade
660-nm photons. observables, if sufficiently unique and well-defined, may provide
Biological systems provide numerous examples of single-photon adequate diagnostic information (see Chapter 18) to plan a proper
transducers, including photopigment molecules such as chlorophyll reparative procedure.
and rhodopsin which mediate electron transfers in 1 picosecond DNA is one of the few cellular components that is regularly
by undergoing conformational changes,1692 triggering a series of inspected and repaired. Most homeostatic systems adopt a more
biochemical events. An estimated 100-500 cell membrane channels simple philosophy of periodic replacement of components regardless
are affected by the detection of a single optical photon. The first of functionality. Nanomedicine allows the philosophy of inspection
112 Nanomedicine • Volume I
and repair to be extended to all cellular components (Chapters 13 4.8.2 Transcellular Acoustic Microscopy
and 21). The following discussion briefly describes a few of the sensory Acoustic microscopy is another noninvasive scanning technique
techniques that may be useful in achieving this objective. that can provide nanomedically useful spatial resolutions. Frequencies
are in the GHz range, far exceeding the relaxation time of the
4.8.1 Cellular Topographics protoplasm. A cryogenic acoustic microscope operated at 8 GHz
Tactile topographic scanning provides the most direct means for has demonstrated 20 nm lateral resolution in liquid helium.482 By
examining cellular structures in vivo.484-486,2723-2727 For example, 1998, the best resolution achieved with water as the coupling fluid
ex vivo live cell scanning in air by commercially available atomic has been 240 nm at a frequency of 4.4 GHz.488 Operated in water
force microscopy (AFM; Section 2.3.3) using a 20-40 nm radius tip at 310 K, a nanomechanical 1.5 GHz acoustic microscope would
allows nondestructive feature resolutions of ~50 nm across the top achieve a far-field minimum lateral resolution λ/2 ~ 500 nm, ~105
10 nm of the cell. Investigators have used the scanning tip to punch voxels per human cell, sufficient to locate and count all major
a hole in the cell, then pull back and scan the breach, observing the organelles and a few intermediate-scale structures. Scanning acoustic
membrane heal itself via self-assembly in real time. Up to ~KHz microscopes (SAM) operated at 2 GHz in reflection mode (which
scanning frequencies are possible, with up to 1024 data points per allows detection of interference effects) achieve 30-50 nm resolution
scan line. The nanomechanical manipulator arm described in in the direction of the acoustical axis, and the Subtraction SAM
Section 9.3.1.4 achieves comparable tip velocities and positional approach reveals topographical deviations of 7.5 nm at 1 GHz.483
accuracies. It has been proposed that picosecond ultrasonics could be used to
Assuming a scan rate of ~10 6 pixels/sec, a micron-scale obtain an image of the cytoskeleton with detail comparable to that
nanodevice, once securely anchored (Section 9.4.3.3) to the surface of conventional x-ray images of a human skeleton.1022
of a (~20 micron)3 human cell, could employ a tactile scanning Power requirements are a significant constraint on acoustic
probe to image the 0.1% of plasma membrane lying within its (1.4 reflection microscopy (echolocation). In the simplest case, consider
micron)2 vicinity in ~2 sec to ~1 nm2 resolution (~1 mm/sec tip an acoustic emitter of radius rE which converts an input power of
velocity), or ~50 sec to ~0.2 nm (e.g., atomic) resolution (~0.2 mm/ Pin into acoustic power of intensity IE Imax = 1000 watts/m2 (Section
sec tip velocity). Inside the cell, and again post-anchoring, an entire 6.4.1) with efficiency e%, conservatively taken here to be 0.50
6 micron2 mitochondrial surface could be imaged to atomic resolution (50%). The emitter produces a train of omnidirectional pressure
in ~100 sec; the surface of a 100-nm length of 25-nm diameter pulses of amplitude Ap = (2 ρ vsound IE)1/2 (N/m2) (Eqn. 4.53) and
microtubule could be atomically resolved in 0.2 sec—though of frequency ν which travels a distance Xpath to a target of radius rT. As
course in a living cell these structures may be changing dynamically the signal reaches the target, its amplitude has been reduced by (rE /
during the scanning process. From Eqn. 5.5, continuous power Xpath) due to the 1/r2 dependence of intensity in spherical waves
dissipation of a (0.1 micron)2 scan head moving at 1 mm/sec through (Section 4.9.1.5) and by e-αtiss ν Xpath by attenuation (Eqn. 4.52)
water is ~0.002 pW (~kT/pixel at ~106 pixels/sec), though of course with αtiss = 8.3 x 10-6 sec/m for soft tissue.
the energy cost of sensing, recording, and processing each pixel must Upon reaching the target, a fraction freflect of the signal is
be at least ~10 kT/pixel (ignoring the possibility of pre-computational reflected as a point source echo; if the target surface has an acoustic
image compression), so the total scanner power draw could be as impedance similar to liver tissue and the medium is similar to water,
high as 0.02-0.1 pW in continuous operation. Special scanning tips then from Eqn. 4.54 and Table 4.3, freflect ~ 0.05 (5%). The echo
and techniques should allow topographic, roughness, elastic, adhesive, then travels a distance Xpath back to a receiver (which may or may
chemical, electrostatic (charge density), conductance, capacitance, not be located near the emitter), the amplitude again losing (rT /
magnetic, or thermal surface properties to be measured. Xpath) by geometry and e-αtiss ν Xpath by attenuation. The echo is
For large (~0.1-1 micron) cellular components, identification finally detected by the receiver which can measure a pulse of minimum
and preliminary diagnosis of improper structure may be possible pressure amplitude ∆Pmin ~ 10-6 atm (Section 4.5.1).
using measured surface characteristics which may be matched to Combining these relations gives the following result:
entries in an extensive onboard library, perhaps combined with
dynamic monitoring of anomalies in cross-membrane molecular traffic
using chemical nanosensors. Most membranes are self-sealing, so it
should also be possible to gently insert a telescoping member into
the target organelle (Section 9.4.5), which member then slowly re- {Eqn. 4.48}
ticulates and extrudes smaller probes with sensory tips in a fixed 3
To scan the entire interior of a (20 micron) cell, whether from
pattern and step size, allowing the acquisition of detailed internal
within or without, requires Xpath 20 microns. A frequency of ν =
structural and compositional information.
1.5 GHz allows vsound/ν ~ 1 micron spatial resolution. The fastest
Small (~1-10 nm) protein-based components of the cell such as
possible pulse repetition time is Xpath/vsound ~ 13 nanosec. Assuming rE
enzymes, MHC carriers, and ribosomes are self-assembling or require
= rT = 0.5 micron, Pin ~ 7 pW or ~5 watts/m2, well within the safe
only modest assistance (e.g., molecular chaperones) to self-assemble.
intensity range for acoustic radiation (Section 6.4.1). At maximum
Reversible mechanical denaturation of these smaller proteins, using
safe transmitter intensity Imax, the longest scannable path length at
diamondoid probe structure to displace water molecules (thus
1.5 GHz is Xpath ~ 46 microns.
reducing hydrophobic forces) and by using specialized handling tools
Power constraints are somewhat less severe in the case of acoustic
akin to functionalized AFM tips and molecular clamps, may be
followed by precise nondestructive amino acid sequencing (Chapter transmission microscopy (acoustic tomography), a technique which
20) to allow identification and diagnostic compositional analysis. requires a minimum of two physically separated components (e.g.,
Afterward, the protein molecule may be refolded back into its original a transmitter and a receiver). Consider an acoustic emitter radiating
minimum-energy conformation, possibly with the assistance of a series of omnidirectional pressure pulses of frequency ν which
chaperone-like structures in some cases.3045 travel across a tissue cell of width Xpath, to be detected by a receiver
Basic Capabilities • Nanosensors and Nanoscale Scanning 113
on the other side after a signal transit time tcell ~ Xpath / vcell, where assess brain damage in patients with strokes, epilepsy, and
vcell is the speed of sound in the cytosol. In the simplest case, tumors.
assume that the cytosol is clear except for one target of interest along In a hypothetical NMR cytotomographic nanoinstrument, a large
the path (e.g., an organelle) in which the speed of sound is vtarget permanent magnet is positioned near the surface of the cell or
vcell. The minimum detectable difference in travel times between a organelle to be examined. This creates a large static background
signal that passes through the target and one that does not is magnetic field that polarizes the protons. The spatial gradient of
∆t (~10-9 sec for diamondoid systems), so the minimum resolvable this field establishes a unique resonant frequency, called the Larmor
target size is rmin ~ vtarget vcell ∆t / 2 abs(vtarget - vcell) when rmin vcell frequency, within each isomagnetic surface throughout the test
/ ν. For soft tissue targets in water at 1.5 GHz, rmin ~ 30 microns; volume. A second time-varying magnetic driver field (e.g., vibrating
for tooth enamel in water (see Table 6.7), rmin ~ 1 micron. How- permanent magnet or weak rf field) is then scanned through the full
ever, the use of sampling gates will permit the detection of phase range of resonant frequencies, exciting into resonance the protons
shifts that are much less than the characteristic time constant of the (nuclear spins) in each isomagnetic surface, in turn. Depending on
system in incoming waves, hence the minimum thickness of objects the sensor implementation chosen, each resonance detected may
in theory detectable by acoustic tomography can be far smaller than cause absorption of driver field energy, an increase in measured
the values for rmin estimated above. impedance, or even a return echo of magnetic energy (if the driver
Computing acoustic tomographic power requirement Pin in a field is operated in pulse echo mode) as the excited protons relax to
similar manner as for echolocation, except that the transmitted signal equilibrium in ~1 sec.490 The large polarizing magnet is then rotated to
rather than the echo is detected and assuming the signals are of a new orientation, moving the isomagnetic surfaces to new positions
approximately equal strength regardless of the path taken, gives: within the test volume, and the scan is repeated. A 3-D map of the
spatial proton distribution may be computed after several scan cycles.
Only those regions within a linewidth of resonance ∆B will
generate an appreciable signal, and the expected spatial resolution
{Eqn. 4.49} (say, along the z-axis) ∆z = ∆B / (dB/dz), where dB/dz is the spatial
flux gradient of B. For a polarizing field B = 1.4 tesla placed adjacent to
Using the same values as the previous example, Pin = 1 pW for Xpath a (20 micron)3 cell, the cross-cell gradient dB/dz ~ 7 x 104 tesla/m;
~ 45 microns; for Xpath ~ 140 microns, Pin = 1000 pW, near Imax. placed next to a (1 micron)3 organelle, dB/dz ~ 1.4 x 106 tesla/m.
In either mode of operation, data gathering is accelerated by Assuming an effective NMR linewidth ~ 0.002 tesla,489 minimum
positioning more than one receiver around the target. Sensitivity is spatial resolutions are 29 nm and 1.4 nm, respectively.
boosted by increasing emitter size, taking multiple measurements, Unfortunately, the smallest reliably detectable energy in the sensor
or by illuminating the target with some large external source element is ~ kT eSNR. The energy required to flip a single proton is
located elsewhere in the tissue or even outside of the organ. However, Eflip = 4 π νL Lproton, where Lproton = 5.28 x 10-35 joule-sec (the
cells and body tissues are mesoscopic “junkyards”—highly hetero- quantized spin angular momentum of the proton) and the Larmor
geneous media which may produce large numbers of nontarget resonance frequency νL = γproton B; γproton is the gyromagnetic ratio
scattering events, thus increasing the difficulty of extracting signal (4.26 x 107 Hz/tesla for protons) and B is the polarizing magnetic
from noise. Additional complications arise due to: flux. However, the population difference between spin-up and spin-
down nuclei in NMR is very small. For small energy differences, the
1. scattering on rough surfaces; Boltzmann distribution only allows a fraction Eflip / 2 kT to be
2. rapid pressure variations with range in the Fresnel zone or near flipped before the upper and lower state populations are made equal
field of the transmitted signal; and the absorption disappears. In order to flip Nflip ~ kT eSNR / 4 π νL
Lproton protons, the sample volume must include at least:
3. cytoplasmic viscosity inhomogeneities due to the asymmetric 2
arrangement of cytoskeletal structure, granules, vacuoles, and SNR kT
{Eqn. 4.50}
N min ~ 2 e 4 π ν L (protons)
the endomembrane system; and L proton
4. variation in cytoplasmic Young’s modulus due to time-varying For T = 310 K, SNR = 2 and B = 1.4 tesla, νL = 60 MHz and
tensions in semirandomly-distributed cytosolic fibrillar elements Nmin ~ 1.7 x 1011 protons.
(e.g., a relaxed or contracted state) which alter elasticity and When scanning a cell or organelle, the vast majority of the protons
thus the local speed of sound. present are in water molecules (Table 3.2). Water at 310 K has a
proton density n water = 6.7 x 1028 protons/m3, compared to n fat ~
6.4 x 1028 protons/m3 (palmitic acid). Distinguishing fat from water
4.8.3 Magnetic Resonance Cytotomography thus requires a minimum sample volume of Nmin / (nwater - nfat) ~55
Electrostatic scanning is largely ineffective because of Debye- micron3.
Huckel shielding (Section 4.7.1). Magnetic stray field probes Proteins range from 4.4 x 1028 protons/m3 (aspartic acid minus
allow resolution of 10 nm physical features, but only for materials with one water) to 7.6 x 1028 protons/m3 (leucine minus one water),
substantial magnetic domains—which most biological substances average nprotein ~ 5.6 x 1028 protons/m3; ncarbohydrate ~ 5.8 x 1028
lack. But nuclear magnetic resonance (NMR) imaging2181 may protons/m3 (glucose minus one water), allowing NMR cellular
allow cellular tomography by creating 3-D proton (hydrogen tomography to resolve minimum feature sizes of 2-4 microns (5 - 60
atom) density maps. 451,489 Atomic density maps of other bio- micron3). This resolution may include intracellular structures such as
logically important elements with nonzero nuclear magnetic the endoplasmic reticulum (rough ER ~1100 micron3, smooth ER
moments (including D, Li6, B10, B11, C13, N14, N15, O17, F 19, ~400 micron3), the Golgi complex (~500 micron3), the nucleus
Na23, Mg25, P31, Cl35, K39, Fe57, Cu63 and Cu65)396,3257 may also be (~270 micron3), possibly the nucleolus (~50 micron3) (Table 8.17),
compiled. For example, sodium imaging is already used clinically to and even large localized ferritin granule concentrations.
114 Nanomedicine • Volume I
In 1998, the minimum sample size for microcoil (~470 micron m-K and the energy per 500-nm photon is 400 zJ, so for 1 micron3
diameter) NMR scanning was ~10,000 micron3 or ~1016 protons of watery tissue the maximum scan rate is ~35 micron3/sec-K, if
for a 1-minute measurement cycle.1061 Individual T-cell vacuoles eSNR photons are used to image each 1 nm3 voxel with SNR = 2.
~1 micron in diameter labeled with dextran-coated iron oxide particles Thus a 1-sec volumetric optical scan of an aqueous ~1-micron3
have been imaged by MRI.2317 sample volume to 1 nm3 resolution requires a ~1 nanowatt scanner
running at ~GHz bit rates, raising sample volume temperature by
4.8.4 Near-Field Optical Nanoimaging ~0.03 K.
Electromagnetic waves of optical wavelength λ that interact with NSOM permits the determination of five of the six degrees of
an object are diffracted into two components, called “far-field” and freedom for each molecule, lacking only the optically inactive rotation
“near-field.” The propagation of electromagnetic radiation over around the dipole axis.493 In principle, it should be possible to produce
distances z > λ acts as a spatial filter of finite bandwidth, resulting 1 nm resolution near-field optical scans of in situ protein
in the familiar diffraction-limited resolution ~λ/2.492 Classical optics molecules, since with atomically precise fabrication and single lines
is concerned with this far-field regime with low spatial frequencies of atoms as conductors a minimum light guide (metal-dielectric-
< 2/λ, and conventional optical imaging will be difficult at the cellular metal) is 3 atoms wide. Given a molecular laser990 and adequate
level in vivo (Section 4.9.4). (Short-wave x-rays will damage living collimation, photons passing through folded proteins will scatter
biological cells.) Information about the high spatial frequency according to the molecular structure. Detection of sufficient photons
components of the diffracted waves is lost in the far-field regime, so comprising these scattering patterns should allow the noninvasive
information about sub-wavelength features of the object cannot be determination of protein structure; polarized photons provide
retrieved in classical microscopy. information on chirality. Absorption and fluorescent signals will be
However, for propagation over distances z << λ, far higher spatial visible from phenyl rings, tryptophan, and bound cofactors such as
frequencies can be detected because their amplitudes are then of the ATP and adenine (which is fluorescent). Positions of monoclonal
same order as the sample (z = 0). This second diffraction component is antibodies on virus surfaces are now identifiable experimentally
the “near-field” evanescent waves with high spatial frequencies > 2/λ. using NSOM;1258 it should be possible to map binding sites on
Evanescent waves are confined to subwavelength distances from the virus and cell surfaces using fluorescently labelled antibodies. Single
object. Thus a localized optical probe, such as a subwavelength molecule detection has been proposed as a tool for rapid base-
aperture in an opaque screen, can be scanned raster fashion in this sequencing of DNA991,992 (Chapter 20).
regime to generate an image with a resolution on the order of the Other optically-based cellular imaging techniques must be
probe size. distinguished. Optical Coherence Tomography (OCT) uses
The original Near-field Scanning Optical Microscope (NSOM) Michelson interferometry to achieve ~10 micron spatial resolutions
surpassed the classical diffraction limit by operating an optical probe over tissue depths of 2-3 mm in nontransparent tissue in the near
at close proximity to the object. The NSOM probe uses an aluminum- infrared.736 However, OCT requires numerous physical components
coated “light funnel” scanned over the sample. Visible light emanates not easily implemented on a micron-size detector (e.g., beam splitter,
from the narrow end (~20 nm in diameter) of the light funnel and lens-grating pair, galvanometer mirror, optical prism), femtosecond
either reflects off the sample or travels through the sample into a pulse shaping, and illumination power levels of ~107 watts/m2 >>
detector, producing a visible light image of the surface with ~12 nm 100 watts/m2 “safe” continuous limit in tissue (Section 6.4.2).
resolution at λ = 514.5 nm492 provided the distance between light Bioluminescence techniques in which the light source is placed
source and sample is very short, about 5 nm, with signal intensities inside the tissue (e.g., a transgenic mouse with a luciferase gene in
up to 1011 photons/sec (~50 nanowatts). This represents a resolution every cell of its body) has a spatial resolution limited to ~10% of
of ~λ/40. The near-field acoustic equivalent is found in the medical the depth, or ~10 microns resolution at a ~100 micron depth.737
stethoscope, which exhibits a resolution of ~λ/100.576 Coherent anti-Stokes Raman scattering (CARS) already permits
Applications include dynamical studies at video scanning rates, organelle imaging in living cells and can in theory create a point-
low-noise high-resolution spectroscopy, and differential absorption by-point chemical map of a cell using two intersecting lasers.3239
measurements. Optical imaging of individual dye molecules has Three-dimensional observation of microscopic biological non-
already been demonstrated,3195,3196 with the ability to determine living structures by means of x-ray holography requires a high degree of
the orientation and depth of each target molecule located within spatial coherence and good contrast between target and surroundings.
~30 nm of the scanned surface.493 Molecules with nanometer-scale Good contrast may be achieved in the wavelength range between
the K absorption edges of carbon (λ = 4.37 nm) and oxygen (λ
packing densities have been resolved to ~0.4-nm diameters using
= 2.33 nm), the “water window” where carbon-containing biological
STMs to create photon emission maps494 (an electric current generates objects absorb radiation efficiently but water is relatively transparent.988
photons in the sample), and laser interferometric NSOMs have A 50-micron diameter emitter has been tested that uses near-IR
produced clear optical images of dispersed oil drops on mica to ~1 5-femtosecond laser pulses impinging upon a helium gas target to
nm resolution.495 Live specimen 250-nm optical sectioning for three- create a well-collimated (<1 milliradian) beam of coherent soft x-rays
dimensional dynamic imaging has also been demonstrated.496 at a 1 KHz repetition rate producing a brightness of 5 x 108
Submicron laser emitters have been available since the late photons/mm2-milliradian2-sec, a peak x-ray intensity of >1010 watts/
1980s.497 It should be possible to use NSOM-like nanoprobes to m2 on the propagation axis behind the He target.988
optically scan the surfaces of cells or organelles to 1 nm resolution,
mapping their topography and spectroscopic characteristics to depths 4.8.5 Cell Volume Sensing
of tens of nanometers without penetrating the surface. However, a Many cellular parameters need not be measured directly in order to
proper membrane-sealing invasive light funnel ~20 nm in diameter be detected by a medical nanodevice. Cell volume sensing is a case
might not seriously disrupt some cellular or organelle membranes in point.1198 An intracellular nanodevice can indirectly monitor
and thus could be inserted into the interiors of these bodies or changes in the volume of the cell in which it resides by one of two
through the cytoskeletal interstices to permit deeper volumetric methods. First, measurements of the mechanical deformation of the
scanning. The thermal conductivity of water at 310 K is 0.623 watts/ cellular membrane, stretch-activated channels, or cytoskeletal strains
Basic Capabilities • Nanosensors and Nanoscale Scanning 115
and structural changes are quite sensitive to alterations in total cell 4.8.6.3 Neurothermal Sensing
volume. Second, concentration or dilution of the cytoplasmic While neurons come in many shapes and sizes (Chapter 25),
environment through cell shrinkage or swelling leads to the activation our “exemplar” ~14,000-micron3 neuron discharging ~90 mV into
of various volume-regulation responses which may be detected by an input impedance of ~500 Kohms produces ~0.2 microampere
the nanorobot. Changes in the concentration of soluble cytosolic current per pulse and generates a continuous (average) 100-300 pW
proteins may nonspecifically affect enzyme activity via “macro- of waste heat as measured experimentally (Table 6.8). The discharge
molecular crowding”491 (and see Section 8.5.3.3). Minor changes rate of 5-100 Hz can produce brief surges up to ~2000 pW during
in cell volume can cause severalfold changes in ion transport. Cellular a high-frequency train, but the duty cycle of such trains is far less
signalling entities that have been linked to the transduction and than 100%, reducing time-averaged dissipation to the observed
amplification of the primary volume signal include Ca++ transients, 100-300 pW range.
phosphoinositide turnover, eicosanoid metabolism, kinase/phosphatase Single impulses are measured experimentally to produce 2-7
systems such as JNK and p38, cAMP, and G-proteins.491 These signal microkelvin temperature spikes in cold or room-temperature
amplification pathways may be monitored using chemical mammalian non-myelinated nerve fibers801 and ~23 microkelvins
concentration sensors aboard the medical nanodevice, allowing the in non-myelinated garfish olfactory nerve fibers3482 at an energy
nanorobot to eavesdrop (Section 7.4.5.2) on the natural sensory density ranging from 270-1670 joules/m 3 -impulse from
channel traffic of the cell. 0-20˚C.3483-3485 In non-myelinated fibers the initial heat occurs in
two temperature-dependent phases: a burst of positive heat, followed
4.8.6 Noninvasive Neuroelectric Monitoring by rapid heat reabsorption (called the negative heat).3484 The positive
In many ways the neuron is the most nanomedically important heat derives from the dissipation of free energy stored in the membrane
class of cell in the human body. Nanomedical applications regarding capacity, and from the decrease in entropy of the membrane dielectric
neurons and the brain are addressed in Chapter 25. The following with depolarization.3483,3484 An L ~ 20-micron neuron in good
is a brief summary of noninvasive (i.e., no axonal membrane thermal contact with an aqueous heat sink at 310 K has thermal
penetration) nanotechnological methods for monitoring the electrical conductance L Kt ~ 10-5 watts/K, so trains of 5-100 Hz impulses
traffic of individual neurons. Noninvasive measurement of axonal lasting 1 second should raise cellular temperature by
traffic within nerve bundles will require multiple sensors and greater 10-30 microkelvins; up to ~200 microkelvin thermal spikes from
sensitivity to compensate for shielding by the perineurium, a tight such trains have been observed experimentally.801 These events are
resistive sheath enclosing the bundle ~20 microns thick with resistivity easily detectable by nanoscale thermal sensors capable of ~1
~4000 ohm-cm. microkelvin sensitivity up to ~1 KHz (Section 4.6.3). The
~microkelvin heat signature of individual impulses or very short pulse
4.8.6.1 Electric Field Neurosensing trains can probably be temporally resolved because the minimum
The “typical” ~20 micron human neuron discharges 5-100 times pulse repetition time is ~10 millisec (at 100 Hz) which is much
per second, moving from -60 mV potential to +30 mV potential in longer than the thermal time constant for an L ~ 20-micron neuron
~10-3 sec. Thus the variation in electric field at the axonal surface is (thermal conductivity Kt = 0.528 watts/m-K and heat capacity CV
± 4500 volts/m. Since electric field sensors can detect 100 volt/m = 3.86 x 106 joules/m3-K for brain tissue; Table 8.12) which is tEQ
fields up to GHz frequencies (Section 4.7.1), an electric sensor ~ L2 CV / Kt ~ 3 millisec.
attached by circumaxonal cuff or pressed against the axonal surface
(possibly at the node of Ranvier) should readily detect each action 4.8.6.4 Direct Synaptic Monitoring
potential discharge. (The diameter of human nerve axons is 0.1-20 The synaptic cleft between the axonal presynaptic terminal and
microns. 799) By 1998 silicon-to-neuron extracellular junctions the dendritic postsynaptic membrane is 10-20 nm in most synapses,
already permitted direct stimulation of individual nerve cells in vitro although in the vertebrate myoneural junction it may be as large as
without killing the cells,513 and extracellular electrodes were commonly 100 nm. Contact area per bouton is ~1 micron2, giving a total gap
used to detect neuronal electrical activity noninvasively, both in volume of ~107-108 nm3. The density of acetylcholine receptors is
vivo573 and in vitro.572,574,575 Artificial electric fields may also be highest in muscles along the crests and upper thirds of the junctional
employed to trigger or moderate neural signals (Section 7.4.5.6). folds (~10,000/micron2), and is lowest in the extrasynaptic regions
Cell membrane capacitance is typically ~0.01 picofarads/micron2,2288 (~5/micron2).802 (Other neurotransmitters exist; Table 7.2 and
and varies with the state of the health of the cell.2289,2290 Section 7.4.5.6.) Each action potential discharge triggers the release of
~104-105 molecules of acetylcholine into the gap volume of an active
4.8.6.2 Magnetic Field Neurosensing neuromuscular junction (diffusion time ~1 microsec), raising cligand from
The magnetic flux density caused by a single action potential near zero to ~3 x 10-4 molecules/nm3 (~0.0005 M)531 in ~1 millisec,
discharge is ~0.1 microtesla at the axonal surface, which may be followed by near-complete hydrolyzation by acetylcholinesterase
detected by a “compass oscillator” type magnetosensor with a ~KHz during the 1-2 millisec refractory period. Into the gap volume may
maximum sampling rate (Section 4.7.2). easily be inserted a ~105 nm3 neurotransmitter concentration sensor
It might be possible for artificial magnetic fields to directly (Section 4.2.3) able to measure ~100 acetylcholine molecules in ~1
influence neural transmissions. Even a static 65 millitesla field has millisec (Eqn. 4.5), thus detecting pulses at the fastest discharge rate. A
been shown to reduce frog skin Na+ transport by 10-30%.500 Each similar device could be used to precisely regulate neuro-transmitter
neuronal discharge develops an electrical energy of ~20 picojoule concentration at the junction, and hence the neural signal itself, under
(~1010 kT), far smaller than the magnetic energy stored in a B = 1.4 nanodevice control (Section 7.4.5.6). Simple electrochemical and
tesla field of a permanent micromagnet traversing an L3 = (20 micron)3 mechanochemical artificial synapses have been demonstrated.499
volume which from Eqn. 6.9 is B2 L3 / 2 µ0 ~ 6000 pJ. If properly
manipulated, such a field may be sufficient to enhance, modulate, 4.8.6.5 Other Neurosensing Techniques
or extinguish a passing neural signal. Many other noninvasive neurosensing techniques are readily
conceivable. For instance, counting rotors (Section 3.4.2) or sodium
116 Nanomedicine • Volume I
magnetic resonance imaging (Section 4.8.3) could detect changes nanorobot, since injection of a cocktail of numerous distinct but
in the ionic composition (e.g., Na+, K+) of the periaxonal fluid before, mutually cooperative machine species allows designers to take full
during, and after discharge. advantage of the benefits of functional specialization. In many cases,
a given environmental variable can be measured by several different
4.8.7 Cellular RF and Microwave Oscillations classes of sensor device. However, since these devices are microscopic
Starting in 1968, H. Frohlich, observing that millivolt electrical it is in theory possible to operationalize almost all of the macrosensing
potentials maintained across cell membranes ~10 nm thick give rise capabilities described below in one patient using just a billion devices
to huge fields ~107 volts/m (Section 4.7.1) possibly producing an (~10 mm-3 whole-body deployment density), a total volume of
electret state, theorized that membrane molecules must be highly ~1 mm3 of nanorobots or ~0.1% of the typical ~1 cm3 therapeutic
electrically polarized and thus could interact to produce coherent dose1400 (Chapter 19).
surface acoustic vibrational modes in the 10-100 GHz (microwave) A general discussion of methods for communicating
frequency range;680,681 the longest wavelength is about twice the macrosensory information to the human user is in Section 7.4.6,
membrane thickness. Interestingly, this frequency span is very close and is mentioned briefly in Section 4.9.5 below.
to the maximum trigger/reset frequency for bioelectronic molecules
(Section 4.7.3). Note that (~100 mV) (1.6 x 10-19 coul) ~ 4 kT, so 4.9.1 Acoustic Macrosensing
a membrane molecule with a single charge on either end should be
reliably reoriented by a depolarization wave, coupling pressure waves 4.9.1.1 Cyto-Auscultation
and electrostatic field fluctuations. However, the direct detection of Can sounds generated by a single cell be detected, and thus be
10-100 GHz millimeter radiation by non-nanotechnological means useful for diagnosis? Probably not, given that low frequency acoustic
is experimentally difficult and controversial because the tests must radiators are notoriously inefficient (Section 7.2.2.1). For example,
be performed in vivo in close proximity to an actively metabolizing mitochondrion organelles of the giant amoeba Reticulomyxa are
cell in water—and water strongly absorbs microwaves over shuttled back and forth by 1-4 cytoplasmic dynein motors while
macroscale ranges (e.g., ~99% absorption in 3 mm at 100 GHz). riding on the outside of a bundle of 1-6 microtubules.453 Each dynein
Nevertheless, active cells have shown enhanced Raman anti- motor generates 2.6 pN of force and drives the mitochondria at up
Stokes scattering, an effect ascribed to the converse of the Frohlich to ~10 micron/sec, developing 0.3-1.0 x 10-16 watts of mechanical
oscillations. In one study, the normalized growth rate of yeast cultures power within each 320-nm diameter organelle. Taking each organelle
was enhanced or inhibited when irradiated by CW microwave fields as a cylindrical acoustic radiator with a mechanical input power of
of ~30 watts/m2 of various frequencies; growth rate data spanning Pin ~ 10-16 watts at ν ~ 1000 Hz, the output acoustic pressure at the
62 separate runs revealed a repeatable frequency-dependent spectral organelle surface is only ~10-9 atm (Eqn. 7.6), an acoustic power
fine structure with six distinct peaks of width ~10 MHz near 42 intensity I ~ 10-15 watts/m2 (Eqn. 4.53) which is not detectable by
GHz.682 Investigations of related phenomena are ongoing and micron-sized nanorobots. Nevertheless, cells and intracellular elements
voluminous; the interested reader should peruse Bioelectromagnetics, are capable of vibrating in a dynamic manner with complex
the archival journal of this field. harmonics that can be altered by growth factors and by the process
From Eqn. 6.32, 100 GHz waves attenuate only ~1% after passing of carcinogenesis,1201 so the possibility cannot be completely ruled out.
through ~3 microns of soft tissue. A single electron injected into an
integral membrane protein could act as an oscillating dipole, making a 4.9.1.2 Blood Pressure and Pulse Detection
300 volt/m signal 10 nm from the protein antenna with an energy Blood pressure ranges from 0.1-0.2 atm in the arteries to as low
transfer of ~0.004 kT per cycle;686 ~1000 oscillating electrons could as 0.005 atm in the veins. The systolic/diastolic differential ranges
produce a measurable field. A 20-micron diameter cell modeled as from 0.05-0.07 atm in the aorta and 0.01-0.02 atm in the pulmonary
a nonuniform spherical dipole layer with transmembrane dipoles artery, falling to 0.001-0.003 atm in the microvessels, or 0.003-0.005
located 10 nm apart and embedded in a dissipative medium could atm if the precapillary sphincter is dilated.361,363 In venous vessels,
produce 102-105 volt/m microwave fields 1-10 microns from the pulse fluctuations are 0.002-0.010 atm in the superior vena cava,
cell surface.687 0.004-0.006 atm in the subclavian vein, ~0.004 atm in venules
Thus, a variety of rf and microwave electromagnetic emanations generally, and ~0.0005 atm in the brachial vein.361 There is also a
may in theory be detectable both within and nearby living cells ~0.05 Hz random fluctuation in the microvessels with amplitude
which could prove diagnostic of numerous internal states. Such states on the order of 0.004-0.007 atm.363 Both blood pressure and pulse
may include cytoskeletal dynamics,684 metabolic rates,682 plasmon- rate can be reliably monitored by a medical nanodevice virtually
type excitations due to the collective motion of ions freed in chemical anywhere in the vascular system using a (68 nm)3 pressure sensor
reactions,688 positional, rotational or conformational changes in with ~0.001 atm sensitivity (Section 4.5.1). (See also Section 8.4.2.)
biological macromolecules and membranes,680,721 internal movements Pulse propagation through body tissue is somewhat muted due
of organelles and nerve traffic conduction,685 cellular pinocytosis,1938 to absorption in compressible fatty membranes, but most cells lie
cellular reproduction events, 683 cell membrane identity (e.g., within 1-3 cell-widths of a capillary so the cardiac acoustic signal
distinguishing erythrocyte, Gram-positive and Gram-negative cell should still be measurable using more sensitive detectors. The time-
coat conductivities at 10 KHz728), and cell-cell interactions.687,688 averaged interstitial pressure in subcutaneous tissue is 0.001-0.004
atm.363
4.9 Macrosensing Arterial pulse waves (vascular oscillations) carry subtle messages
Macrosensing is the detection of global somatic states (inside about the health of internal organs and the arterial tree. The idea of
the human body) and extrasomatic states (sensory data originating using pulse waves for diagnosis has a long history dating back 2000
outside the human body). While the treatment here is necessarily years in China. For example, in the Book on Pulse Waves by Wang
incomplete, the discussion nevertheless gives a good feel for the kinds Shu-He (201-285 AD), waves detected by manual probing are
of environmental variables that internally-situated nanodevices could classified using such subjective and qualitative descriptors as floating,
sense. Not all capabilities outlined here need be available on every deep, hidden, rapid, slow, moderate, feeble, replete, full, thready,
Basic Capabilities • Nanosensors and Nanoscale Scanning 117
faint, weak, soft, slippery, hesitant, hollow, firm, long, short, swift, the attenuation. For pure liquids, F = Fliq = ν2 (Hz2); for example,
running, intermittent, uneven, taut, string-tight, gigantic, or αliq = 2.5 x 10-14 sec2/m for water at room temperature. However,
tremulous.361 Abnormal waves were empirically related to disease for soft tissues, F = Ftiss ~ ν (Hz).505* Values for αtiss (in sec/m) are
states. Wave data gathered by nanodevices could make possible a in Table 4.2; the value for diamond was estimated from the acoustic
theoretically sound, quantitative system of noninvasive observation, line discussion in Section 7.2.5.3. Assuming <10 KHz bronchial
classification, and diagnosis as a supplement to other nanomedical tools. turbulence noise of initial amplitude A0 = 4 x 10-5 atm, Ax ~ 3.7 x 10-5
atm through 1 meter of typical soft tissue; Ax ~ 3.4 x 10-5 atm even
4.9.1.3 Respiratory Audition if 0.1 meter of bone is interposed in the acoustic path. Either Ax is
The variation of mechanical pressure over a complete respiratory reliably detected from anywhere in the body using a >(210 nm)3
cycle is ~0.003 atm in the pleura, ~0.002 atm at the alveoli, detectable pressure sensor (Eqn 4.29).
by nanomedical pressure sensors positioned in the vicinity of the
respiratory organs. Holding a deep breath further stretches the 4.9.1.4 Mechanical Body Noises
pulmonary elastic tissue, up to 0.02 atm. Many other mechanical body noises should be globally audible
However, turbulent flows at Reynolds number NR > 2300 in the to properly instrumented medical nanodevices. If normal chewing
trachea, main bronchus and lobar bronchus produce a whooshing motions (of hard foods) release 1-10 milliwatts in a ~100 cm3 oral
noise that may be the loudest noncardiac sound in the human torso volume with a ~1 sec jawstroke, power density is ~10 watts/m3 or
during conventional auscultation. The energy dissipation for ~10-4 atm of tooth-crunching noise. A stomach growl registering
turbulent flow in a tube is 45 dB (vs. 30 dB whisper, 60 dB normal conversation) at 2 meters
has a source power of 160 milliwatts; released from a 10 cm3 gastric
Pturb = Plam Z = 8 π ηair v 2 L Z (watts) {Eqn. 4.51} sphincter volume gives a ~2 x 10-6 atm acoustic wave, detectable
throughout the body. Walking and running releases 20-100 joules/
footfall for a 70 kg man; assuming the energy is absorbed within a
where Plam is the dissipation for laminar (Poiseuillean) flow in a ~1 cm thickness or within ~1 second by the sole of the foot, Eqn.
long circular cylindrical tube of length L, v is the mean flow velocity, 4.53 implies an upward-moving planar compression wave of 0.4-2.0
and turbulence factor Z = 0.005 (NR3/4 - (2300)3/4), a well-known atm, easily detectable by acoustically instrumented nanodevices
empirical formula.363 For ηair = 1.83 x 10-5 kg/m-sec for room- body-wide. (Shoe insoles dissipate energy and alter the shock wave
temperature air (20˚C), Pturb = 0.87 milliwatts for the trachea (L = pulse shape.)3493,3494 Hand-clapping generates 0.02-0.2 atm pulses, also
0.12 m, v = 3.93 m/sec and NR = 4350 at 1 liter/sec volume flow; easily detectable.
Table 8.7); Pturb = 0.66 milliwatts for the main bronchus (L = 0.167 Lesser noises including ~30 millisec hiccups at (4-60)/min,2122
m, v = 4.27 m/sec and NR = 3210); and Pturb = 0.09 milliwatts for intestinal and ureteral peristalsis, sloshing of liquid stomach contents,
the lobar bronchus (L = 0.186 m, v = 4.62 m/sec and NR = 2390), heart murmurs, a tap on the shoulder by a friend, nasal sniffling
totalling ~1.6 milliwatts acoustic emission from a ~120 cm3 upper and swallowing, clicks from picking or drumming fingernails,
tracheobroncheal volume. This is a power density of 13 watts/m3 crepitations, manustuprations and ejaculations, the rustling noise
corresponding to a pressure of 4 x 10-5 atm assuming a 300 milli- of clothing against the skin, flapping eyelids, anal towelling, bruits
second measurement window at the maximum respiration rate. (including murmurs and thrills) due to vascular lesions, dermal
The amplitude of an acoustic plane wave propagating through impact of water while showering, copulatory noises, urethral flow
tissue attenuates exponentially with distance due to absorption, turbulence during urination, transmitted vibrations from musical
scattering and reflection. The amplitude is given approximately by instruments, creaking joints, and squeaking muscles can be detected
A x = A 0 e −α F x {Eqn. 4.52} locally if not globally. Implantation of significant interconnected in
vivo diamondoid structures may produce increased sensitivity to
where A0 is the initial wave amplitude in atm, Ax is the amplitude a internal noises, due to the extremely low acoustic absorption
distance x from the source, and α is the amplitude absorption coefficient of diamond (Table 4.2).
coefficient. The function F expresses the frequency dependence of
4.9.1.5 Vocalizations
Table 4.2 Amplitude Absorption Coefficients for Acoustic Average source power for conversational speech in air is ~10
Waves in Human Body Tissue628,629,730 microwatts at the vocal cords (60 dB), up to ~1000 microwatts
for shouting (90 dB) and as little as 0.1 microwatts (30 dB) for
whispering.3511 Vocal cord surface area ~1 cm2, giving an acoustic
Coefficient Coefficient
Body Tissue α (sec/m) Body Tissue α (sec/m)
intensity I ~ 0.001-10 watts/m2. (Using the decibel notation, dB =
10 log10 (I/I0), where I0 ~ 5 x 10-13 watts/m2 in air, I0 ~ 1 x 10-16
For αliq (sec2/m): Fat 7.0 x 10-6 watts/m2 in water.) In a planar traveling wave, pressure amplitude
Water 2.5 x 10-14 Soft tissue (avg) 8.3 x 10-6 Ap (N/m2) is related to power intensity I by
Castor oil 1.2 x 10-11 Liver 1.0 x 10-5
Air (STP) 1.4 x 10-10 Nerves 1.0 x 10-5 A p = (2 ρ v sound I)
1/2
( N / m2 ) {Eqn. 4.53}
For αtiss (sec/m): Brain (adult) 1.1 x 10-5
-15
Diamond (est.) ~2 x 10 Kidney 1.2 x 10-5
Aqueous humor 1.1 x 10-6 Muscle 2.3 x 10-5 For water at 310 K, ρ = 993.4 kg/m3 and vsound = 1500 m/sec,
Vitreous humor 1.2 x 10-6 Eye lens 2.6 x 10-5 therefore Ap = 0.0005-0.05 atm for speech, detectable by nanodevices
Blood 2.1 x 10-6 Polythene (plastic) 5.8 x 10-5
throughout the body due to minimal attenuation at audible
Brain (infant) 3.4 x 10-6 Bone 1.6 x 10-4
Abdomen 5.9 x 10-6 Lung 4.7 x 10-4 frequencies (Section 4.9.1.3). Other easily detectable vocalizations
include whistling, humming, coughing, sneezing, rales, wheezing,
*Most medical ultrasound textbooks assume a ~ν dependency of attenuation in soft tissues; apparently, the actual dependency730 is ~ν1.1.
118 Nanomedicine • Volume I
simple macroscale wearable tactile “compass belt” that would convey 1000 meters altitude, a 20-micron gravimeter detects a change in
desired geographical directions has already been proposed.2994 altitude of ~3.3 meters (e.g., upstairs vs. downstairs in a house). For
comparison, in 1998 high-quality commercial gravity gradiometers
4.9.2.2 Orientational Macrosensing measured gradients of ~10-9 g/meter and allowed the compilation
Since nanopendular sensors can reliably determine the direction of micro-g (~1 milligal) resolution aerial gravity maps;1527 atom
of the local gravity field vector to within ~2 milliradians in ~10-4 interferometers measured the gravitational acceleration of atoms to
sec (Section 4.3.4.2), the navigational network can poll its members a precision of 10-10.
and arrive at an accurate consensus on which direction is up. To achieve such phenomenal positional accuracies, the nanodevice
Nanodevices affixed to relatively stable hard body parts will exhibit must be able to computationally resolve several complicating factors.
more consistent orientational readings. Measurement of the gravity First, localized mass concentrations representing nonuniformities
vector allows the vertical orientation of the rest of the body to be in crustal density produce residuals of up to ±0.0006 m/sec2, which
precisely fixed in space, especially useful for gymnasts, trapeze artists, may be removed from the data using a standard map of known
underwater divers in murky lakes, and vestibular-impaired individuals, terrestrial isostatic variations and anomalies. Indeed, matching
to whom this information may be outmessaged directly (Section 7.4). observations to such a map could provide useful longitudinal
The gravitational vector may also be indirectly measured, albeit information as well. Another complication is the variation in gravity
more slowly and less accurately, by monitoring the body’s natural due to tidal forces amounting to ~3 x 10-7 g’s, twice daily, which lies
reactions to changes in the axis of gravitational loading. For at the limits of detectability for a 20-micron gravimeter. Other minor
instance, the variation in head-to-toe hydrostatic pressure for a 1.7 geodesic and terrain-related corrections, too complicated for
m tall, 70 kg human standing in a 1-g gravity field is ~0.17 atm; the discussion here, may also need to be applied in certain circumstances.
ability to measure a systematic cross-body differential of 10-6 atm Note that the presence of nearby heavy objects does not influence
allows the detection of a ~10-5 g change along the lengthwise aspect, or measurement accuracy: a 100-ton building 10 meters away adds a
~10-4 g change along the transverse aspect. Thus a continuously lateral acceleration of only 7 x 10-9 g’s to a human body.
updated whole-body barostatic map allows the human body to serve One final complication is that patient movements create kinematic
as a three-dimensional gravity/orientation sensor. accelerations that must be distinguished from the gravitational
accelerations. Gravity readings can be corrected by taking derivatives of
4.9.2.3 Body Weight Measurement the signals from kinesthetic monitoring to give gravity in the reference
A network of nanodevices can inventory the volume and density frame of the patient’s room, and many individual measurements
of each of the body’s ~108 (1 mm)3 voxels using a combination of may be averaged to improve accuracy since the gravity vector normally
acoustic ranging, somatic mapping, and flowmetry. Each voxel is changes only very slowly.
identified as fat, muscle tissue, bone mass, interstitial fluid, and so
forth. These measurements allow the body’s weight to be precisely 4.9.3 Electric/Magnetic Macrosensing
computed as volume times density, rather than the usual method of
determining weight using gravitational force data. The existence of 4.9.3.1 Vascular-Interstitial Closed Electric Circuits
a natural physiological “ponderostat,” a crudely analogous humoral In vivo studies of the electric properties of blood vessels shows
body-mass detector, has been proposed507; indeed, the insulin-leptin that the walls of veins and arteries present a specific electric resistance
system3265 has been found to serve a related purpose, and is easily ~200 times greater than the conductive medium of blood (plasma)—
eavesdropped by medical nanorobots. roughly 200 ohm-m vs. 0.7 ohm-m. Thus blood vessels are properly
regarded as relatively insulated conducting cables which can electrically
4.9.2.4 Gravitational Geographic Macrosensing connect an injured tissue with surrounding noninjured tissue.
Medical nanodevices can measure variations in the gravity field Capillaries form an electric junction with the interstitial fluid, so the
to ~10-6 g’s for L = 20 micron gravimeters in a measurement time electric gradient can be canceled by ionic transport. Cell membranes
tmeas = 2-9 millisec (Section 4.4.2). This implies that in vivo are insulating dielectrics with resistance and capacitance, penetrated
nanodevices can take precise measurements of their latitude and by ionic channels or gates for ionic transport. Additionally, in 1941
altitude relative to sea level ~100 times every second. Gravity Szent-Gyorgyi suggested the possibility of semi-conduction in proteins,
increases toward the poles and at lower altitudes. Specifically, using a theory which has since been elaborated by many investigators.690
the formula of Cassinis (accounting for rotational and polar flattening B. Nordenstrom689,690,3489 has proposed that the above schema
effects on the Earth) with the Bouguer correction to the free air represents a system for selective electrogenous mass transport of
variation by altitude (assuming flat topography), measured gravity material between blood and tissue which he calls Vascular-Interstitial
gmeas is given approximately by Closed (electric) Circuits (VICCs)—in effect, an additional electro-
circulatory system operating in parallel with the well-known diffusive,
[ ]
g meas = g0 1 + k1 sin 2 (θL ) − k 2 sin 2 (2 θL ) − k 3 h + k 4 h ρ earth osmotic, and hydrodynamic mechanisms of regular bloodstream
materials transport. As long as ions can leak through open pores
{Eqn. 4.56} and migrate through ion channels, long distance transport cannot
where θL = terrestrial latitude (equator = 0˚), h = height above sea take place and the VICC system remains primarily a local (e.g.,
level in meters, g0 = 9.78039 m/sec2 (equatorial sea-level value of g), within tissues), not global, electrical circuit. Connections also exist
k1 = 5.2884 x 10-3, k2 = 5.9 x 10-6, k3 = 3.086 x 10-6 sec-2, k4 = with conductive media including cerebrospinal fluid, bile, and
4.185 x 10-7, and ρearth = 5522 kg/m3. urine.3490
Since sea-level g varies from 9.78039 m/sec2 at the equator to Nanorobots capable of monitoring the status of local VICCs
9.83217 m/sec2 at the north pole, a 20-micron gravimeter (∆g = may rapidly and efficiently acquire a wealth of systemic information
10-6 g) detects a change in position of 1 arcmin of latitude or ~1900 without the need for direct inspection of the affected tissues. For
meters north/south along the Earth’s surface. Similarly, since at 45˚ example, when a working muscle produces catabolic products such
latitude g varies from 9.806 m/sec2 at sea level to 9.803 m/sec2 at as lactic acid, an electrochemical potential gradient develops
120 Nanomedicine • Volume I
between the muscle and surrounding tissue in a known manner.3491 accessible dedicated macroscale antennas implanted in the body
Injured tissues become polarized in relation to surrounding tissue, (Section 7.3.4).
as initial catabolic degradation products acidify the tissue. Malignant
neoplasms, benign neoplasms, and internally necrotic granulomas 4.9.3.3 Piezoelectric Stress Macrosensing
all may polarize electrically in relation to surrounding tissue; a The piezoelectric effect (Sections 6.3.2 and 6.3.5) is “the
vascular thrombus also contains ionized material. Large deflections production of electrical polarization in a material by the application of
in the diffusion potential of blood occur if blood is deoxygenated or mechanical stress”.3089 Many materials in the human body are
is infected with Gram-negative bacteria. Blood changes its electric piezoelectric, including tendon and elastin, dentin and
potential from +500 mV to +1000 mV during spontaneous bone.1939-1942,3089-3095 This polarization, or surface charge, varies as
coagulation, and the spontaneous electric potential at the site of a the physical stress imposed on the material changes over time. Thus,
crush injury of the iliac crest in rats oscillated several times between measurement of the piezoelectric effect in bone or tendon can provide
+190 mV and -60 mV over a four day experimental trial.690 information on the physical loads that are being carried by these
Nordenstrom proposes that in vivo electrophoresis via the VICC materials. For example, a shear stress applied along the long axis of
system may also play a role in mediating leukotaxis. When tissue is a bone alters the polarization voltage that appears on a surface at
artificially polarized by electrodes, accumulation of granulocytes with right angles to the axis.3089 In another experiment,3093 piezoelectric
margination and development of pseudopods is the result. In one surface charges on a loaded human femur were measured to range
experiment, exposure of a mesenterial membrane to a 1 microampere 1 from -131 to +207 picocoulombs/cm2 (-8 to +13 charges/micron2)
volt field for 30 minutes stimulated diapedetic bleeding near the from one end of the bone to the other end, depending upon position
anode. At higher power, the arterio-capillaries contracted, narrowed, along the shaft. Real-time monitoring of this data would permit
and emptied of blood cells, while the veno-capillaries and venules specific inferences as to the amount of load the bone was carrying
widened and filled with granulocytes. Monitoring such actions of and from what direction, including bending, shearing, and twisting
local VICCs experiencing natural voltage fluctuations could alert forces, from which whole-body activity states could subsequently
medical nanorobots to the presence of local injuries, tissue changes, be inferred. Knowledge of these surface charge variations might also
or pathologies that otherwise might go unnoticed for a considerable be exploited in osteographic (Section 8.2.4) or functional (Section
time. 8.4) navigation.
where σd is the diffusion exponent or effective attenuation coefficient and validation of cues or commands spoken directly to in vivo
(averaging ~900 m-1 for typical soft tissues but with an extremely nanosystems by authorized medical personnel, and so forth. Since
wide range reported over the ultraviolet, visible, and near-infrared properly configured monitors can also modulate or stimulate nerve
wavelengths, from 10-1,000,000 m-1.)729 As a crude approximation, impulses (Sections 4.8.6 and 7.4.5.6), these devices may add audible
the initial intensity of the fully scattered photon patch Ii ~ I0 signals to the audio traffic, thus may be employed as hearing aids
(1 - rsp) ascat, where ascat = σs / (σs + σa) ~ 0.987 is the albedo for (using feedback loops), real-time language translation mechanisms,
single particle scattering. continuous vocalization/audition recorders, voice-stress analyzers,
Over the optical band from 400-700 nm, incident intensity I0 = or nanodevice-user communications links (Section 7.4).
100-400 watts/m2 when standing in direct sunlight; artificial lighting Nanomonitors positioned at the afferent nerve endings emanating
in homes and offices is typically 0.1-10 watts/m2; moonlight provides from hair cells located in the otolithic membrane of the utricle and
only I0 ~ 10-4 watts/m2; and the absolute threshold for human vision is saccule and in the cristae ampullaris of the semicircular canals allow
~10-8 watts/m2.585 For σd ~ 900 m-1, the intensity ratio of transmitted/ medical nanodevices to directly record, amplify, attenuate, or modulate
incident visible light falls to Id / I0 = 0.1 at z = 2.5 mm depth (~eyelids), the body’s own sensations of gravity, rotation, and acceleration,
~10-4 at z = 1 cm depth, and ~10-11 at z = 2.8 cm—a depth at which although kinesthetic sensory management might also be required
the tissue would be completely dark to the human eye even under for complete control. Motor neurons likewise can be monitored to
direct sunlight illumination at the outermost skin surface. keep track of limb motions and positions, or specific muscle activities,
An optical nanosensor with Nsensor receiver elements, with each and even to exert control (Section 7.4.6.2). Neuron-resident
receiver element having an area Ae = 1 nm2 and capable of single- nanorobots may detect auditory effects induced in the brain by pulsed
photon detection, requires an integration time for reliable detection of microwaves from external sources. 3473 Feline cochlear neurons
eSNR photons given by sensitive to audible frequencies of >300 Hz respond to single
microwave pulses at a threshold-specific absorption rate of 6-11
h ν e SNR {Eqn. 4.59} watts/kg-pulse,3479,3480 while in humans the threshold for effect,
t meas ~ (sec)
I d N sensor A e which depends on energy per pulse, may be as low as ~0.02 joule/
m2-pulse for people with low hearing threshold.3481
where h = 6.63 x 10-34 joule-sec and ν = 4.3-7.5 x 1014 Hz for Olfactory and gustatory sensory neural traffic similarly may be
optical photons. Let us assume that a patient is standing in I0 ~ 400 eavesdropped by nanosensory instruments (Section 7.4). Nerve taps
watt/m2 direct unfiltered sunlight, and that tmeas = 1 sec, SNR = 2, in the medulla oblongata or at the phrenic nerve that drives the
Nsensor = 25,000 elements giving a nanorobot eyespot of Ae Nsensor = diaphragmatic muscles allow direct monitoring of respiratory activity.
0.025 micron2, and that σd = 900 m-1. Then from Eqns. 4.58 and Pain signals may be recorded or modified as required, as can
4.59 the maximum tissue depth for optical photon detection is zmax mechanical and temperature nerve impulses from other receptors
~ 17 mm (Id ~ 10-4 watt/m2) which includes a volume of tissue located in the skin. Even psychological variables such as emotionality,
comprising up to ~30% of total body volume. Changes in illumination vigilance, and mental workload may be directly monitored by
at the minimum indoor artificial level of ~0.1 watts/m2 are visible measuring ANS activity in sympathetic efferent fibers outside of
to zmax ~ 7 mm depth. This eyespot, if exposed to air on the outer- the brain.512
most surface of the skin, is just sensitive enough to detect full The most complex and difficult challenge in neural macrosensing
moonlight. will be optic nerve taps. The retina is thoroughly vascularized,
Our general conclusion is that variations in normal indoor lighting permitting ready access to both photoreceptor (rod, cone, bipolar
may be directly measurable by nanorobots stationed within the and ganglion) and integrator (horizontal, amacrine, and centrifugal
outermost ~1 cm of body tissues. Imaging, as opposed to the simple bipolar) neurons. However, the optic nerve bundle itself has ~106
illumination detection system described here, is a much more difficult tightly bunched individual nerve fibers, a 10-100 MHz signal band-
design challenge (Chapter 30). Direct stimulation of retina-resident width, and significant natural data compression techniques which
nanosensors is described in Section 7.4.6.5 (D). all must be untangled in real time. Developing algorithms capable
of interpreting raw optical nerve traffic,3018-3021 say, to recognize a
4.9.5 Neural Macrosensing specific human face or a specific scene in the vision field, would
The ability to detect individual neural cell electrical discharges prove a significant research challenge. (Direct monitoring of photo-
noninvasively in many different ways (Section 4.8.6), coupled with receptors or retinal membrane potentials and other techniques
the abilities (A) to recognize and identify specific desired target nerve (Section 7.4.6.5) may simplify untangling of the signal compression.)
cells (Section 8.5.2, Chapter 25) and (B) to pool data gathered Rapid visual field identification using artificial neural nets is also a
independently by spatially separated nanodevices in real time (Section subject of much current research interest. Eyeball rotations (e.g.,
7.3), offers the possibility of indirect neural macrosensing of complex via resident intradevice nanogyroscopes; Section 4.3.4.1), eyelid
environmental stimuli by eavesdropping on the body’s own regular position, pupil aperture, and lens accommodation under ciliary
sensory signal traffic. muscle control must be monitored to supplement the vision field
For example, facultatively mobile nanodevices may swim into analysis.
the spiral artery of the ear and down through its bifurcations to
reach the cochlear canal, then position themselves as neural monitors 4.9.6 Other Macrosensing
in the vicinity of the spiral nerve fibers and the nerves entering the
We have only scratched the surface of the potential for nanorobot
epithelium of the organ of Corti (cochlear or auditory nerves) within
the spiral ganglion (Figure 7.4). These monitors can detect, record, macrosensing. Medical nanodevices can quantitatively monitor
or rebroadcast to other nanodevices in the communications network variables not normally accessible to human consciousness, such as:
all auditory neural traffic perceived by the human ear. Advanced
speech recognition systems (Section 7.4.2.3) may permit recovery 1. hormone and neurotransmitter levels;
of spoken words and identification of individual speakers (including 2. gastroelectric oscillations and skin conductivity;
vocalizations by the user), recognition of background noises, reception
122 Nanomedicine • Volume I
3. pupil dilations; sunlight or shade on the skin (via dermal thermal differentials)
may be inferred (Section 8.4.1.3).
4. drug and alcohol (and breakdown product) concentrations in
the blood; Various chemical substances cyclically increase and decrease in
5. internal organ damage or malfunction; serum concentration with time of day, permitting crude temporal
macrosensing (Section 10.1.1). Other substances (e.g., aldosterone;
6. digital real-time performance data on vital organs or limbs (e.g., Appendix B) significantly vary in serum concentration depending
continuous kidney volume throughput, pancreatic insulin upon whether the patient is supine or standing, thus permitting
output, cholesterol metabolism in the liver, or lactic acid limited biochemical postural macrosensing.
production in specific muscles during exercise); and If nanorobots can leave and re-enter the body (Section 8.6; Chapter
7. continuous mapping of thermoregulatory isotherms from which 16), then macrosensing may include direct sampling of the external
the temperature and heat capacity of the external medium (e.g., environment upon demand and the possibilities for remote data
swimming pool water, cool night air) and the presence of acquisition become virtually limitless.
CHAPTER 5
Shapes and Metamorphic Surfaces
5.1 Flexible Form and Function
I
t has been asserted that nanomechanical systems fundamentally A flexible or “metamorphic” surface is a nanodevice exterior
differ from systems of biological molecular machinery in their surface comprised of independently controllable elements that can
basic architecture—specifically, that nanomechanical components translate or rotate their relative positions, thus enlarging or
are supported and constrained by stiff housings, while biological contracting total surface area of the device, or changing its shape,
components often can move freely with respect to one another.10 As with or without altering the membership of elements in the surface,
regards medical nanodevices, this may be a somewhat artificial with or without altering the enclosed volume of the entire
distinction. The likelihood that most nanoscale components will be nanomachine, while maintaining continuous structural integrity and
connected in rigid arrays does not imply that the nanomachines nonpermeability of the surface. The range of possible designs is
themselves must be entirely rigid in shape, nor does it rule out the enormous. Metamorphic surfaces may include integument systems
possibility that some major nanomachine components may be with semirigid components; hinged elements with fixed relative
designed to allow periodic reconfiguration and repositioning. position and area, allowing variable volume; partially mobile surfaces
Why might a flexible shape be useful in nanomedicine? While having unit elements of fixed size but variable position relative to
cell membranes are self-sealing, large wall breaches during cell repair their neighbors, allowing control of surface area as well as volume;
operations can be problematical. A flexible shape makes it easier for and even fully metamorphic surfaces with surface elements free to
a cell repair nanodevice to enter the cytoplasm with minimum rotate, alter shape or orientation, slide, or even change membership,
disruption, for instance by elongating and narrowing so as to present permitting maximum surface/volume flexibility.
the narrowest possible aspect during plasma membrane and Device shape is driven by task requirements which may or may
cytoskeletal penetration (Section 9.4.5). When navigating through not demand surface flexibility, as described in Section 5.2. Section
narrow passages in hard biological substances such as bone or enamel, 5.3 presents a number of design alternatives for metamorphic
a nanorobot with a rigid shape is more likely to scrape or jam than surfaces and manipulators, and briefly considers the impact of surface
is a more flexibly-shaped device. Extensible volumes allow the flexibility on internal configurational design. Section 5.4 examines
projection of compliant mechanical pseudopods of various sizes and the challenges of metamorphic bumpers which serve as interdevice
shapes from the nanomachine surface. Deformable bumpers make fasteners and junctions. Discussion of the biocompatibility of
it easier to establish and maintain reliable multidevice linkages in nanodevice surfaces3234 is deferred to Chapter 15.
large-scale cooperative nanorobotic architectures.
Flexibility expands the options available for nanodevice mobility to 5.2 Optimum Nanorobot Shape
include amoeboid and pulsatile peristaltic locomotion (Section The optimum nanorobot shape varies according to the function the
9.4.3), surface deformation natation (Section 9.4.2.5.1), and device is designed to perform and the environment in which the device
circumvascular tissue diving or nanorobot diapedesis (Section 9.4.4). must operate.3582 A consideration of the many different functions that
Fluidlike surfaces are ubiquitous among motile microorganisms. medical nanodevices are asked to perform suggests several general classes
Malleable nanodevices situated on a cardiac or arterial luminal surface of tasks requiring specific group geometries which drive the choice
can adopt minimum fluid drag configurations. of optimum individual nanodevice geometry for each task class.
Microhydrodynamic stability is another factor. For example, For comparison, microscopic unicellular bacteria generally take three
when placed in a bloodflow of constant speed in a tubular vessel, a basic forms: spherical or ellipsoidal (the cocci), cylindrical or rod-
rigid sphere, rod, or disk will tumble as it travels, due to the differential shaped (the bacilli), and curved rod, spiral, or comma-shaped (the
axial velocity field. But external fluid stresses distort a deformable spirilla), though there is at least one example of a square
object like an emulsion droplet from its original spherical shape bacterium.2028
into an ellipsoid oriented at a constant angle to the direction of
flow. The fluid stresses are transmitted across the droplet interface; 5.2.1 Free-Floating Solitary Nanodevices
the surface and interior fluid circulates about the particle center in Free-floating simple nanorobots intended solely as materials
a tank tread motion.386 Shape changes can also be employed for delivery or storage devices, or used as omnidirectional communica-
steering and orientational control during active nanorobot swimming tions, navigational or control transponders operating independently
(Section 9.4.2.5): Hard-shelled particles without active mobility in vivo, have no preferred orientation. Thus these nanorobots may
don’t marginate laterally in blood vessels; deformable surfaces can be spherically symmetric with rigid surfaces. Spherical particles
radially migrate.362 Flexible surfaces may also be used to minimize produce the smallest possible increment in blood viscosity as they
the increment to blood viscosity caused by the presence of tumble, in part because spheres offer the smallest possible interaction
bloodborne nanorobots (Section 9.4.1.4). surface per unit volume of any geometrical shape. Such simple
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
124 Nanomedicine • Volume I
nanomachines are the kind most likely to be deployed in the greatest arterial flows if desired. This locomotive capability is risky to the
numbers, and their reduced surface area minimizes potential patient if employed by large numbers of devices simultaneously
biocompatibility problems. (Section 9.4.1), and may not be necessary for many of the applications
These free-floating nanodevices must have ready access to all proposed in this book.
tissues via blood vessels. Since they are nonmotile machines, to avoid Bloodstream swimming by nanorobots is qualitatively dissimilar to
getting stuck they must not physically extend wider across their surface swimming or to a submarine moving through the ocean at
longest axis than the width of human capillaries, which average 8 depth. Unlike these macroscale analogs where inertial forces prevail, in
microns in diameter but may be as narrow as 4 microns (Section the microscale environment viscous forces dominate. Inertial and
8.2.1.2). gravitational forces are almost irrelevant. Bloodstream swimming
Consider a nanodevice of fixed surface area An, total volume Vn, by simple reciprocal motions is not possible (Section 9.4.2.5). Rather,
and longest transdevice diameter Ln. Then: it is necessary to use deformation, helical, or other drive systems, all
of which involve either a tubular shape to allow propulsed fluids to
A. For a spherical device of radius r, then Ln = 2 r, An = 4 π r2, and pass through the center of the device, or an axially symmetric form
Vn = (4/3) π r3. such as a conical-, egg- or teardrop-shaped spiral to minimize viscous
drag while “drilling” through the fluid during locomotion. Red blood
B. For a prolate spheroidal (football-shaped) device of length 2a,
cells assume a biconcave shape only when in static equilibrium. In a
width 2b, and eccentricity e = (a2 - b2)1/2 / a, then An = 2 π b2 +
flowing condition, lone erythrocytes deform into the shape of a
2 π a b (arcsin(e) / e) and Vn = (4/3) π a b2. For an oblate
bullet or slipper in the capillary blood vessels;362 at lower shear rates
spheroidal device, An = 2 π a2 + π b2 (ln({1+e}/{1-e}) / e) and Vn
in the arteries, multiple cells aggregate into cylindrical rouleaux
= (4/3) π a2 b. In both cases, Ln = 2a and the maximum
oriented roughly in the direction of flow (Section 9.4.1.2). Meta-
enclosed volume per unit area occurs at a = b (e.g., a sphere).
morphic surfaces may allow a nanodevice to configure all fluid contact
C. For a right circular disk or cylindrical device of radius r and planes to achieve minimum drag for every velocity vector employed
height h, then Ln = (h2 + 4r2)1/2, An = 2 π r (h + r), and Vn = π and every fluid traversed.
r2 h. Maximum enclosed volume per unit area occurs at h = 21/2 r. Are conventional streamlined shapes necessary or useful for micron-
scale swimmers? In the macroscopic world, a body traveling through
D. For a right circular conical device of radius r and height h, then water experiences the least resistance to forward motion (drag) if it
Ln = 2r for h 31/2 r (but Ln = (h2 + r2)1/2 if h > 31/2 r), An = π is rounded in the front and tapers to a rear point in the familiar
( r2 + r (h2 + r2)1/2), and Vn = π r2 h / 3. Maximum enclosed shape of a tuna or whale—the animal thus shaped meets little drag,
volume per unit area occurs at h = 31/2 r. ~10 times less than would a sphere or a person of the same size.2022
E. For a right triangular prismatic device (Fig. 5.4) with three equal However, streamlining and special hydrofoil shapes serve mainly
sides of length s and height h, then Ln = (h2 + s2)1/2, An = 3 h s
+ 31/2 s2/ 2, and Vn = 31/2 s2 h / 4. Maximum enclosed volume A. to reduce induced drag, which largely disappears in nonturbulent
per unit area occurs at h = s / 21/2. microscale flows; and
F. For a cubical device with three equal sides of length s, then Ln = B. to reduce pressure drag, an inertial force which also becomes
(31/2) s, An = 6 s2, and Vn = s3. relatively unimportant at the microscale.
G. For a right square prismatic device with two equal sides of length For example, the ratio of viscous drag to pressure drag may be
s and height h, then Ln = (h2 + 2 s2)1/2, An = 2 s2 + 4 h s, and Vn computed from Eqns. 9.89 and 9.90 as Fviscous/Finertial = (12 ηfluid / CD
= h s2. Maximum enclosed volume per unit area occurs at h = s. ρfluid) (1 / Rnano vnano) ~ 10-5 / (Rnano vnano) in 310 K water. Given that
the highest likely nanorobot swimming speed in vivo is vnano ~ 1 cm/
H. For a right hexagonal prismatic device (Fig. 5.4) with six equal sec (Section 9.4.2.6), then Fviscous/Finertial 100 for Rnano 10
sides of length s and height h, then Ln = (h2 + 4 s2)1/2, An = 6 s micron. Thus at the microscale, viscous forces predominate. Viscous
(h + 31/2 s / 2), and Vn = 271/2 s2 h / 2. Maximum enclosed forces are determined by total surface area in contact with fluid, so
volume per unit area occurs at h = 21/2 s. the lowest drag on a moving mass is produced (all else being equal)
I. For a truncated octahedral device (Fig. 5.5) of edge s, then Ln = by a shape that presents the minimum possible surface area to the
(101/2) s, An = (6 + 4321/2) s2, and Vn = (1281/2) s3. fluid, that is, approximating a sphere. The drag even on
extremely pointed shapes differs little whether the object is moving
J. For a rhombic dodecahedron1101 (Fig. 5.6) of edge s, then Ln = forward or sideways. For instance, experiments show that the most
(481/2 / 3) s, An ~ (11.3137) s2, and Vn ~ (3.0792) s3. extreme needle-shaped bodies fall about half as fast sideways as they
do end-on.1378 Note that natural micron-scale swimmers such as
K. For a nonregular octahedron (Fig. 5.8) of equatorial edge s and bacteria and small metazoans are typically ovoid or cylindrical, rather
vertex edge (31/2 / 2) s, then Ln = (21/2) s, An = (81/2) s2, and Vn than fishlike, in shape.
= (1/3) s3. An examination of 218 genera of free-floating and free-swimming
L. For a regular octahedron1101 (Fig. 5.9) of edge s, then Ln = bacteria3582 revealed that motile genera are less likely to be spherical
(21/2) s, An = (121/2)s2, and Vn = (21/2 / 3) s3. and have larger axial ratios (typically 3:1) than nonmotile genera.
Spherical shapes were found to produce the largest random dispersal
Table 5.1, computed using the above relations, confirms that by Brownian motion, and oblate spheroids were rare, possibly due to
spheres offer the greatest storage volume per unit surface area and the increased surface area. Prolate spheroids provided a
thus are the most efficient shape for this application. reduced sinking speed; elongation slightly favored swimming speed,
but strongly improved the temporal detection of chemical stimulus
5.2.2 Actively Swimming Nanodevices gradients by any of three different mechanisms—the probable
Nanodevices of another class may swim rapidly through the explanation for the popularity of rod-like shapes in motile bacteria
bloodstream. It should be possible to navigate even the fastest-moving (though others3615 have been proposed).
Basic Capabilities • Shapes and Metamorphic Surfaces 125
Table 5.1 Geometrical Factors for Bloodstream-Traversing Nanorobots of Maximum Volume with Largest Transdevice
Diameter Ln = 4 µm
Spherical/Spheroidal 2.00 µm --- --- 33.51 µm3 50.27 µm2 0.6667 µm ---
Truncated octahedron --- --- 1.26 µm 22.90 µm3 42.85 µm2 0.5343 µm Fig. 5.5
Disk/Cylindrical 1.63 µm 2.31 µm --- 19.35 µm3 40.46 µm2 0.4783 µm ---
Rhombic dodecahedron --- --- 1.73 µm 16.00 µm3 33.94 µm2 0.4714 µm Fig. 5.6
Hexagonal prism --- 2.31 µm 1.63 µm 16.00 µm3 36.48 µm2 0.4386 µm Fig. 5.4
Cubic/Square prism --- --- 2.31 µm 12.32 µm3 32.00 µm2 0.3850 µm Fig. 5.4
Circular conical 2.00 µm 3.46 µm --- 14.51 µm3 37.70 µm2 0.3849 µm ---
Regular octahedron --- --- 2.83 µm 10.67 µm3 27.71 µm2 0.3849 µm Fig. 5.9
Triangular prism --- 2.31 µm 3.27 µm 10.67 µm3 31.86 µm2 0.3349 µm Fig. 5.4
Non-Regular octahedron --- --- 2.83 µm 7.54 µm3 22.63 µm2 0.3333 µm Fig. 5.8
5.2.3 Intracellular Nanodevices is that biological surfaces are usually in motion. To accommodate
Nanodevices intended to perform tasks inside human tissues by such motion, nanorobots may use inflatable or expansible perimeter
leaving the bloodstream and entering the cell or nucleus will require a “bumpers” to achieve a continuously tight fit. Metamorphic surfaces
physical configuration consistent with the particular mission and are used to construct these bumpers (Section 5.4).
the specialized tools required (Chapter 21). Metamorphic surfaces This Section discusses nanodevice aggregates whose tasks require
may assist in cyto devices in achieving nondisruptive membrane them to completely occupy stationary or moving surfaces. Section
penetrations (Section 9.4.5), deployment and manipulation of flexible 5.2.5 discusses optimum shapes for aggregated nanodevices whose
mechanical pseudopods or motive appendages (Sections 5.3.1 and tasks require them to uniformly fill volumes with nanomachinery.
9.3.1.6), and reconfiguration of sensors or other subsystems (Section
5.3.5). Cell repair nanorobots could adopt one configuration to 5.2.4.1 Tiling Nondeforming Surfaces
seek the target cell, a second to penetrate the membrane, and yet a If the surface to be covered by a nanorobot aggregate has constant
third while operating within the cytosol. area, such as the exterior of a bone, tooth, or fingernail, or the inner
Basic device shape will not be driven by hydrodynamic surface of a passive sinus or duct, or the skull and meninges, or
considerations because cell repair nanorobots spend the bulk of their certain components of the eyeball (cornea, sclera, etc.), then the
operational time on site, not in transit, and need move only question is how to completely tile a fixed surface using prismatic
relatively slowly when they travel between worksites (Chapter 21). units of a particular shape, a familiar problem in spatial geometry.519,520
Nor will device shape be governed by tessellation rules (Section Orthogonally-arrayed unit circles achieve a packing density of only
5.2.4), since these machines will normally spend most of their time 78.54%, while hexagonal packing of unit circles achieves 90.70%
in solitary activity or at least out of direct physical contact with coverage. However, as is well-known, triangles, squares, or hexagons
other nanorobots working nearby (Chapter 21). Thus the strongest are the only regular polygonal prismatic solids that can completely
purely geometric influence on these most complex of nanodevices tile a plane by themselves, achieving 100% packing density (Fig. 5.1).
may be volume storage efficiency. A spherical shape or near-spherical There are also an infinite number of irregular planar polygonal
icosahedral shape (as in many viruses) can contain the largest possible tessellations using a wide variety of tile shapes (Fig. 5.2), although
mass of nanocomputers, mass memory, power supplies, repair nanorobots with these shapes would suffer extraordinarily low
consumables, specialized tools, communications and navigational volume/surface ratios—an extremely inefficient use of space.
equipment, and so forth. Triangles, rectangles, or regular hexagons (e.g., a roll of chicken
However, cellular repair machines may also need to dock with wire) can be used alone to tile a cylindrical surface. The deformation of
other nanomachines at irregular intervals to receive supplemental nanorobot bumpers into curved wedge segments allows tiling of
materials, fuel, or information, so it would be convenient to use a
shape with a large number of planar faces across which such transfers
might readily be effected. A space-filling shape (Section 5.2.5) also
allows ready aggregation of operational units in vivo for ad hoc
conferencing plus efficient storage of unused units. A truncated
octahedron with a total of 14 hexagonal and square faces (Section
5.2.5) is the space-filling polygonal shape with the highest volume/
surface ratio, closest to the sphere (Table 5.1).
Fig. 5.4. Uniform space filling using one kind of polyhedron: triangular,
square and hexagonal prisms. Fig. 5.5. Uniform space filling using only the truncated octahedron.
The volumetric packing factor of closely-packed spheres of equal related rhombo-hexagonal dodecahedron (Fig. 5.7), which is also
radius is only (3 π2 / 64)1/2 ~ 0.68017;519 by comparison, protein- self-packing. The third is the non-regular octahedron (8 faces, all
interior packing densities are ~60%-85%.3211 The simplest way to triangles; Fig. 5.8), which results from truncating a cube such that
completely fill a volume (e.g., packing factor = 1) is to use a prism all eight vertices are replaced by triangular faces with the new vertices
having a horizontal cross-section of a shape that will tile surfaces, as coinciding with the intersection of the face diagonals of the original
previously described (Section 5.2.4.1). Multiple planar fully-tiled cube.519 Hence the equatorial edges are all the same but the vertex
surfaces can then be stacked vertically to fill the volume. Space- edges are half the length of a circumscribed cube’s interior diagonal,
filling forms include triangular, square, and hexagonal prisms (Fig. 5.4). as distinct from the regular octahedron (Fig. 5.9) with all sides equal,
Of these, the hexagonal prism has the highest volume/area ratio
and appears to be the most efficient prismatic form.
Only five other shapes can uniformly fill volumes by themselves
and thus may be candidates for space-filling nanorobots. The most
important of these is the truncated octahedron, similar to the
tetrakaidecahedron,1101 which can fill space all by itself (Fig. 5.5).
The truncated octahedron is formed by cutting the 6 corners off a
regular octahedron (which has 8 faces, all triangles; Fig. 5.9), making a
14-hedron consisting of 6 small squares and 8 large hexagons, with
24 vertices and 36 edges. A truncated octahedron surrounded by 14
identical polyhedra contacting and matching each of its faces forms
a solid unit in space resembling the original unit—that is, very close
to spherical. Such an aggregate with many planar facial contacts
permits easy docking, fastening, and transmission of forces in all
directions. Weyl,524 following Lord Kelvin,520 long ago recognized
that this 14-hedron has the highest volume/area ratio of all the space-
filling polyhedra (Table 5.1) and is a close mathematical model of
soap bubble froth.
Four other single-species space-filling polyhedra are known. The
first is the garnet-shaped rhombic dodecahedron, which has 12 faces,
all of which are rhombuses (Fig. 5.6). The volume/area ratio of this
12-hedron is intermediate between the 14-hedron and the hexagonal
prism; the shape is found in back-to-back formations in the planar Fig. 5.6. Uniform space filling using only the rhombic dodecahedron
hexagonal honeycomb cell of the bee.519 The second is the closely (modified from Williams1101).
128 Nanomedicine • Volume I
Fig. 5.8. Uniform spacing filling using only the non-regular octahedron
(modified from Gasson519).
than completely filled solids. These forms are simulated using open
packings of polyhedra arrays518 that may be employed to form
near-arbitrary networks2843 of interior voids and channels in artificial
organs, as required. Zeolites and other molecular sieves provide
excellent models of this configuration.382,2468,2469
considerations, specific configurations, and other useful aspects of define useful working subvolumes such as manipulatory appendages
nanoscale metamorphic surfaces. (e.g., prehensile fingers; see below), locomotive appendages (e.g.,
nanopseudopods; Section 9.3.1.6), large exterior hydrodynamic
5.3.1 General Design Considerations features (e.g., stabilizing fins), tools (e.g., a screw-shaped prow for
Basic design for any metamorphic surface includes a consideration easier cell penetration; Section 9.4.5.2), reconfigurable mechanical
of minimum feature size, linear extensibility, volumetric limits, data arrays (e.g., Braille-like surface texturing), engulf formations
areal expansion limits, and maximum distension speed. Other design (Section 5.3.4), perimeter contact bumpers (Section 5.4), or even
considerations include tensile and compressive strength along all entire second skins (see below). In theory, such extrusions can be
likely stress vectors at both minimum and maximum surface quite large relative to device size.
extensions, and the resistance of surfaces to cuts and tears. For example, consider a nanodevice of volume Vn with an
onboard pocket of volume Vf = f Vn containing Nb = f Vn / Lb3
5.3.1.1 Dimple Size metamorphic unit surface blocks each Lb3 in size. This is sufficient
The smallest possible feature, or “dimple size,” on a metamorphic metamorphic material to extend a hollow cylindrical (hemisphere-
surface is defined by the minimum turning radius of the surface. In capped) finger of diameter df out a total length lf = f Vn / π df Lb.
most designs, this radius is determined by the minimum lateral extent For f = 0.01(1%), Vn = 1 micron3, Lb = 10 nm, and df = 100 nm (π
of the component blocks of which the surface is comprised. df / Lb ~ 31 blocks per circumference), Nb = 104 blocks in the pocket
Considerations of radiation-induced structural failure in diamondoid and lf = 3 microns maximum linear extension. Thus in theory, a
materials and components10 suggest a minimum unit size L ~ 10 finger which can extend three times the body length of the entire
nm (Chapter 13), roughly the thickness of the cellular lipid bilayer nanorobot can be stored in a (215 nm)3 pocket at the nanodevice
membrane. A single 180˚ turn requires a minimum of two linear surface. Ten such fingers, functionally equivalent to two microsized
segments; the minimum structural turning radius is rmin = L / 21/2 ~ human hands, would occupy only (10/6) f 2/3 ~ 0.08(8%) of total
7 nm at a 90˚ joint angle, giving a minimum metamorphic feature nanodevice surface area and 10f ~ 0.10(10%) of nanodevice volume.
diameter of ~14 nm. In most practical systems, power and control Note also that a volume Vf of metamorphic blocks could be
access requirements necessitate turning radii several times larger than used to construct an enlarged second skin surrounding the entire
this theoretical minimum, perhaps ~40-50 nm. Such larger structures nanodevice, enclosing an expanded volume Ve = (Vf / 6 Lb)3/2 if the
should still be able to physically manipulate even the theoretically shell is of thickness Lb. For Vn = 1 micron3 and Lb = 10 nm, nanorobot
smallest biological cells (which are ~40-50 nm in diameter527). volume may double (Ve/Vn = 2) if 9.5% of device volume is meta-
morphic blocks; nanorobot volume may expand up to tenfold if
5.3.1.2 Keyhole Passage ~28% of its volume is in controllable metamorphic blocks.
The minimum aperture through which a longitudinally stretched There are two limiting cases of extensibility. The first case is
but laterally compressed nanodevice may pass is determined mainly isoareal expansion, in which total surface area remains constant while
by the minimum size of its internal incompressible components, volume increases dramatically. An example is the erythrocyte, which
not the minimum turning radius of its skin. The smallest working under osmotic stress expands from its normal disk shape into a sphere
complex nanomachines of the human body, the ribosomes, are ~25 due to the influx of water. Volume rises from 94 micron3 to a high
nm in diameter; the minimum size of a ~100 pW mechanochemical of 164 micron3 when spherized, a 74% increase, but surface area
power supply is ~50 nm (Section 6.5.3). Add to this the width of rises from 135 micron2 to just 145 micron2, a mere 7% increase.
the integument component blocks and it is difficult to imagine even The second limiting case is isovolemic extension, wherein surface
the most flexible artificial nanodevice squeezing through a keyhole area expands at constant volume, a transition of perhaps more
less than 50 nm in diameter—roughly the maximum dimension of relevance to nanodevices containing an irreducible fixed volume of
the intercellular contact space.526 A design limit of 100 nm would onboard nanomachinery. For instance, if a spherical device of radius rs
be more conservative. morphs into a disk of equal volume with height hd and radius rd = α rs,
In the macroscopic world, the octopus can stretch itself quite surface area increases by a factor of:
thin, passing rubberlike through small holes and narrow crevasses 3α 3 + 4
less than 10% of its size; arms, eyes, and even head can alter shape e area = −1 {Eqn. 5.3}
and elongate when necessary, with keyhole passage limited by its 6α
beak, the only hard part in its body.3133 For α = 4.7, hd ~ rs / 17 and areal extensibility earea = 10.2 (1020%)
while enclosed volume remains unchanged.
5.3.1.3 Extensibility
The most useful property of a flexible metamorphic surface is its 5.3.1.4 Reactivity
extensibility, defined here as the percentage length increase of a fully Another important parameter of nanorobot metamorphic
stretched material relative to its length at zero stretch. Maximum surfaces is their reactivity—the speed with which they can execute a
values for natural materials used to construct the human body include full-range structural modification. Energy requirements are key, given
7% for cartilage, 10% for collagen, 30% for muscle, 60%-100% a power budget of Pm (watts) for morphing. In particular, meta-
for skin, and up to 170% for arterial wall material if muscles are morphic block velocity is limited both by the sliding power dissipation
artificially relaxed.364 Linear elasticities of ~1000% are common- due to sliding block surfaces of area S that are sliding at a velocity
place in artificial gels,528 rubbers, and other elastic materials, vslide, or
corresponding to ~1000-fold enclosed-volumetric changes. The El 1/2
Tor strain of the Vibrio cholerae microbe shrinks 300-fold to the size P
v slide = m {Eqn. 5.4}
of a large virus when plunged suddenly into cold salt water and k1 S
remains viable in that state.384
If the shape of a metamorphic surface can be controlled to ~rmin where k1 = 400 kg/m2-sec (Section 4.3.4.2), and by the drag power
(Section 5.3.1.1), then nanodevices may extrude these surfaces to dissipated in driving a circular surface of radius r through a 310 K
130 Nanomedicine • Volume I
aqueous (plasma, interstitial or cytosolic) environment of viscosity Folding or unfolding may require no sliding surfaces. Treating
η = 1.1 x 10-3 kg/m-sec at a velocity vdrag, given337 by the model as a simple spherical surface expanding into a watery
medium, from Section 5.3.1.4 a radial distension velocity of vdrag ~
1/2
P 0.3 cm/sec may be expected for a 1-micron nanodevice with a 0.1
v drag = m {Eqn. 5.5}
pW metamorphic power budget. If Nsegment is the total number
6 π η r
of segments in a maximally extended surface of area Amax, then for
Assuming we wish to restrict total morphing energy dissipation square segments of area L2 and thickness H, Nsegment = Amax / L2 and
to a budget of Pm = 0.1 pW for a 1 micron3 nanorobot, then for S = the fully folded surface has area Amin = L H Nsegment. For L = 10 nm, H
6 micron2 of sliding surfaces and r ~ 0.5 micron, vdrag ~ 0.3 cm/sec = 1 nm, and Amax = 10 micron2 (Nsegment = 105), then Amin = 1 micron2
(< vslide = 0.6 cm/sec in vacuo). Using 0.3 cm/sec, the full-range and a 0.1-pW power budget allows one full-range motion from Amin to
morphing action to, say, double the nanorobot diameter (~0.5 Amax in tmotion = (Amax1/2 - Amin1/2) / (2 π1/2 vdrag)~ 0.2 millisec. For the
micron of radial motion) requires ~0.2 millisec for the surface of accordion model, areal extensibility earea ~ (L - H) / H = 9.00(900%) in
the entire nanorobot to complete the motion. this example.
The 10-finger manipulator described in Section 5.3.1.3 may also
extend at vdrag ~ 0.3 cm/sec while remaining within the 0.1 pW 5.3.2.2 Parasol Model
energy budget, although a single individual finger may extend at In the Parasol Model, the metamorphic surface consists of a series
vdrag ~ 1 cm/sec (<< vslide = 1.6 m/sec in vacuo) allowing maximum of overlapping plates pressed snugly together in the vertical dimension,
deployment within the cytosol in ~0.3 millisec. Thus metamorphic but free to slide in the horizontal plane (Fig. 5.12). Each plate has
surfaces in vivo can exhibit ~KHz frequency large-motion oscillations. at least one orthogonal stabilizing keel or “handle” through which
By comparison, deformed erythrocytes when released from micro- the segment is connected to subsurface control (Section 5.3.3) or
pipette suction recover their normal biconcave shape in ~100 rigidification mechanisms. The minimum number of plate planes
millisec.371 Contractile gel fibers ~1 micron thick can shrink to 4% is two, which allows both one-dimensional and (limited) two-
of their initial volume in ~1 millisec when triggered by an electro- dimensional extensions. In the two-dimensional case, the lower plates
chemical reaction or an applied voltage of ~5000 volts/m.357 are allowed to rotate codirectionally under a torsion-spring restoring
force applied in the plane of the lower surface, keeping all edges
5.3.2 Metamorphic Surface Configurations tight under the upper plates to maintain leakproofness. A modest
At least five classes of metamorphic surface configurations are areal expansibility of earea ~ 0.28(28%) is depicted. The maximum num-
readily discernible. Undoubtedly, many more may be conceived. ber of plate planes is limited by nanodevice radius (hence maximum
The structural models briefly described below are not intended as stack depth) and operating specifications such as surface rigidity,
specific design proposals but rather as geometrical representations rugosity, reactivity and controllability. Self-scraping plates produce a
of alternative design pathways that could provide the desired capability. fouling-resistant dysopsonic design—the device simply “shrugs” in
all directions, neatly guillotining any biological adherents from their
5.3.2.1 Accordion Model attachment points on the diamondoid surface. Vertical spring tensions
The Accordion Model is characterized by a surface folded in a are adjusted to keep plates pressed tightly together, ensuring water-
repeating-W pattern, as in a Japanese fan or butterfly wing pleating; tightness even while in motion. Corrugation features can be added
photographic and accordion bellows use what is known in origami* to the underside of each plate to increase contact area and water-
as a “basic fold.” Point/line vertices may employ rigid hinges or tightness during plate tipping in curved configurations. Related
flexural members.1251 Fold geometry may be double-triangular, crudely analogous structures include systems of fixed scales (e.g.,
triangular-square, or double-square; may consist of segments of lizard or snake skins) and roof tile shingle patterns on houses.
varying lengths; or may consist of a series of hinged blocks (Fig. Consider an annular cylindrical section of diameter D comprised
5.11). This surface remains flexible even near full distension, of a two-plane (p = 2) parasol surface with square top plates of area
provided that obtuse angles may be continuously accessed. The main L2 and rectangular bottom plates of area L(L-h) where h is the width
drawback of this model is its likely propensity to surface fouling in of the handle and also the minimum overlap of adjacent plates at
vivo due to the large number of concave pockets formed during full extension. Then Amin = Nplates L2 = π D L and Amax = Amin +
flexure. (Nplates - 1)(L2 - 3hL), hence areal extensibility earea = (Amax - Amin)/
Amin = (Nplates - 1 / Nplates)(1 - 3h/L). For Nplates >> 1 and h << L,
the theoretical limit for a 2-plane parasol is earea ~ 1.00(100%).
Extensibility is greatly improved by using additional plate planes.
In the compact configuration of Figure 5.13, for p >> 1, Amin =
Nplates L2, Amax ~ Nplates L (pL - p2 h + h) and areal extensibility earea
= p - 1 - (h/L)(p2 - 1), with maximum earea occurring at p = L/2h.
Hence for L = 10 nm and h = 1 nm, h/L = 0.1 and maximum earea =
1.60(160%) using p = 5 plate planes; the minimum plausible h/L ~
0.01, which gives maximum extensibility earea = 24.00(2400%)
using p = 50 plate planes, giving a maximum surface rugosity of ~98
nm at full distension if h = 2 nm.
If an external mechanical pressure is applied perpendicular to a
parasol surface, the degree of deformation will depend strongly on
Fig. 5.11. Accordion model. various details of design. Given the extensive cabling and spring-
loading of plates a surface stiffness of ks ~ 10 N/m should be
*The ancient practice of origami (the art of folding three-dimensional objects out of paper without cutting or pasting) has systematically explored the geometries of folded
flat sheets;1102-1105 the mathematics of origami is well-studied.1106-1111
Basic Capabilities • Shapes and Metamorphic Surfaces 131
the pressure vessel into the finger volume in milliseconds, bypassing This is large enough to engulf virus particles, most known bacteria,
the generator subsystem. most in vivo nanodevices, and most of the formed elements in human
Of course, such rapid venting causes the working gas to cool. blood including platelets, erythrocytes, and lymphocytes.
Ignoring the normally relatively small amount of work done on the
external medium, the temperature change during free expansion of 5.3.5 Reconfiguring Surface-Penetrating Elements
a van der Waals gas (Section 10.3.2) is simply: The ability to reshape a nanodevice surface implies that some
configurational flexibility of external components is required. It must
A vdW µ gas −1 be possible to add, remove, or reposition stable nanodevice elements
∆Texpand = −
C V gas
( −1
Vinit − Vfinal ) {Eqn. 5.7} whose function requires penetrating the metamorphic surface,
including sensors (Chapter 4), manipulators (Section 9.3), sorting
rotor banks (Section 3.4.2), antigen semaphores (Section 5.3.6),
where AvdW = van der Waals gas constant for intermolecular attraction,
and bulk material intake and outlet ports. A schematic of the process
µgas is the moles of gas present, CVgas is volumetric heat capacity of
for removing such an element from the surface while maintaining
the gas, and Vinit and Vfinal are the starting and ending gas volumes,
watertightness is shown in Figure 5.17; to install an element, the
respectively.1031 Taking AvdW = 1.390 x 10-6 m6-atm/mole2 (Table
process is reversed.
10.1) and CVgas = 20.8 J/mole-K for N2 gas, and from the above
Some limited configurational flexibility of internal nanorobot
example µgas = 1.2 x 10-18 moles (~700,000 molecules N2), Vinit =
components may also be useful but should be restricted to nonessential
6.9 x 10-23 m3, and Vfinal = 1.5 x 10-20 m3, then ∆Texpand = -120 K.
or insensitive systems to avoid unnecessarily multiplying system
However, this temperature change is rapidly conducted throughout
complexity. Any movable trusswork should rotate around a
a micron-scale diamondoid nanorobot structure in ~10-9 sec (Section
configurationally stable core. Storage areas, nanofactory work volumes,
4.6.1), since diamond is ~3200 times more thermally conductive than
pressure vessels, fluid/tool transfer pathways, and voids are the easiest
water. The maximum instantaneous temperature decline in a
internal elements to compress or reshape during a nanodevice
Vnanorobot ~ 1 micron3 block of diamond with CVdiamond = 1.82 x
reconfiguration event. Internal transfer stream mechanisms like
106 joules/m 3-K is only ∆Tcool = ∆Texpand CV µgas / V nanorobot
conveyor belts may be designed modularly to permit limited
CVdiamond = 0.0016 K, below biologically detectable limits (Section
modifications of device functionality. A few special purpose internal
4.6.1).
subsystems may tolerate positional or rotational uncertainty. For
Controlled power transmission may also be achieved by dividing
example, a clocking subsystem emitting a synchronizing periodic
the extensible surface into compartments, then pressurizing or
omnidirectional acoustic click may lie in any orientation within the
decompressing adjacent compartments to produce differential
movement, or triggering contractile gels in various compartments;
by manipulating tension to tendon bundles affixed to the end of a
lengthy protuberance to control tip position (Section 9.3.1.2); by
mechanically rotating an internal ribcage consisting of noncoplanar
ovate sections; by acoustically triggering a progression of locks and
ratchets; or by using telescoping screw drives (Section 9.3.1.4) or
electrostatic drives (Section 6.3.5) to extend or retract specific surface
segments. In biology, butterflies exemplify the first of these methods.
Upon emerging from its pupal skin, the insect pulls its abdominal
segments inward to raise its blood pressure, which inflates the veins
of the wings and expands their membranes.2022
The dexterity of a controlled protuberance will depend upon
the fineness of the control mechanism, the stiffness of the meta-
morphic configuration, the degree and speed of extension, the applied
tip load, special jointing and numerous other factors; ~0.1-1 nm
positioning accuracy and application of nanonewton forces at the
tip should be feasible. Pressure-driven ratchets may transduce acoustic
power/control pulses transmitted internally to sensors or end effectors
located at the tip.
nanorobot; acoustic transit time across a 1-micron diamondoid they may be locked into position for temporary display. Total
nanorobot is ~10-10 sec < ∆tmin (~10-9 sec; Section 10.1), thus the presentation mechanism volume is ~105 nm3, plus ~200 nm3 per
clock may be positionally insensitive as well. antigen stored on board. Staggered arrays of presentation ligands
mounted on pistons can create nanorobot surfaces with controlled
5.3.6 Presentation Semaphores spatially structured chemical characteristics (Fig. 5.18).
It will often be necessary to modify nanorobot surface biochemical An alternative method involves a two-roller mill-type device using a
characteristics, as for example to present self-antigen to ensure continuous conveyor belt 80 nm in length with 10 antigen-binding
biocompatibility (Chapter 15), to present targeted non-self-antigens jigs mounted on the belt spaced ~5 nm apart. An opening at one
to facilitate cytocarriage (Section 9.4.7) or elimination from the end allows exposure of one antigen at a time to the external
body (Chapter 16), or to create a traveling solvation wave (e.g., environment. Each of the 10 antigens, all of which may be different,
hydrophilic, lipophilic) on the nanorobot exterior surface to facilitate are rotated into place as required, under computer control. As with
cytopenetration (Section 9.4.5.3). At concentrations of 1-10 the previous system, existing bound antigens may be exchanged
nanomolar, there are 104-105 MHC Class I plasma membrane internally using mill-like mechanisms. The core of the device measures
molecules per typical tissue cell, or ~10 MHC proteins/micron2 at 10 nm x 30 nm x 50 nm ~ 15,000 nm3, or ~50,000 nm3 including
the cell surface (Section 8.5.2.1).* drive and control mechanisms and housing, with a ~300 nm2
The MHC Class I molecule (Section 8.5.2.1) consists of a presentation face. Assuming a ~105 watt/m3 power requirement
~45,000 dalton glycosylated polypeptide chain crudely shaped like (Section 6.5.6), power dissipation is ~10-17 watts per semaphore or
a “hand” which is noncovalently grasping a 12,000 dalton ~0.03 pW/micron2.
nonglycosylated peptide microglobulin (Fig. 8.33). Eliminating Either semaphore device has an external presentation surface area
anchor and attachment components which do not participate in <1000 nm2. Providing the requisite ~10 antigens/micron2 requires
recognition leaves an active antigen “semaphore” component at most ~1% of nanorobot surface committed to semaphores, or
measuring roughly 3 nm x 6 nm x 8 nm that must protrude from ~0.1% of the volume of a 1 micron3 nanorobot for all semaphore
the cell surface. devices, excluding antigen storage.
To present this semaphore to the external environment at a
nanorobot surface, a device roughly analogous to the manipulator 5.3.7 Chromatic Modification
arm described in Section 9.3.1.4 may be used. The manipulator The external surface color of nanodevices and their macroscopic
arm includes a 7-nm diameter internal tool transport channel which aggregates is also subject to design and operational control, which
can allow presentation and exchange of MHC-like molecules may be useful in some special applications. Pure diamondoid in the
mounted on diamondoid jigs to the ~700 nm2 device tip, where flawless crystalline form will be clear and largely colorless; impurities
commonly found in commercial and investment gemstones that
impart bluish (~0.1% B substituted for C), yellowish (~0.1% N
substituted for C), or other (e.g., blood-red, kelly green)3524 hues are
unlikely in nanomanufactured materials, as are graphitic deposits that
produce black streaking or onyxlike coloration.2641 Perception of
chromaticity is limited by such factors as the minimum spatial
resolution of the human eye (~ 0.5 arcmin or ~30 microns at closest
focus of 10 cm), the maximum wavelength of visible light (~0.7
micron), and the degree of physical proximity of individual colored
nanodevices when aggregated.
The simplest method for imparting a specific surface color is to
add a thick coating of engineered corundum. Pure corundum
(aluminum oxide) is colorless and has a hardness and chemical
inertness only slightly inferior to diamond. Sapphire is the best-
known crystalline form. Sapphire can be manufactured in a full
spectrum of blues, pinks, yellows, oranges, teals, lavenders, greens,
grays, whites, and all intermediate hues. More colors with greater
intensity exist with sapphires than with any other gemstone. The
broad color palette is achieved by replacing aluminum atoms with
~0.1% iron atoms and ~0.01% titanium atoms. Rubies, also
corundum crystals, achieve their vivid reds by replacing a few
aluminum atoms with atoms of chromium. The biocompatiblity of
sapphire and ruby coatings is largely unexplored. If this should
present a problem, a thin overcoating of transparent diamond preserves
the color effects while presenting a potentially bioinactive interface3234
(Chapter 15) to the external environment. Given the differences in
crystal structures and atomic lattice sizes between diamond and
sapphire, there may be some sacrifices in materials properties at
Fig. 5.18. Schematic of presentation semaphore mechanism. such interfaces; D.W. Brenner [personal communication, 1999] is
*As few as 210-340 MHC Class II/peptide complexes per antigen-presenting cell (~0.1 molecules/micron2) are needed to stimulate T cell interleukin-2 production3456 and a
minimum of ~0.2 molecules/micron2 of agonist MHC/peptide complex can trigger proliferation and immunological synapse formation,3453 although a threshold density of
60 molecules/micron2 of accumulated MHC-peptide complexes are required for full T cell activation.3453
136 Nanomedicine • Volume I
unaware of any computational modeling studies having been performed biological junctional “bumper” system. Oriented contraction of the
on the atomically-bonded diamond-corundum interface as of 1998. actin filaments causes specific localized movement of the sheet, as
In larger devices or in macroscopic aggregates, color may be created for example the rolling of epithelial tissue into a closed tube.
and dynamically manipulated by embedding micron-scale light- Nanorobots linked by narrow equatorial-band or wide whole-wall
emitting solid-state lasers in the surface. For a surface to appear a bumpers into nanotissues may perform similar feats, under
certain color, embedded monochromatic optical lasers must emit continuous computer control.
light of sufficient brightness to compete with other illuminated The other principal class of anchoring junction is the spot
surfaces that may be present in the visual field. The required intensity is desmosome, a buttonlike point of intercellular contact that rivets
probably ~1 watt/m2 (Section 4.9.4) or ~1 pW/micron2—a feasible together certain types of epithelial tissue cells. Each desmosome is a
energy emission budget for micron-scale nanorobots. For example, spoon-shaped molecule about 30 nm long, spaced at ~8 nm intervals
Shen732 has constructed 0.86-micron thick three-color electrically- across the cell surface, with the straight tail of each spoon firmly
tunable organic light-emitting devices2560 which generate ~0.5 pW/ embedded in a subsurface cytoskeletal plaque and the head of the
micron2 with ~1% energy efficiency; red-only LEDs have achieved spoon protruding ~10 nm outside of the cellular lipid bilayer
efficiencies up to 16%,1054 and larger diode lasers have achieved up membrane.312,531 Matching spot desmosome heads on neighboring
to 60%-66% efficiencies.3144,3145 Organic light-emitting devices cells adhere, gluing the cells together while maintaining a 10-20
(OLEDs) using small organic molecules can have high brightness nm intercellular gap.
(2-4 pW/micron2), half-lifetimes of >4000 hours, and can be made Tighter junctions (~2 nm) called occluding junctions form nearly
with a wide range of emission colors in a ~300 nm thick sandwich.3188 watertight seals in certain critical areas such as between the cells
White-light organic electroluminescent devices ~100 nm thick have lining the digestive system. Blood platelets are also intensely reactive
produced ~3 pW/micron2 at 15 volts;1048 0.1-1% energy efficiency cells that respond to a variety of stimuli to undergo shape change,
is typical.1049 (Commercially available LEDs like Hewlett-Packard’s adhesion, primary and secondary aggregation, and a process known
gallium arsenide VCSEL blue-light laser chip have active layers ~10 as viscous metamorphosis in which membrane fusion occurs between
microns thick and ~11% energy efficiency. LED chips typically have adjacent platelets with the loss of membrane integrity.530
lifetimes ~108 sec, and other microcavity lasers are well-known.3255
If surface color is a serious design objective, arrays of frequency- 5.4.1 Nanojunction Mechanisms
selective absorbers or emitters such as rhodopsin, fluorescein, Neighboring nanorobots must be able to reliably identify the
carotenoids, luciferins, or engineered porphyrins can be placed presence of others and then join together tightly into cohesive
below a thin transparent diamondoid window. Active manipulation of nanotissues, forming planar or three-dimensional arrays. In
covershades to block or expose these windows could permit rapid nanodevices, a broad array of fastening technologies from both the
modulation of chromatic surface characteristics (e.g., polychromatic biological533 and the engineering1614 worlds is available for design
sparkling). Diverse surface pattern morphologies are theoretically inspiration.
available;1051,3447 dynamic texture arrays can produce marked For simple adhesion, micromechanical velcro,532 sticky tethers,535
changes in color and other optical properties.1041 Coherent modula- magnetic latches (Fmin ~ 1600 nN for Amagnet = 1 micron2, B =
tion of the optical characteristics of aggregated nanorobots over large Bmagnet = 1.4 tesla; Eqn. 4.45), or other mechanical adhesives offer
areas allows the creation and control of optical patterns visible to the simplest means of attachment. Interlocking mechanisms are
the human eye (e.g., epidermal displays; Section 7.4.6.7) with common in engineered materials (e.g., plug and socket, hook and
~micron resolution at frequencies up to ~10 KHz consistent with a eye, distension bulbs or dilators)—many of which are simple
conservative ~1 cm/sec covershade speed. The visibility of subdermal derivations of two simple machines (the plane and lever) commonly
chromomorphic devices is greatly reduced by photon scattering and employed in mechanical engineering. Hepatic cells comprising liver
absorption processes at greater depths in tissue (Section 4.9.4). Pure walls are connected by “pegs” that fit into depressions in neighboring
suspensions of spherical nanorobots in clear fluid will partake of the cells in a crude analogy to snap fasteners (Section 8.2.5, and see
nanorobot surface color; suspensions of nonspherical, irregularly-shaped below); similar knobbed adhesive interfaces10 and docking envelopes1614
devices will appear milky due to scattering effects. Another design have been proposed for nanodevices. Complementary knobs of various
consideration is photochemical stability, especially for nanodevices shapes may also be used on the surfaces of different nanorobot species,
that must operate in open sunlight or near other sources of ultravio- or on different faces of the same species, to provide simple
let (UV) radiation. To avoid photochemical damage, such devices may mechanical recognition or orientational control. Judicious selection
require a UV-opaque surface or components purposely designed of device shape which mandates specific mateable junction geometries
for photochemical stability10 (see Chapter 13). can force a large nanorobot aggregate into desired global configura-
tions (e.g., structured nano-organs).
Pressed tightly together, two complementary diamondoid surfaces
5.4 Metamorphic Bumpers create a strong van der Waals adhesive interface with tensile strength
Nanorobots may use circumferential metamorphic bumpers to ~3 x 109 N/m2; interposing scattered atomic-scale bumps ~0.2 nm
achieve a continuously tight fit to neighboring devices while laboring in diameter reduces this adhesion to ~3 x 108 N/m2 ,10 or ~3000
cooperatively in nanotissues overlaying moving biological surfaces atm (Section 9.2.1). Providing each metamorphic nanorobot species
(e.g., see Chapter 22). Bumpers are crudely analogous to the cell-cell with complementary Braille-like adhesion plates may provide either a
adherens junction found in human epithelial sheet cells.531 In this simple means of universal attachment or a unique recognition and
junction, a continuous adhesion belt (the zonula adherens or belt interlock pattern of great complexity. Adherent plates are readily
desmosome) surrounds each of the interacting cells in the sheet, detached by inserting corrugated wedge mechanisms or by deforming
resulting in a narrow adhesive zone mediated by Ca++-dependent the adhesive pattern. For comparison, adhesion between biological
transmembrane linker glycoproteins. Within each cell, a contractile cells (as determined by measurements of the force required for
bundle of actin filaments runs adjacent to the adhesion belt and detachment of ~20-micron tissue cells by micromanipulation, shear,
parallel to the cellular membrane, serving as control cables for this or jets of fluid) is typically ~1-100 nN/micron2.1454,1455,1458,1459
Basic Capabilities • Shapes and Metamorphic Surfaces 137
Reversible adhesion may also be achieved using surface-mounted nanorobots in an array. Such conduits may transmit information,
matched nanomechanical manipulator arms (Section 9.3.1) which materials, nanoscale components, power (acoustic or hydraulic), or
can grasp or release their counterpart in an adjacent cell, under even structural forces (including tension, compression or torsion)
computer control. to provide stability or movement of the entire nanotissue assemblage.
Hinges534 and related mechanisms allow contact to be maintained
5.4.2 Transbumper Communication as the metamorphic surface expands, contracts, twists or translates.
Besides occluding and anchor junctions, mutually attached
biological cells use gap junctions2922 or “communicating junctions” 5.4.3 Bumper Mechanics
to exchange inorganic ions and other small water-soluble molecules Methods of inflation and deflation of metamorphic volumes have
like sugar and ATP. Connexons are hexagonal transmembrane proteins been described in Section 5.3.3. Interbumper connection forces may
with tiny pores; when connexons in the membranes of two cells are be 107-109 N/m2, easily exceeding potentially disruptive forces
aligned, they form a continuous aqueous channel linking the two typically encountered inside the human body. Consistent with
cell interiors that can open and close in a way similar to the available power resources and likely operating environments, meta-
acetylcholine receptor channel described in Section 3.3.3. When morphic bumpers may be driven at frequencies of 10-1000 Hz at
the calcium level of a cell rises—often a signal that the cell is sick or full-range amplitude, or faster in cases of limited-range amplitude
compromised—connexons close and quarantine the unhealthy oscillations. This response rate matches or exceeds the speeds of all
neighbor.312 A force of 6-10 pN is required to physically pry apart important mechanical tissue movements found in the human body
each connexin-32 hepatic cell gap junction unit, each unit a combined
including respiration (0.1-1 Hz), pulse (1-2 Hz), muscle contractions
pair of hexagonal cylinders ~7.5 nm in height and 7 nm in diameter
during violent exercise (1-10 Hz) or tetanic contractions (15-60
with a 2-nm pore through the center.1223 Another communicative
Hz), and even nerve cell discharge events (5-100 Hz). The fastest
adhesive mechanism is provided by bacterial sex pili, 1588,3549
filamentous surface adhesive organelles that are long thin hollow known animal muscle speeds739 are found in the ~90 Hz rattle-
protein tubes (typically ~300 per cell) with sticky receptors on their shaker of the western diamondback rattlesnake;1245 the ~90 Hz
ends that bind to recipient cell walls, allowing DNA to pass from hummingbird wingbeat; the ~200 Hz toadfish swim bladder;1245
cell to cell.2328 Integrins (Section 8.5.2.2) mediate cell binding to the synchronous muscle contractions of the katydid, Neoconocephalus
extracellular matrix and anchorage-dependence mechanical signals.718 robustus, at 212 Hz,3161 and the cicada, Chlorocysta viridis, at 224
Similar mechanisms may be employed in metamorphic bumper Hz;3162 and finally the record 1046-2200 Hz wingbeat of the tiny
walls to establish stable physical conduits among neighboring midge Forcipomyia.739,2033
CHAPTER 6
Power
6.1 Nanodevice Energy Resources
For ρ = 2000 kg/m3, g = 9.81 m/sec2 and L = 1 micron, Estorage =
D
evice energetics may represent the most serious limitation
in nanorobot design. Almost all medical nanodevices will 2 x 10-2 joules/m3.
be actively powered. Mechanical motions, pumping,
chemical transformations and the like all require the expenditure of 6.2.2 Mechanical Energy Storage
energy, measured in joules. Even a drug molecule interaction with a
biological receptor site reduces free energy by ~50 kT (Section 3.5.2) 6.2.2.1 Pendulums and Springs
or ~210 zJ (1 zeptojoule (zJ) = 10-21 joule) at 310 K. Heat dissipation is Energy may also be stored in mechanical systems. A gravitational
also a major consideration in nanomachine design, particularly when pendulum of cord length r with a bob of density ρ and characteris-
large numbers of nanomachines are deployed. Power, of course, is tic diameter L that is tangentially displaced a distance ∆x has potential
the rate of energy consumption or production, measured in joules/ energy ~ρ L3 g stored in a volume of order ~r L ∆x for small ∆x,
sec or watts. hence energy density is approximately:
Energy, like money, has both a storage and a transactional character.
Section 6.2 reviews the various forms of stored energy that may be Estorage ~ ρ g L2 / r (joules/m3) {Eqn. 6.2}
accessible to working nanodevices in vivo. Section 6.3 describes how 3 2
Taking ρ = 2000 kg/m , g = 9.81 m/sec and L = r = 1 micron, then
one form of energy can be converted into another form, while Estorage = 2 x 10-2 joules/m3, the same as Eqn. 6.1, as expected.
Section 6.4 discusses how energy may be transmitted from one place Stretched springs provide significantly greater energy storage
to another—both representing the transactional aspect of energy use. capacity. For example, a diamondoid spring of size ~L and stretching
Section 6.5 closes the Chapter with an enumeration of issues and stiffness ks has harmonic potential (1/2) ks x2 for a displacement x
techniques useful in assessing energy requirements and and volume L3, with energy density:
performance restrictions in medical nanodevice design. 2
k s x2 E x {Eqn. 6.3}
E storage = =
6.2 Energy Storage 2 L3 2 L
For medical nanorobots, onboard volume is a precious and limited
commodity. Viscous forces dominate inertial and gravitational forces, where (x/L) = strain and E = Young’s modulus. Conservatively taking
so mass is almost irrelevant. Hence energy stored per unit volume strain = 5% and E = 1.05 x 1012 N/m2 for diamond, then Estorage =
(joules/m3) is an appropriate figure of merit for nanoscale energy 1.3 x 109 joules/m3. However, strains may be applied in three
storage devices. dimensions as well as in tension, shear, or torsion, so total energy
Energy storage devices may be required to maintain temporary storage may be somewhat higher. The fracture surface energy of the
power during subsystem failures, metamorphic transitions, or during weakest {111} diamond plane Ef = 5.3 joules/m2, and the distance
temporary unavailability of environmental energy resources; to between {111} planes is Lplane ~ 0.24 nm given that there are
provide supplementary supplies during brief periods of overcapacity ~1.8 x 1019 bonds/m2,10 so the theoretical maximum mechanical
consumption; or to buffer normal energy usage among subsystems energy storage density in a diamond block is Estorage ~ Ef / Lplane
generating large fluctuations. Stored energy may also be used to = 2 x 1010 joules/m3.
power short-lived medical nanodevices on missions of limited
duration. For example, a 1 micron3 storage device with storage density 6.2.2.2 Flywheels
of 2 kT/nm3 (~107 joules/m3) contains sufficient energy to power a The maximum energy that can be stored in an axially spinning
10 picowatt (pW) nanorobot for ~1 second. Chemical storage flywheel is Efly = (1/2) Ifly ωmax2, where ωmax is the maximum angular
devices (providing up to 1011 joules/m3; Section 6.2.3) may extend velocity (bursting speed) given by Eqn. 4.17 and Ifly = (1/2) mr2 is
this duration to 104 sec (~3 hours). the rotational inertia of a disk of radius r, height h, and mass m =
π r2 h ρ. Dividing by disk volume, all geometric variables drop out
6.2.1 Gravitational Energy Storage giving maximum Estorage = (1/2) σw for flywheels of any size. Adopting
a fairly aggressive working stress σw = 1011 N/m2, Estorage ~ 5 x 1010
Not surprisingly, the gravitational field offers one of the weakest
joules/m3, an excellent power density. In 1998, commercially available
forms of energy storage available to nanodevices. The energy density
electric micromotors already achieved energy storage densities of
attainable using a storage device of density ρ and size L (height) in
~105-106 joules/m3.556
a gravity field g is
More intuitively, J. Sidles points out that the energy that can be
Estorage= ρ g L (joules/m3) {Eqn. 6.1} stored in a compact flywheel is of the order of either:
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
140 Nanomedicine • Volume I
1. the chemical binding energy per atom, times the number of to destroy the support rods requires F/m ~ 0.3 x 109 g’s, far in excess
atoms in the flywheel (~same as chemical energy storage), or of the ~0.4 g’s typically anticipated for 1-micron spherical nanorobots
in vivo (Section 4.3.3.2). Thermal noise will cause the flywheel
2. the yield stress of the material comprising the flywheel, times
housing and supports to jiggle, but the phonons will be transmitted
the volume.
along a one-dimensional pathway (the carbyne rod) which cannot
Both methods give estimates that agree to within an order of couple to the disk rotation. Energy losses due to rotational resistance
magnitude. Thus flywheels offer little advantage over chemical fuels in (as the nanorobot constantly rotates to new spatial orientations)
terms of stored energy density (Section 6.2.3), regardless of their can be made negligible using a nanogyroscopic gimballed housing
size or material composition. (Section 4.3.4.1). Safety issues must also be addressed, such as
If high-velocity flywheels must ride on bearings of large stiffness, providing energy-absorbing device housings that are highly
this may cause sufficient frictional drag to render flywheel energy explosion-resistant.
storage impractical even for vacuum-isolated systems. Consider a
cylindrical sleeve bearing of radius rbear and length lbear axially 6.2.2.3 Pressurized Fluids
supporting the flywheel described in the previous paragraph with Compressed fluids can store mechanical energy limited only by
axial bearing stiffness of ks = 1000 N/m and bearing surface velocity the tensile strength and aspect ratio of their container (Section
vbear = vfly (rbear / r) and flywheel rim velocity vfly = (4 Estorage / ρ)1/2. 10.3.1) and the rupture strength of their valving system. A “conser-
According to Drexler,10 the drag power for a nanoscale bearing is vative” working stress for diamondoid pressure containers is σw ~
dominated by band-stiffness scattering as: 1010 joules/m3 (~100,000 atm). Gases or liquids, either of which
are compressible, may be used as the working fluid depending on
Pdrag =
(1.42 x 10 ) k
−31 1.7
s v 2bear
(watts) {Eqn. 6.4}
energy density and design buoyancy requirements (Section 10.3.6).
For example, cycling between 1-1000 atm of pressure at 310 K the
(l bear rbear )0.7 density of compressed water varies from 993.4-1038.0 kg/m3 while
The energy initially stored in the flywheel is: the density of compressed oxygen varies from 1.26-670 kg/m3 (Table
10.2). The energy stored in a compressed fluid is ~∫PdV; thus at the
π ~1000 atm cycle limit, the compressed water stores ~2 x 106 J/m3
E fly = r 2 h ρ v 2fly {Eqn. 6.5} and the compressed gas stores ~1 x 108 J/m3. (Materials are thermo-
4
dynamically forbidden to have negative volume compressibilities.
so the time required for the flywheel to lose half of its energy due to However, lanthanum niobate and a few other crystals exhibit negative
drag friction, its “energy half-life” or τ1/2, is: linear compressibilities; such materials may be used to fabricate
porous solids that either expand in all directions when hydrostatically
E fly compressed with a penetrating fluid or behave as if they are
τ1/2 ~ ln(2) {Eqn. 6.6}
Pdrag incompressible.1297)
For safety reasons, fluid pressures in excess of 1000 atm (108
Thus a flywheel of radius r = 200 nm and thickness h = 20 nm joules/m3) should rarely be used in nanomedical systems (Chapter 17).
(m ~ 9 x 10-18 kg for diamond) supported by a bearing of radius Any mechanical energy storage system with readily accessible
rbear ~ h/2 = 10 nm and length lbear ~ h = 20 nm with maximum catastrophic energy release modes that is operated near maximum
flywheel energy density Estorage = 5 x 109 joules/m3 has vfly = 2400 capacity (e.g., fluids >105 atm) in vivo risks causing significant damage
m/sec, vbear = 120 m/sec, Efly = 13 picojoules (pJ), Pdrag = 25 pW, so to nearby tissue cells in the event of device malfunction or rupture.
τ1/2 = 0.35 sec and the flywheel loses 99% of its energy in just 2.3
sec. A much larger ~1 micron3 flywheel of radius r = 500 nm, thickness 6.2.3 Chemical Energy Storage
h = 1300 nm and rbear = 50 nm loses 99% of its energy in just 140 Chemical energy storage offers an ideal combination of high
sec. storage density, abundant physiological resources, and superior safety
On the other hand, it may be possible to substantially improve in the event a device is physically compromised. As shown in Table 6.1
the energy storage time if a bearing with much lower drag is available. (values computed from stoichiometric reaction formulas), chemical
R. Merkle points out that a spinning, perfectly symmetric energy storage density (fuel only*) ranges from 108 joules/m3 to
diamondoid disk made of isotopically pure carbon and supported 1011 joules/m3, as compared to 106-109 joules/m3 for mechanical
by two coaxial carbyne rods on either side should exhibit negligible media and 106-108 joules/m3 for electric/magnetic storage (Section
bearing losses and no vibration. The carbyne rod is one dimensional, 6.2.4). Electrochemical batteries typically achieve 107-1010 joules/m3
and the electron cloud along the rod is rotationally symmetric (for (e.g., 5-micron thick rechargeable lithium microbatteries have energy
single and triple bonds), so the disk cannot readily interact with its density ~2 x 109 joules/m3,588 and tin-lithium material can reach
rod supports. The major source of energy loss is off-axis rotation ~8 x 109 joules/m3).715 As of 1998, prototype ~4000 nm3 Cu/Ag
during spin-up which could induce vibration in the carbyne support, nanobatteries had demonstrated ~7 x 107 joules/m3 or ~2 x 104
so spinning the disk up to speed may require larger bearings which watts/m3 power density.589
could be disengaged after spin-up. Table 6.1 offers many interesting revelations:
A lateral velocity sufficient to destroy the C-C carbyne bonds
(Elateral ~ 550 zJ/bond) is vdestroy ~ (2 Elateral / m)1/2 = 0.4 m/sec for r 1. Assuming “safe” ~1,000 atm storage, a pressurized hydrogen/
= 200 nm and h = 20 nm—much larger than the flywheel thermal oxygen mixture has the greatest energy per unit mass (excluding
velocity vthermal ~ 0.04 m/sec (Eqn. 3.3). Since F ~ 30 nN of force the mass of the containment vessel) but has almost the lowest
will break a C-C bond (Section 4.4.1), a lateral acceleration sufficient energy per unit volume, hence is too inefficient for
*Not all fuels require oxidizer, e.g., ATP. For fuels that require oxidizer, taking oxidizer volume into account (e.g., O2 at 1000 atm) reduces overall energy storage density
to ~7% of fuel-only density for diamond, ~25% for most organics, and ~65% for hydrogen. Also, note that Eavail = Estorage - Eactivation, where Eavail is available energy and Eactivation
is the net unrecoverable activation energy required to release the stored chemical energy.)
Basic Capabilities • Power 141
nanodevice photonic energy storage. Energy stored in excited or 6.3.1 Thermal Energy Conversion Processes
partially ionized molecular or atomic states, coherent (lasing) and The second law of thermodynamics says that it is impossible to
fluorescing media, and enzymatic activated complexes (e.g., at peak to convert heat into useful work if the heat reservoir and the device
activation energy) generally also lack sufficient duration or stability are both at the same temperature, as demonstrated by Feynman’s
to be useful, although the metastable excited electronic 23S state of classical example of the Brownian motor using an isothermal ratchet
solid He4 at 19.8 eV has a 2.3-hour lifetime and thus a theoretical and pawl machine,2611 although nonequilibrium fluctuations,
storage density of 5 x 1011 joules/m3 for 100% electronically whether generated by macroscale electric fields or chemical reactions
excited solid helium.661 far from equilibrium, can drive a Brownian motor.696 It has also
been suggested that reversible-energy-fluctuation converters can
6.2.5 Nuclear Energy Storage obtain useful electrical work from thermal Nyquist noise, up to power
By nanotechnological standards, the energy stored in atomic densities of 1015-1016 watts/m3 at ~300 K.1606,1607
nuclei is huge. For instance, the energy density of an un-ionized Of course, a reversible Carnot-cycle heat engine can extract useful
radioactive atom of U235 is 1.5 x 1018 joules/m3, counting the work from even a small temperature differential with a Carnot
kinetic energy of all fissile decay products in the total. Hydrogen efficiency of e% = ∆T / T. For example, a nanorobot circulating
that undergoes fusion into helium actually provides a much poorer with the blood between core and peripheral tissues may experience
volumetric energy storage density than for fission, ~4.4 x 1016 joules/ a temperature variation up to several kelvins during each vascular
m3 (again assuming storage of fuel as molecules), largely due to the circuit of duration tcirc ~ 60 sec (Section 8.4.1). From this small
comparatively high atomic number density of fissionable heavy temperature differential an ideal biothermal thermomechanical engine
metals. The highest practical energy density would be achieved by may extract a maximum power:
storing some theorized form of matter-friendly stabilized antimatter
perhaps converted to a two-phase hypergolic (self-igniting) fuel,565 2
up to a maximum of ~2 x 1021 joules/m3 (fuel only) for platinum/ Vn C V ∆T e% Vn C V (T2 − T1 ) {Eqn. 6.10}
Pn = =
antiplatinum annihilation. The difficulty, of course, is accessing this t circ T2 t circ
potential resource in a controlled and well-shielded fashion
where nanorobot thermal storage volume is Vn = 1 micron3, heat
(Section 6.3.7).
capacity CV = 4.19 x 106 joules/m3-K for a device filled with water,
T2 = 310 K at the human body core and T1 = 307 K at the periphery.
6.3 Power Conversion The thermal store, vacuum-isolated to prevent heat loss (see below), is
Almost all energy available to biological processes on Earth equilibrated in the hotter core environment to T2, which heat is
originates in the consumption of the highest naturally-available then stored until the device reaches the cooler peripheral environment
energy density resource—nuclear fuels in the Sun. After transfer at T1. From Eqn. 6.10, this temperature differential yields at most
across space via high-energy photons, this energy is absorbed via Pn ~ 0.002 pW with efficiency e% = (T2 - T1) / T2 ~ 0.01(1%) and
photosynthesis by plant life on Earth and converted into chemical a peak (accessible) energy density of Pn tcirc / Vn ~ 105 joules/m3.
energy stores of moderate energy density. These chemical energy The change in temperature can be made to cause gas in a
stores are then consumed by animal life and converted into three-dimensional coiled piston to slowly expand or contract, driving a
mechanical or electric energy stores of lower energy density, or are rod back and forth thus providing a cyclical linear mechanical output,
completely degraded to heat. a Stirling engine configuration. The gas expansion is isobaric and
Medical nanodevices join this energy ecology by consuming reversible because thermal equilibration time tEQ ~ Vn CV / h Kt = 10-5
onboard energy stores (Section 6.2) or by absorbing fresh energy sec for a conduction layer of thickness h ~ 0.5 micron and thermal
resources from the environment, converting these resources into conductivity Kt = 0.623 watt/m-K for water at 310 K, so tEQ << tcirc.
other forms to accomplish useful work and possibly recovering for (Exploiting the diurnal variation in mean body temperature, typically
reuse a portion of this energy via reversible or regenerative processes, ranging from 309.3 K in early morning to 310.4 K in the evening,
then finally releasing heat as the ultimate outcome of irreversible produces at most ~2 x 10-7 pW of power.) A nanorobot resting on
processes. Clearly the key to medical nanorobot power supply is the the epidermal surface may exploit the temperature differential
efficient conversion of energy from one form to another. between skin and air, up to 8-13 K (Section 8.4.1.1) giving a
The energy conversion matrix in Table 6.2 provides a convenient maximum Carnot efficiency e% ~ 0.04 (4%); for classical radiative
conceptual framework with which to organize and guide our transfer (see below), the nanorobot develops a net power through an L2
discussion. Representative technologies are listed for each cell in = 10 micron2 epidermal contact surface of Pn ~ σ (T24 - T14) L2 e%
the matrix. An exhaustive discussion of every matrix element is = 0.04 pW.
beyond the scope of this book. Instead, a selection of the most Nakajima541 has built and operated a 50 mm3 Stirling engine
important categories are illustrated with one or two specific examples. working at 10 Hz between 273-373 K producing 10-2 watts (power
Serial chains of multiple conversion processes may in some cases density 2 x 105 watts/m3), and has demonstrated the theoretical
engineering feasibility of microscale Stirling engines. In 1993 Jeff
provide increased efficiency over competing pathways, conserve
Sniedowski of Sandia National Laboratories constructed a 50-micron
volume or mass, provide faster conversion (e.g., permit higher power
steam engine on a silicon chip producing forces ~100 times higher
density), allow partial energy regeneration, or serve other specific than those of electrostatic motors of similar size.3486 (The steam
design objectives. was produced electrically.) Computer simulations of a
A note on nomenclature: In this book, energy conversion molecular-scale steam engine have been performed by Donald W.
processes are named using the source energy first, followed by the Noid at Oak Ridge National Laboratory.3488 A conservative and
resultant energy form. Thus a device which converts chemical energy practical upper limit to nanorobot Carnot efficiency is probably
into acoustic energy employs a “chemoacoustic” process, and so forth. ~50% (T2 = 620 K).
Basic Capabilities • Power 143
Table 6.2 Energy Conversion Matrix: Power Transduction Technologies that Convert One Form of Energy into Another
OUTPUT Electrical/
INPUT Thermal Mechanical Acoustical Chemical Magnetic Photonic Nuclear
• Nuclear Bomb • Nuclear Bomb • Nuclear Bomb • Nuclear Bomb • Nuclear Bomb • Nuclear Bomb • Nuclear Bomb
• Conventional • Project Orion • Geiger Counter • Radiation- • Radioactive • Cerenkov • Moderated
Nuclear Nuclear Power Propulsion (indirectly) Driven DNA Thermoelectric Radiation Fissile Chain
Plant System Mutation Generator (RTG) Counter Reaction
• Radiation • Betavoltaics • Cathodo- • Matter/Anti-
Chemistry Luminescence matter Annihil.
A heat engine may exploit the temperature difference between For r = 1 micron, CV = 4.2 x 106 joules/m3-K for water, er = 0.02
the largely isothermal human body acting as a sink and a hot, for polished silver, T1 = 310 K inside the human body, and T2 = 350
high-capacity source of stored heat energy. Because the rate of K up to 647 K (~critical temperature of water at 218 atm pressure),
conductive heat loss is scale-dependent, such exploitation is not τ1/2 6 sec (at T2 350 K) starting from an initial (accessible)
feasible in nanodevices relying on stored heat sources unless a vacuum energy density of ~108 joules/m3; Hr = 1.5 nanojoule for a 1-micron
isolation suspension is employed (Section 6.3.4.4). As a simple core at 647 K. Almost the entire thermal energy store (~99%) leaks
demonstration, consider a vacuum-isolated spherical thermos bottle away in just 40 sec (at T2 = 350 K). Smaller thermos bottles leak
of inside radius r, coated with a material of total emissivity er and even faster, due to the ~r dependence of τ1/2.
filled with a hot working fluid of heat capacity CV at initial Radiators lying within <1 micron of a lower-temperature material
temperature T2. Conduction and convection are eliminated; heat surface exhibit near-field anomalous radiative transfer (Section
loss in vacuo occurs only by radiative transfer. In the classical macro- 6.3.4.4 (E)) and thus exhibit different cooling characteristics than
scopic formulation, radiated power Pr = 4 π r2 er σ (T24 - T14) (watts), Eqn. 6.11 predicts. Taking Pr = Panomalous from Eqn. 6.21 for spherical
where σ = 5.67 x 10-8 watts/m2-K4 (Stefan-Boltzmann constant). surfaces <200 nm apart, then τ1/2 ~ 0.01 (h2 c2 / k3) (r CV / σcond
The thermal energy contained in the hot material is Hr = (4/3) π r3 CV T22) (seconds); for T2 = 647 K and r = 1 micron, τ1/2 ~ 10 sec using
(T2 -T1) (joules); hence the time required for half of the energy a germanium shell but ~105 sec using a boron shell.
to radiate away is: Other thermomechanical transducers include sandwich cantilevers
(Section 4.6.3) made of composite materials with high coefficients
H ln(2) r C V (T2 − T1 ) of linear expansion (e.g., heated metal bimorphs547), Nitinol or other
τ1/2 ~ r ln(2) = {Eqn. 6.11}
temperature-sensitive shape-memory alloys,548 thermally-driven
Pr (
3 e r σ T24 − T14 ) phase-change microactuators,545 thermally-powered contraction
turbines,597 and thermally-driven contractile proteins.1261 Thermo-
chemical transducers that make use of thermal energy stored as a
144 Nanomedicine • Volume I
phase change of a refrigerant can display energy densities of ~108 Xmove ~ 2 cm, tmove ~ 3 sec. In normal walking with Xmove ~ 0.6 m
joules/m3,1197 and a thermoacoustic Stirling engine with no moving and tmove ~ 1 sec, Pn ~ 0.06 pW; for the most violent handwaving
parts has been demonstrated.3267 exercise with Xmove = 0.3 m and tmove = 0.2 sec (5 Hz), Pn = 2 pW.
A thermoelectric transducer may be constructed from a crystal All of these figures optimistically assume 100% mechanical efficiency.
with piezoelectric properties. When such a crystal is heated or cooled, Nanorobots resident in the chest walls experience cyclical
charges are produced on its surfaces (called pyro-electricity553 or displacements of Xmove ~ 2.5 cm and tmove ~ 3.3 sec (0.3 Hz) for
heat electricity) setting up mechanical strains in the crystal that normal shallow breathing at 10/min, up to Xmove ~ 5 cm and tmove =
produce the same electrical effect as the application of external forces 1 sec (1 Hz) for deep breathing during heavy exertion (Section 8.2.2),
in piezo-electricity.551 Both bone and tendon exhibit the pyro- a chest velocity range of vmove = 2-10 cm/sec, giving Pn = 3-400 x
electric effect;3088 all pyroelectric materials are piezoelectric, though 10-6 pW (Eqn. 6.12) for a pendulum transducer. Another alternative
the converse is not true.3089 Thermocouples are another example of in the chest is a simple spring-loaded stretch transducer. If the
direct thermoelectric energy transduction, and thermophotovoltaic diaphragm and chest wall muscles cost Pchest = 1-25 watts to operate
generators are well-known.1983 depending upon exertion level, then the applied force Fchest =
A high emissivity blackbody radiator provides thermooptical Pchest / vmove = 50-250 N; an X = 5 cm displacement for a 90-cm
transduction at temperatures >650 K, increasing in efficiency up to circumference chest cavity gives a δ ~ 5% distension. Thus a
~6000 K. two-phase L = 100 nm stretch transducer produces Pn = 2 δ L e%
Fchest / tmove = 150-2500 pW, conservatively taking mechanical
6.3.2 Mechanical Energy Conversion Processes efficiency e% = 0.001(0.1%) to account for poor coupling and a highly
It has been suggested540 that “simple physical shaking” may be nonisotropic tissue stress tensor. Similar power levels are available in
sufficient to provide power to nanorobots, much like a self-winding contractile cardiac tissues, near joints that flex during normal arm or
watch that employs mechanical rectification. Material moves through leg motions, and in the pedal dermis during walking.
human lymphatic vessels (Section 8.2.1.3) in this manner: The Another example of mechanomechanical transduction is a simple
lymphatics have no direct musculature (or cilia) of their own, but gear train, which transmits mechanical rotational power from one
depend upon external physiological motion sources such as blood location to another. In one example given by Drexler,10 a 17 nm3
vessel contractions and skeletal movements to induce periodic steric gear pair transmits 1 nanowatt of mechanical power, giving a
pressures on the lymphatic vessels, moving material along via power density of 6 x 1016 watts/m3 with a mechanical efficiency of
one-way valving. Experiments using respiratory chambers found that 99.997%. Complex hectomicron-scale gear trains have been
spontaneous physical activity or “fidgeting” consumed an average fabricated.558 Sandia’s Microelectronics Development Laboratory
of 348 Kcal/day (range 100-700 Kcal/day) or ~17 watts of power2935 mass-produces 100-micron motors and gears.1259 Properly designed
and could be a major cause of individual differences in 24-hour molecular bearings will have lifetimes that are not limited by wear
energy expenditure.2936,2937 In a nanorobot, a mechanomechanical but only by the static lifetime of the bearing (e.g., due to radiation
transducer would convert environmental motion into mechanical damage).
energy for internal storage or immediate utilization. In 1998, there was at least one unconfirmed experimental
Consider a medical nanodevice embedded in the hand of a human report of direct mechanochemical energy transduction,2924 in which
being who is waving his arm back and forth in a perfect sinusoidal the mechanical energy of stirring of water over a catalyst bed of
motion of lateral amplitude Xmove meters and period tmove seconds powdered cuprous oxide was alleged to produce H2 and O2 gas
per cycle (tmove-1 Hz). If the mechanomechanical transducer consists of effluent.
a spring-loaded bob mass of density ρtrans, volume Vtrans and mass Mechanoacoustic transduction may be achieved by operating the
mtrans whose motion is rectified using a ratchet and pawl mechanism, pressure-driven actuators described in Section 6.3.3 in reverse,
the maximum velocity of the mass is 4 Xmove / tmove at the centerpoint using an oscillating mechanical energy input such as a reciprocating
of the armswing, the acceleration profile crudely resembles a square rod to drive the piston. See Section 7.2.2.1 for a more complete
wave of amplitude Amove = 16 Xmove / tmove2, and the maximum treatment of the vibrating piston acoustic radiator.
extractable nanorobot power Pn is: Mechanoelectric transduction is commonplace in atomic force
microscope (AFM) sensors using piezoresistive cantilevers that produce
a varying electrical potential in response to changing mechanical
2
8 ρ trans Vtrans X move kT m trans A move X move − 2 kT loads. Typical coupling constants (e.g., mechanoelectric efficiency)
Pn ~ 3
− ~
t move t move 2 t move are 11% for polyvinylidene fluoride (PVDF), and 35-59% for lead
(watts) {Eqn. 6.12} zirconate titanate (PZT).993 Transduction of mechanical to electrical
signals can also be achieved by mechanically modulating a tunneling
For ρtrans = 21,450 kg/m3 (platinum bob), Vtrans = 1 micron3, contact junction as a mechanically controlled electrical switch, as
T = 310 K inside the human body, and k = 0.01381 zJ/K (Boltzmann occurs at the tip of a scanning tunneling microscope (STM) in
constant), the constant microtwitching of human muscles of ~0.1 response to varying physical loads. Fullerene molecules also change
mm amplitude and ~10 Hz provides a mechanical energy of ~kT, their electrical resistance in response to mechanically-applied
hence Pn ~ 0 from this source. Ignoring the 10 g, 1-second accelerative loads, providing mechanoelectrical switching (Section 10.2.2).
impulse due to passage through the beating heart, each ~1 meter Alternatively, operating the nanoscale electrostatic DC motor10
circulation of the blood involving a ~60 sec passage from an aortal described in Section 6.3.5 in reverse converts it into a mechanoelectric
velocity of ~1 m/sec to a capillary velocity of ~1 mm/sec, provides generator, transforming rotational mechanical energy into electrical
only Pn ~ 10-6 pW. The twice per circuit passage through the beating current at high efficiency. Cochlear outer hair cells are capable of
heart raises the full-circuit total to Pn ~ 10-3 pW; that is, most of the both mechanoelectrical and electromechanical transduction.3597
mechanical energy in each circuit is localized in the heart. Cardiac mechanoelectric transducers have also been proposed
Nanorobots with a 1 micron3 transducer resident in the diaphragm or tested.593,722,723,3513-3517 In 1966, Ko633 fabricated a mechanical
during normal respiration can obtain Pn ~ 3 x 10-6 pW assuming converter that converted heart movement into the vibration of a
Basic Capabilities • Power 145
piezoelectric rod to generate AC electric power that was rectified isothermal and reversible (e.g., when thermal equilibration time tEQ
and used to power a pacemaker; such devices were installed on dogs’ << νp-1, which should always hold for νp 1 GHz).
hearts and generated 30 microwatts for several months. Electropaced Recognition of four additional restrictions on the net mechanical
skeletal muscles (latissimus dorsi) have been used to compress an power (Pn) available from a piston-type transducer produces a very
implanted plastic balloon counterpulsation device to produce pul- conservative power estimate:
monary artery diastolic pressure augmentation.3519-3521 There are
Pn ~ νp (∆P ∆V - Efriction - Einertia - Edrag - Eheat) {Eqn. 6.13}
proposals to use piezoelectric bimorphs to transform the mechanical
energy of diaphragm motions during breathing592,3516 and of the The product of ∆P, the change in pressure during a stroke, and
circumferential movements of the aorta and other elastic arteries ∆V, the change in piston volume, is the change in Gibbs free energy per
during each pulse cycle593,3522 into electrical energy, but transducer cycle.10 The piston energy lost to friction may be estimated from
fatigue and biocompatibility issues were problematical.590,3517,3518 Eqn. 6.4 using the observation that interface velocity v ~ 2 νp L for
Piezoelectric fields developed in moving bones3090-3095 and collag- a piston of dimension ~L3, thus Efriction ~ 10-25 νp L0.6; for Efriction
enous tissues1939-1942 possibly could be tapped. Indeed, many < kT, L < 0.05 micron for νp = 1 GHz, L < 5000 microns for νp = 1
biological materials have been found to be piezoelectric, including MHz. The energy lost in overcoming piston inertia ~ 1/2 mv2 where
tendon, elastin, silk, dentin, ivory, wood, aorta, trachea, intestine, m = ρp L3, so Einertia ~ 2 ρp νp2 L5 for a piston of density ρp; for
and even nucleic acids.3089 A gait-powered battery-charging system Einertia < kT, L < 4 nm for νp = 1 GHz, L < 60 nm for νp = 1 MHz.
exploited ground reaction forces associated with the heel-strike and Fluid viscous drag occurs when the piston must push itself through a
toe-off phases to convert the autologous mechanical energy of walking viscous external aqueous medium in which the pressure pulses
into electrical energy using a piezoelectric array embedded in the are traveling. However, if L << λ = vsound/νp then the range of piston
midsole of a shoe.3523 Shoe manufacturers have already put LEDs in motion is far smaller than one wavelength and Edrag ~ 0 for submicron
sneakers (LED flashing is powered by footfall energy), and transducers: at νp = 1 GHz, λ = 1.5 microns in water at 310 K.
hand-cranked power supplies for laptop computers were being de- Finally, Eheat ~ kT because useful work may not be extracted from an
isothermal medium. Lmin is the size of the receiver piston for which
Pn 0.
Of course, this is a very conservative approach because much
depends upon how predictable the acoustic source is. J. Soreff notes
that in the case of externally supplied, constant frequency, constant
amplitude pressure waves, both Einertia and Eheat are negligible because
the capture of energy from the piston can be phase locked to the
incoming waves, and the piston spring constant can be tailored to
put the kinetic energy of the piston into a potential energy store at
the end of its travel. Phase locking still requires an energy expenditure
of kT for sensing, but this sensing could be spread over many cycles,
given a source with a long coherence time.
Table 6.3, with values computed using Eqn. 6.13 and acoustic
pressure estimates from Section 4.9.1, shows that a modest amount
of acoustic energy is available from normal physiological processes
within the human body, which are assumed to generate planar
traveling waves. Path length is not important here because of the
weak attenuation at such low frequencies (Section 4.9.1.3). For a
Fig. 6.1. Pressure-driven actuators for acoustomechanical power single (~1 micron)3 transducer, usable received acoustic power up
transduction. to Pn ~ 0.004 pW is regularly available from continuous sources.
Intermittent or sporadic usable power sources up to Pn ~ 5 pW are
veloped by Freeplay Power Group in 1999.3185 Keyboard typing also available. In many cases these sources would be in phase with
produces 0.1-30 milliwatts/finger (Section 7.4.2.1). the biothermal transducer described in Section 6.3.1.
Piezoluminescent crystals provide mechanooptical power Large epidermally-placed nanorobots may convert the force of
transduction, and micromachined optical shutters546 have demonstrated wind resistance into usable energy. In theory, nanorobots may receive
mechanical switching of optical signals. Pn = (1/2) e% ρair A vrun3 ~ 1 pW for efficiency e% = 0.30(30%),
STP air density ρair = 1.29 kg/m3, and transducer area A = 1
6.3.3 Acoustic Energy Conversion Processes micron2 for a person walking or running at vrun = 1.8 m/sec (~4
Most clearly useful for medical nanorobots are acoustomechanical mph). However, as a practical matter much less power is available
transducers (Section 4.5.1) that can directly apply motive power to to micron-size nanorobots because there is a near-skin boundary
internal nanomechanical manipulator and computational systems. layer of relatively still air.
Drexler10 has described a simple transducer that can function as a External sources of acoustic energy can also be employed (Section
pressure-driven actuator, which is abstractly modeled as a 6.4.1). Power pulse cycling depends on sensor design. For example,
constant-force spring that resists the motion of a piston moving to avoid damaging the aforementioned acoustic sensor devices with
between two limit stops (Fig. 6.1). Such a device which experiences large acoustic pulses intended to provide power, power pulses should
a cyclical volumetric change of ∆V in response to above-ambient be shaped with a slow initial amplitude rise sufficient to gently “peg”
pressure pulses of amplitude ∆P at a frequency νp converts acoustic all sensor pistons to their distal stops, followed by a sharp upramp
pulse energy into the mechanical energy of piston motion with to peak amplitude, then a shallow decline sufficient to gently return
almost 100% thermodynamic efficiency when the expansion is sensor pistons to their proximal stops, followed by a sharp decline
146 Nanomedicine • Volume I
Table 6.3 Estimated Acoustic Energy Available from Physiological Sources within the Human Body
in pulse amplitude, thus safely completing the power cycle. An cellular structures, considerable preprocessing (e.g., denaturation and
acoustic-powered legged microrobot ~1 mm in size with resonant lysis), and disposal of nitrogen-containing waste products.* Free
actuators has been fabricated and tested.352,559 amino acids and short peptides are too dilute to be of much value.
The Space Thermoacoustic Refrigerator (STAR) developed by ATP, usually available only inside cells with a high turnover rate, is
Steven L. Garrett for NASA in the early 1990s uses 160 dB sound also of very limited utility (though it is fairly stable—one can buy
waves in a confined space to create a spatial thermal gradient in a bottles of powdered ATP and store it for years in the freezer).
working fluid, an example of acoustothermal energy conversion.3446 Fats potentially offer the most plentiful natural energy source in
Sonoluminescence caused by focused high-frequency sound waves the human body, providing over 80% of body heat in the absence
in water provides an example of acoustophotonic power of carbohydrates. Unfortunately, high energy density serum lipids
transduction.543,716 Acoustochemical processes are well-known in such as cholesterol are not freely available but instead are present
the field of sonochemistry,625,1084,1085,1523 including ultrasonic only in three bound forms that ensure solubility:
depolymerization. Acoustomechanical fluid-driven microturbines
1. chylomicrons and other plasma lipoprotein carriers
~250 microns in diameter have been fabricated and operated at
(protein-coated lipid droplets <0.5 microns in diameter), to
~KHz frequency with lifetimes of ~108 revolutions.1218
transport lipids throughout the body from the intestine after
absorption of dietary fat, or from the liver after lipid synthesis
6.3.4 Chemical Energy Conversion Processes to storage in adipose tissue or for utilization elsewhere in the
The following Section describes possible energy sources for body;3525
chemically-powered foraging nanorobots. Chemically-powered
tethered or stored-energy nanorobots may have different constraints 2. fatty acids bound to serum albumin, to transport fat from adipose
(see Sections 6.4.3.5, 6.5.3, and 6.5.4). tissue to elsewhere in the body; and
3. ketone bodies (acetoacetate and beta-hydroxybutyrate) to
6.3.4.1 Human Chemical Energy Resources transport lipids processed by or synthesized in the liver.
The first step in evaluating chemical power transduction
alternatives for medical nanorobots is to assess the chemical energy Anhydrous lipid droplets 0.2-5 microns in diameter are often
resources readily available within the human body. A complete found in the cytosol. Excepting operations inside adipocytes (wherein
inventory is beyond the scope of this book, but a few broad triglyceride droplets occupy nearly the entire cytosol), fat utilization by
conclusions may be drawn. medical nanomachines would probably require some physical
Table 6.4 summarizes major representative chemical energy nanopipetting or other preprocessing to dislodge the lipid from its
resources available within typical individual human tissue cells, carrier, and different energy extraction pathways may be required
within the human blood volume, and within an entire 70 kg adult depending on whether the fatty molecules thus liberated are saturated
human body. Burning a protein or carbohydrate in oxygen releases or unsaturated, etc.
~4.1 Kcal/gm (17 x 106 joules/kg); burning lipids in oxygen Carbohydrates are soluble in water and thus exist in free form
releases ~9.3 Kcal/gm (39 x 106 joules/kg). In theory, proteins throughout the body. Large individual molecules of glycogen
represent the most plentiful energy resource in blood and cells, but (10-40 nm in diameter) float freely as granules in the cytosol, usually
extensively accessing this source may require disassembly of essential coated with a ~5 nm thick monolayer of digestive enzymes (Section
*The human body secretes urea because it lacks the necessary enzymes to further process the nitrogen. Nanorobots could make use of bacterial enzymatic or other chemical
processes to obtain energy from nitrogenous wastes—for example, by exploiting the ammonia oxidation reaction: 4NH3 (g) + 302 (g) → 2N2 (g) + 6H2O (g) + 2105 zJ.
Basic Capabilities • Power 147
8.5.3.7). Glucose is the preferred human body fuel—a nearly outlined are rather crude. An ideal design might involve complex
constant bloodstream inventory of ~5 grams is maintained nanomachinery that has yet to be designed, which may perhaps
homeostatically from a buffer supply of ~350 grams of glycogen more closely resemble in efficiency and function the enzymatic and
stored mainly in the liver and muscles. Glucose transporters main- “proton pump” biological nanomachines that are found in nature,
tain3649-3654 cytosolic concentrations at comparable levels to the blood. or the natural chemophotonic transducers employed in biolumi-
Nerve cells can only metabolize glucose and ketones; sperm cells are nescence.3564
surrounded by a fructose bath, from which they absorb chemical
energy to power flagellar engines during their short-lived locomotion 6.3.4.2 Biological Chemomechanical Power Conversion
(Section 6.3.4.2). Many examples of direct chemomechanical power transduction
Because of its abundance, high energy density, and relative ease are found in nature. Perhaps the most familiar is the mechanism of
of use (e.g., high solubility), glucose is probably the ideal fuel for muscle contraction mediated by the sliding of interdigitating myosin
most in vivo nanomedical applications. A 1 micron3 onboard store and actin filaments—the actomyosin molecular motor.1246 Myosin
of glucose fuel powers a 10 pW nanorobot for 2400 sec of operation is constructed of domains joined by hinges and is powered by ATP.
without further refueling. The equilibrium free glucose mass in a The globular head domain of the myosin motor, called myosin
typical human tissue cell provides ~104 sec of power for a 10 pW subfragment-1 or “S1”, is a whale-shaped molecular device ~5 nm
nanodevice; during strenuous exercise, a typical tissue cell can wide at the head and ~20 nm long, containing ~50,000 atoms (~500
normally replace its entire glucose store in <103 sec via membrane nm3). When the ATP molecule binds to an open ATPase pocket on
glucose transporters, providing a continuous fuel supply for at least S1, this action causes a conformational change in the S1 protein,
~100 pW of nanorobot demand.* If this is still insufficient for the which releases its hold on the associated actin filament. The pocket
intended application, artificial lipophilic oxyglucose transporter can then close further, clipping the terminal phosphate from the
structures may be inserted through the cellular membrane to provide ATP (making ADP) and powering yet another conformational
supplementary power levels up to the diffusion limit (Section 6.5.3). change which increases affinity for actin. The phosphate is released
(An additional 100-8000 nanojoules of polymerized glucose, present as S1 again binds to actin, pulling the pocket open wider and
as glycogen granules, may be available in some cells.) For a (20 triggering a ~2 millisec power stroke as the spent ADP molecule is
micron)3 tissue cell, from Eqn. 3.4 the maximum diffusion-limited ejected.578 During each 0.05-sec cycle, the myosin motor advances
glucose current is Jglu = 6-30 x 1010 glucose molecules/sec. Assuming 10 nm along the actin filament (~5 micron/sec velocity) pulling
~50% absorption efficiency at the cell surface (Section 4.2.5), ~50% with a force of ~5 pN, a mechanical energy output of ~50 zJ, or
energy conversion efficiency (see below), and that the local extra- ~10-6 pW (power density ~ 2 x 106 watts/m3). The energy released
cellular space has sufficient fluid volume to supply adjacent cells at in converting one ATP molecule to ADP is ~83 zJ, so the motor is
peak rates, then the maximum theoretical total continuous power ~60% efficient. A typical macroscale muscle may contain ~1011
draw in cyto is 70,000-300,000 pW for foraging glucose-consuming individual actomyosin motors. The net energy efficiency of a muscle
nanodevices with unlimited access to oxygen (e.g., onboard stor- is at most 25%, doing the greatest work when it shortens by only
age). If oxygen supplies were restricted to that which could pas- ~10% of its length.2022 In 1998, the myosin superfamily of protein
sively diffuse through cell walls, the comparable in cyto motors contained 15 different classes, and ~30 different myosin
diffusion-limited total oxygen current would be JO2 = 2 x 1010 O2 species were known.2279
molecules/sec, a ~4000 pW power limit. (For comparison, the basal Other molecular motors similarly transduce chemical energy into
power consumption of a typical 20-micron human cell is ~30 pW; mechanical motion to drive the beating of cilia (dynein; Section
Table 6.8.) 9.3.1.1) and to drive the transport of vesicles and organelles along
The following Sections include brief technical sketches of several tracks within cells (kinesin; Section 9.4.6). In each case, the binding of
possible approaches to chemoergic power transduction. The methods ATP (or GTP) induces conformational transitions in the ~12 nm
*If 624 micromoles/min of glucose are transported per milligram of purified glucose transporter protein molecules of molecular weight ~100,000 daltons,3656 then the mean
glucose transport rate is ~1000 glucose molecules/sec-transporter which is equivalent to ~0.0025 pW/transporter assuming 50% metabolic utilization efficiency, supplying
~250 pW/cell for a 20-micron tissue cell embedded with ~105 transmembrane glucose transporters (membrane surface density ~40 transporters/micron2).
148 Nanomedicine • Volume I
built, and operated with an energy conversion efficiency of ~40%. be the preferred chemical fuel for nanomedical systems (Section
While it would be difficult to scale down this turbine to submicron 6.3.4.1), we concentrate our attention on the high-energy exothermic
dimensions, it nonetheless constitutes another useful proof of principle oxyglucose combustion reaction
that direct chemomechanical power transduction may need only
surprisingly simple mechanisms. C6H12O6 + 6O 2 (g) → 6CO 2 (g) +
Astumian696 has examined the use of nonequilibrium chemical
6H 2O(g) + E glu ( = 4, 765 zJ) {Eqn. 6.16}
drivers for micron and submicron Brownian motors. For instance,
when ATP (negatively charged in solution) binds to a protein, it The kinetic model for the glucose oxidation reaction has not
changes the protein’s net charge. Thus two proteins that react with been extensively studied experimentally at pressures >30 atm, so it
ATP at different rates would feel different electrostatic forces; this has not yet been proven that an oxyglucose mixture can be ignited
force differential can drive a motor. Astumian estimates that even a at high pressure near human body temperature at 310 K (37˚C).
crudely designed chemically-driven Brownian motor could move Such a model could have a complex structure, such as the well-studied
in 10-nm steps at ~3 microns/sec, developing ~0.5 pN of force, stoichiometric H2/O2 mixture which shows a minimum ignition
~3 x 10-6 pW of power, and a power density of ~106 watts/m3. Many temperature of only ~380 K (107˚C) at ~2500 atm.582
types of cellular protrusions such as filopodia, lamellipodia, and Pure sugar in air is not ignited by open flame (e.g., bunsen burner,
acrosomal extension do not involve molecular motors but rather matchstick), but readily burns if a catalyst such as ash is added.3120
the transduction of chemical bond energy into mechanical energy Exposed to moist air below 323 K (50˚C), each molecule of anhydrous
using Brownian ratchets to rectify random thermal motions by glucose hygroscopically absorbs a single molecule of noncovalently-
expending chemical energy in actin or tubulin polymerization.1203 bound water, yielding the monohydrate. Heated above 323 K,
anhydrous glucose “caramelizes” when it reaches ~433 K (160˚C).
6.3.4.4 Glucose Engines Caramelization is not oxidation, but rather is an endothermic
There are many pathways for glucose oxidation in the human decomposition process involving successive dehydration, condensation,
body, some which directly involve molecular oxygen. For instance, and polymerization reactions, that includes the making and breaking
the glucose-6-phosphate dehydrogenase and the 6-phosphogluconic of covalent bonds, resulting in brown melanines3109-3111 and possibly
dehydrogenase enzymes both employ molecular oxygen directly to some carbonization.3087 At 433 K the total translational kinetic
oxidize a glucose derivative. Although evolution has largely replaced energy of the 7 oxyglucose reactant molecules would be 7(3/2)(kT)
pathways involving direct combination with oxygen, there are still ~ 63 zJ.
a number of organisms (molds, some bacteria) which have retained What is the minimum ignition pressure (Pignition) of glucose?
these primitive pathways and a few can even be found in mammalian Pressures of 5,000-15,000 atm deactivate antibodies, enzymes, and
tissues. For example, enzymes in the liver use the reactions: proteins (Table 10.3), and ignition temperatures normally fall with
rising pressure in combustion reactions.583,584 In food science, the
Glucose + O 2 glucose
oxidase→ well-known Maillard reaction (“browning”)3109-3111 between amino
{Eqn. 6.14}
acids from protein (mainly lysine) and reducing sugars (glucose and
Gluconic acid + H 2O 2 + 131 zJ
lactose) involves a potpourri of Amadori rearrangements, Schiff ’s
with base formations, and Strecker degradations, and occurs during heating
1 (cooking) and pressurization (e.g., the glucose-lysine system at 6000
H 2O 2 catalase
→ H 2O + O + 166 zJ {Eqn. 6.15} atm),3108 and even occurs slowly at body temperature, producing
2 2
One very crude approach for medical nanorobots is to use mecha- insoluble melanoids and glycosylating proteins during aging
nochemistry techniques to force an exothermic chemical reaction, (Chapter 29). Initiating the Maillard reaction apparently requires
making a change in volume or generating heat which is subsequently 108-174 zJ/molecule (15.5-25 Kcal/mole),3110 the rate increasing
exploited to produce mechanical motion. Given that glucose may 2-3 times with each 10 K temperature rise.3111 Pressure-induced
peroxidation of lipids has been shown,3113 with browning greatly
accelerated by pressurized oxygen.3218 It is also well-known that the
hydrocarbons found in oils and greases, and many other organic
compounds, will “ignite almost spontaneously” in oxygen stored in
compressed tanks at ~150 atm.3114 Upon contact with liquid oxygen
(LOX), paper, textiles, asphalt, tar, kerosene, wood, stainless steel,
teflon, and silicones are combustion hazards, and pulverized organic
materials such as sawdust, polystyrene and charcoal,3119 and powdered
magnesium, can spontaneously ignite or explode:3115-3118 “when
saturated with LOX these materials have exploded after an impact
as slight as a footstep”.3116 The density of oxygen molecules trapped
in a mechanochemical binding site at 1000 atm is 12.6 molecules/
nm3, not much below the ~21.5 molecules/nm3 density in LOX
(Table 10.2).
Lacking firm experimental data, we provisionally approximate
Pignition as the minimum ~63 zJ activation energy (required to
induce covalent bond modification during caramelization), divided
by the total reactant volume at 310 K computed by summing the
volumes of one glucose (1.91 x 10-28 m3/molecule) plus 6 molecular
oxygens (8.85 x 10-29 m3/molecule at 860 atm using van der Waals’
equation; Section 10.3.2). The required energy density is 8.7 x 107
Fig. 6.3. Sussmann-Katchalsky chemomechanical turbine. joules/m3, which can be supplied to the reactants by applying a
150 Nanomedicine • Volume I
is later used as combustion reactant. Drive gas is recharged, and inside a spherical void electrodynamic levitator constructed as two
effluent gases are drained off, each process taking ~10-7 sec, once joined hemispheres,655 and more complex configurations have been
every 100 millisec discharge cycle. designed.658,659 Electric suspension bearings for micromotors using
a resonant circuit driven by radio frequency AC voltage can achieve
D. Electrodynamic Suspension—It is crucial to avoid any thermally stable levitation of charged objects without requiring feedback sig-
conductive physical pathways until the cycling Stirling engine (or nals or sensors,656,657 and stable passive trapping may also be achieved
other intentional energy transfer mechanism) calls for heat. Even using cylindrically symmetric dielectrophoretic levitation electrode
the best thermal insulators such as wood, plastic and glass have structures.660 Translational and rotational motions may be imposed
conductivities Kt = 0.01-1 watts/m-K (Table 8.12, Appendix A), on the suspended object by applying appropriate DC or oscillating
so a 10-nm cube of such material straddling a ∆T = 290 K temperature fields.
differential conducts away the entire energy store of Estore ~ 1 pJ in Levitation is particularly effective at the smallest scales.
~0.1-10 microsec. Using Nrod = 6 carbyne rod supports, each of Electrically levitating an object of thickness t, density ρ, and dielectric
cross-sectional area Arod ~ (0.2 nm)2, length Lrod = 100 nm, and Kt strength κ ε0, against a gravitational acceleration g requires an electric
= 2000 W/m-K for diamond, the thermal leakaway time is: field:656
1/2
8 ρ g t
E lev = {Eqn. 6.18}
E store L rod {Eqn. 6.17} κ ε0
t leak = = 0.7 microsec
N rod A rod K t ∆T
If r = 1000 kg/m3, g = 9.81 m/sec2, t = 100 nm, κ = 2.1 (e.g.,
still much too fast. (J. Soreff notes that glasslike disorder in molecu- Teflon), ε0 = 8.85 x 10-12 farad/m, then Elev = 20,000 volts/m or 20
lar chains may be obtained by placing C12 and C13 atoms randomly mV across a 1 micron gap (~typical in biological cells). Two unit
throughout the carbyne structure, rendering local most of the high charges separated by 100 nm in vacuo feel a mutual repulsion of
spatial and temporal frequency modes and possibly significantly ~0.1 pN, sufficient to resist an external acceleration of ~104 g’s on a
reducing thermal conduction. For somewhat weaker strands, (100 nm)3 block of density ρ = 1000 kg/m3; 104 g’s is the largest
N/CH or O/NH/CH2 units might be intermixed with similar natural acceleration imposed on objects of this size inside the
effect.) Fortunately, vacuum non-contact isolation of the entire human body (Section 4.3.3.2) and is near the maximum safe
combustion assembly also is possible via electric levitation. acceleration for human cells (Chapter 11).
Earnshaw’s theorem2172 states that static levitation against gravity is One possible stable open-loop levitation configuration is shown
not possible in classical physics using any combination of fixed schematically in Figure 6.4C, wherein the combustion assembly is
magnets or electric charges. However, stable levitation may be achieved affixed to a simple permanently-polarized dipole electret carrier
by using quantum effects (Section 9.2), diamagnetic suspension which is itself electrodynamically levitated by same-sign control
materials, 2173,2174 rotation of the suspended object as in the electrets positioned at either end. Thermal electrets (electric field
levitron,2175 oscillating magnetic fields,2176 or dynamic feedback applied across heated material727,2177) may be made of wax, Teflon,
control mechanisms. Three-dimensional electro-dynamic confinement or Mylar; several polymer electrets have extrapolated lifetimes of
of charged micron-sized aluminum particles was demonstrated several thousand years at room temperature.727 Homocharge electrets
experimentally in the late 1950s.654 From the formulas given, a (electron beam-embedded charges2177) may have longer lifetimes at
100-nm particle with 10 surface charges (charge/mass ~ 1) can be higher temperatures, or other thermostable electret materials with
stably confined to a 200-nm volume in a circular Lissajous pattern designed nanoscale charge patterns may be found.3099
using a ~1 volt hyperbolic quadrupole AC field at a ~10 MHz
resonance frequency plus a ~10 mV DC field to neutralize gravity. A E. Thermal Insulation. The combustion assembly shown in Figures
stiffer confinement field on micron-scale particles has been produced 6.4A and 6.4B measures (110 nm)2 x 90 nm. For an isolated hot
152 Nanomedicine • Volume I
surface in proximity to a cooler surface, both surfaces of area A and compartments of the body having different chemical composition,
separated by vacuum, the rate of heat transfer is given by: generating a voltage proportional to the logarithm of the concentration
ratio. By this means, it has been proposed that power could be drawn
from the differences in oxygen and hydrogen ion concentration
(
Pclassical = A e r σ T24 − T14 ) {Eqn. 6.19}
between arterial and venous blood,590 or the acid-alkali differences
between the stomach fluids and surrounding tissue. Similarly,
with variables as defined for Pr in Eqn. 6.11; the peak vacuum emission trans-cytomembrane electrodes could develop potentials of 1-100
wavelength is given by Wien’s relation as: mV between cytosol and intercellular fluid. This would allow a 10
pW nanorobot to be powered by a current flow of 10 nanoamperes
0.2 h c at 1 mV through a 105 ohm load resistance, although power draws
λ max = {Eqn. 6.20} exceeding ~100 pW might prove electrokinetically disruptive to the
k T2
cell. Also, this source may be less reliable for dying or challenged
which, for h = 6.63 x 10-34 joule-sec, c = 3 x 108 m/sec, k = 0.01381 human tissue.
zJ/K, and T2 = 310 K, gives λmax = 9.3 microns; at T2 = 540 K, λmax Biogalvanic energy sources590,3527-3530 exploit the electrochemical
= 5.3 microns. potential between metallic electrodes (the fuel) in an electrolyte
At planar separations d λmax, radiative power is independent solution. Two broad classes of galvanic pairs which generate electrical
of separation distance. However, at smaller separations d < λmax, energy have been investigated for medical use: those in which both
radiative heat transfer may be greatly enhanced due to near-field anode and cathode are consumed and go into solution, and those in
coupling of nonradiative electromagnetic modes in the surfaces.652,653 which the cathode is inert. In the first group, zinc (anode) and silver
In particular, surfaces at temperatures between 300-600 K transfer chloride (cathode) electrodes have been implanted in
heat approximately as ~(σcond d 4) -1 for 0.2 micron d 2 human test subjects for up to two years. The Zn goes into solution
microns, where σcond is electrical conductivity. Surfaces with 10 nm as Zn++; the AgCl cathode is converted into Ag and the Cl- ion goes
d 200 nm again exchange energy independent of d, but into solution. This chemoelectric source generates steady currents
according to: of ~0.2 picoamperes/micron2 at ~1 volt or ~10 pW/50 microns2 of
electrode surface at 70%-90% efficiency, an energy density of 107
4 π 2 k3 watts/m3 assuming 20-nm thick electrodes. Similar output is
Panomalous ~ 0.574 A 2 2 σ cond T22 (T2 − T1 ) ( watts)
h c obtained from galvanic pairs in the second group, of which the best
studied is a zinc anode coupled with a palladium or platinum-black
{Eqn. 6.21} cathode; molecular oxygen combines with water at the cathode pro-
The basic energy exchange relation for d < 200 nm is simply Pglu ducing OH- and H+ ions. Unfortunately, galvanic sources provoke a
= Panomalous + Pext, where the combustion power Pglu = nglu Eglu / tglu, significant host reaction, including formation of layers of necrotic
nglu = number of glucose molecules oxidized per cycle (e.g., 3 x debris, free neutrophils, granulation tissue and complete fibrous
105), tglu = combustion cycle time (e.g., 100 millisec), and Pext is the connective tissue encapsulation of long-term implants.590,3512
working power extracted by the Stirling engine. Assuming d = 100 The biofuel cell590,3526,3527 relies upon redox reactions in which
nm, a highly conductive silver or aluminum surface with σcond neither anode nor cathode is consumed but merely act as catalysts,
~4-7 x 1018 sec-1 results in a negligible temperature differential (T2 - T1) potentially a great advantage in nanomedical applications. The biofuel
~ 0.0001 K. However, a germanium surface (melting point 1211 cell that has received the most attention for nanomedicine is the
K) with σcond ~1011 sec-1 could allow a useful operating temperature T2 oxyglucose cell, which could rely upon an electrochemical process
> 600 K, giving a maximum Carnot efficiency (T2 - T1) / T2 = in which glucose is oxidized at the anode and molecular oxygen is
0.48(48%) (vs. ~25% for gasoline internal combustion engines). reduced at the cathode according to the following equations:
With device volume ~0.02 micron3, power density would be ~109
watts/m3. A boron surface (m.p. 2573 K) with σcond ~ 107 sec-1 C6H12O6 + 6H2O → 6CO2 + 24H+ + 24e- (anode)
might provide even better vacuum insulation properties. More
research is required on the mechanisms of anomalous radiative heat {Eqn. 6.22}
transfer in order to fully assess the feasibility of this approach.
6O2 + 12H2O + 24e- → 24OH- (cathode) {Eqn. 6.23}
6.3.4.5 Chemoelectric Cells
The human body provides a renewable source of chemoelectric
Decades-old experiments using platinum black electrodes594
energy that may be tapped by various means. As long ago as 1959,
produced ~0.6 picoamps per micron2 of electrode surface at ~0.3
Pinneo and Kesselman595 reported powering an FM transmitter by
volts, with power levels of 0.2 pW/micron2 in vitro (declining over
simply inserting two steel electrodes into the brain of a cat, generating
time due to the formation and absorption of gluconic acid at the
0.5 microamperes at 40 millivolts. In another experiment by
anode), but only 0.004 pW/micron2 in vivo (when implanted in rat
Reynolds596 in 1963, electrodes inserted subcutaneously and or rabbit test animals) in part due to poisoning of the catalytic
abdominally into an anesthetized rat produced 400 millivolts and anode action by proteins. Complete electrochemical oxidation of
~10 microwatts, powering an oscillator circuit for 8 hours with no glucose has not yet been demonstrated experimentally. 1015
sign of decline.* Since then, three classes of bioelectric energy have Controlled-permeability membranes may eliminate these problems
been distinguished: ionic concentration, biogalvanic, and biofuel in nanomedical applications, but even using the aforementioned
cells. electrodes might allow a continuous power density of 107 watts/m3
The ionic concentration cell may exploit differences in chemical for a 10 pW oxyglucose biofuel cell using 50 micron2 of electrodes
concentration by placing two similar electrodes in different 20-nm thick. Since gluconic acid can also be oxidized at potentials
*Interestingly, when the rat was finally administered an instantly lethal intracardial injection of Nembutal the voltage required 75 minutes, after death, to fall to zero.
Basic Capabilities • Power 153
which oxidize glucose, gluconate may not be the only byproduct, J. Soreff notes that the oxyglucose biofuel cell can in theory
thus appropriate means of disposing of any potentially undesirable operate near the thermodynamic limit but may require the design
byproducts must be included in a practical design. The addition of of a complex sequence of catalytic reactions, not unlike microbial
specific catalysts (e.g., ruthenium) to the electrodes could be helpful. metabolism.2427 The glucose/gluconic acid source may have lower
Ethanol fuel cells, though inefficient, are already in wide efficiency due to incomplete oxidation but could be useful in early
commercial use. For example, the Lion alcolmeter fuel cell alcohol systems because it requires optimization of catalytic sites for just
sensor2428 employs catalytic platinum electrodes (supported on a one reaction. On the other hand, the production of protons and
~1 cm3 PVC matrix disk assembly impregnated with acidic electrolyte) electrons from complete oxidation of glucose potentially encompasses
to produce electron flow by oxidizing ethanol to acetic acid a lengthy biochemical chain which possibly may be implemented us-
(producing two free electrons per alcohol molecule) at the anode ing sets of immobilized enzymes in the manner of mitochondrial respi-
and reducing atmospheric oxygen at the cathode. Normal alcohol ration. (Mitochondrial power density is 105-106 watts/m3.)781,786
working concentrations are 5-900 parts per million typically There are limits to efficiency set by mismatches between redox
producing up to ~10 microamps at ~5 millivolts across a 390 ohm potentials at various steps in a respiratory chain. Given a single anodic
load, or ~50 nanowatts (power density at most ~0.1 watt/m3). The chamber with a common electric potential and pH, concentrations
Lion fuel cell can also produce energy from all primary and secondary of intermediates must be unequal to compensate for the redox
aliphatic alcohols but not from aldehydes, ketones, ether, esters, potential mismatches at various steps. If these concentrations are
hydrocarbons or carboxylic acids. Other manufacturers of electro- too unequal, then the lowest concentration in the chain becomes
chemical fuel cells for alcohol sensing include PAS Systems, Guth the rate-limiting intermediate for the entire process. Throughput
Laboratories, and Intoximeter.2429 Direct methanol fuel cells also may be optimized by careful choice of intermediates, couplings
were under development in 1998. between reactions, and catalyst design. To oxidize glucose, in biology,
The following analysis was prompted by R. Merkle’s suggestion glycolysis requires ~18 enzymes, the TCA cycle ~9 enzymes, and
that an oxyglucose biofuel cell using nanoscale membranes might the pentose phosphate pathway ~9 enzymes.526 Soreff suggests that
achieve significantly higher power densities than indicated by past a slightly different strategy is to have separate oxidation/proton
experiments (Fig. 6.5). Consider a proton (H + ) exchange chambers for each stage in the catalytic pipeline, allowing inter-
nanomembrane consisting of a 1 nm thick diamondoid sheet mediates to diffuse through semipermeable membranes or to be trans-
containing a number of very narrow pores each lined with atoms of ported via molecular sorting rotors. This transfers the problem of
oxygen, fluorine or nitrogen, creating negatively charged channels with matching redox potentials into the electrical domain where it is more
high proton affinity. A channel narrow enough to admit only protons easily resolved.
but nothing else (~0.1 nm, excluding even helium atoms) and Oxyhydrogen fuel cells are another possibility, though probably
surrounded by a ~3 atom thick support wall makes a ~1 nm3 pore at much lower power density because hydrogen must first be produced
structure ~1 nm wide. from the glucose fuel. This occurs naturally in the energy-generating
The power generated by each pore due to proton flow is Ppore = q N hydrogenosomes of the trichomonads (which use the enzymes
Vp, taking q = 1.6 x 10-19 joule/proton-volt, N is the proton flow pyruvate:ferredoxin oxidoreductase and hydrogenase) and in the
rate in protons/sec, and Vp is the electrical potential through which laboratory using related enzymes (from bacteria that live near hot
the charges fall. Experimental observations suggest Vp may reach underwater vents) to convert glucose into hydrogen gas and water.
0.75 volt at zero load, but averages 0.3-0.6 volts at moderate loads;594 In a modern 350 K oxyhydrogen fuel cell, O2 and H2 are fed into
for this analysis, Vp will be taken as ~0.5 volt.1017 As for N, the adjacent chambers separated by a proton exchange membrane. This
nicotinic acetylcholine receptor channel (Section 3.3.3) has a membrane allows only H+ ions to flow to the O2 side, making water as
0.65-2.2 nm inside diameter and allows 2.5 x 107 Na+ ions/sec to the sole waste product and establishing a net negative charge on the
pass while the channel is open, comparable to the transport rate of H2 anode and a net positive charge on the O2 cathode, an electrical
artificial transmembrane peptide nanotube ion channels.1177 Taking potential of ~0.6 volts under load. This chemoelectric process is at
this flow rate as representative for N, then Ppore ~ 2 pW/pore. least ~50% efficient but typically achieves only 104-106 watts/m3
Redox fuel cells using transition metal catalysts typically achieve partly due to hydrogen’s low volumetric energy density and partly
ncat ~ 10 catalytic events/sec/catalytic atom.1017 Oxidation of each due to the crude membranes currently in commercial use. Bacte-
glucose molecule produces 24 protons, so the required catalytic rate rium-based biofuel cells have also been investigated.2427,3531
is N/24 ~ 10 6 glucose molecules/sec per pore which in turn
requires N / (24 ncat) ~ 105 metal catalyst atoms per pore. Taking Pt 6.3.5 Electrical Energy Conversion Processes
atoms as representative, 105 Pt catalyst atoms have a volume of ~1500 Microscale electrostatic motors have been fabricated since the
nm3. Including the 1 nm3 pore structure and doubling the volume late 1980s and are the subject of great current research interest.556,557
to allow for catalyst dispersal, fluid access and structural overhead Commercially available micromachined rotors ~1 micron thick and
gives a 3000 nm3 single-pore catalytic unit generating 2 pW, or a ~100 microns in radius respond to electric field intensities >108
power density of ~7 x 1011 watts/m3. (Assumed catalyst atom usage volts/m producing motive torques of ~10 pN-m by converting
is ~1017 atoms/watt; in 1999, the best Pt-catalyzed proton exchange electrical to mechanical energy, achieving power densities in the
membranes required ~1018 atoms/watt.3264) The current flow of 4 104-105 watts/m3 range with device lifetimes approaching 107
picoamps through each (0.1 nm)2 pore gives a current density of 4 rotations.556
x 108 amps/m2, well below the ~1010 amp/m2 maximum current Drexler10 has described a class of submicron direct-current (DC)
density in bulk aluminum (Section 6.4.3.1). Since ~106 glucose electrostatic motors capable of converting between mechanical and
molecules/sec are consumed per pore and each glucose molecule electrical power in either direction at a power density of ~4 x 1014
represents 4765 zJ of free energy, then total energy available is ~4.8 watts/m3 and an estimated efficiency >99%. (Typical macroscale
pW/pore. Thus it appears the device may be 2 pW / 4.8 pW ~ 40% brush DC motors can have 55%-75% efficiencies, while DC
efficient, though this figure is highly voltage-dependent. brushless motors can have efficiencies as high as 95%.)
154 Nanomedicine • Volume I
Fig. 6.5. Schematic of oxyglucose biofuel cell with proton exchange nanomembranes.
In one implementation (Fig. 6.6), electric charge is placed on resonators such as quartz, when subjected to an electric field, expand or
the rim of a rotor as the rim passes within a dee electrode. This contract depending on the orientation of the field to the piezoelectric
charge is then transported across a ~3 nm gap to the interior of the polarization. For example, applying 100 volts across a 750 micron
opposite dee electrode, where it is removed and replaced by a charge thick piezoelectric crystal causes it to deform by ~37 nm, or ~0.4
of opposite sign. Applying a voltage of proper sign across the dees nm/volt.628 There are also piezoelectric rotary actuators, with rotations
causes the charges in transit to apply a torque to the rotor (like a measured in ~arcsec. The feasibility of fabricating ~1 micron thick
Van de Graff generator operating in reverse), converting electrical into quartz resonators by etching techniques was demonstrated decades
mechanical power.10 As a specific example, a motor 390 nm in ago.554,555 PZT crystals are commonly used to provide movement
diameter and 25 nm thick driven by a electric field strength of ~0.2 x of samples being examined in scanning probe microscopes such as
109 volts/m spins with a near-maximum rim velocity of ~1000 m/sec; STMs and AFMs. 1093 Piezoelectric drivers used in bimorph
a current of ~110 nanoamperes and an electric potential of ~10 configurations as electromechanical transducers can produce large
volts yields a power output of ~1.1 microwatts. Single mechanical displacements but relatively small forces.545 Dielectric
electron-transfer events at nanometer electrodes have been generated induction micromotors 2 microns thick and 100 microns in diameter
and measured experimentally,878 and macroscale “Dirod” electrostatic operating in water can be driven at 250 rev/sec at 110 volts applied
generators have been operated as electrostatic motors in a student potential, converting electrical to mechanical motion and producing a
laboratory.3098 torque of 0.3 pN-m.552 Electroactive polymers (EAPs)3013,3124 and
Electrical energy is also converted into mechanical energy via electrostrictive polymers such as i-PMMA are being investigated
the inverse piezoelectric effect.553 Piezoelectric materials such as for use in “artificial muscles”; 1301 an exceptionally high
lead-zirconate-titanate ceramics (PZT) and natural mechanical electrostrictive response (~4%) has been observed in
Basic Capabilities • Power 155
electron-irradiated P(VDF-TrFE) copolymer.1594 Electromechanical photon per 106 electrons—even a single nanotube makes a faint
actuators based on sheets of single-walled carbon nanotubes have but visible glow,1995 another case of electrooptical energy transduction.
been described.3238 Even bone can be made into an electret.1941 Magnetomechanical transduction has also been employed to
Electrostatic actuators can produce substantial mechanical forces. remotely power centimeter-size simple legged robots using
One electromechanical transducer described by Drexler10 is a capacitor magnetostrictive alloys as magnetic field-driven actuators in an 80
with one plate fixed and connected to a signal source, with the other Hz 1-tesla field,564 but this approach may find only limited utility
plate grounded via a tunneling junction, leaving it free to move in nanomedical systems because molecular-scale drives suffer from
within a small range of displacements. One design with a 1-nm the adverse scaling properties of electromagnet fields.10 Magnetic
stroke length and a (12 nm)2 plate area transduces an electrical sensors (Section 4.7.2), perhaps using molecular magnets,2598-2600
voltage varying from 0-5 volts into a mechanical signal ranging from possibly could be employed as power transducers.
0-1 nN.
A similar implementation for electromechanical transduction 6.3.6 Photonic Energy Conversion Processes
involves drawing a dielectric slab of area Aslab and dielectric constant Visible light falling on a blackened surface is quickly absorbed
κslab into a gap dgap between the plates of a charged capacitor at and thermalized, the simplest example of photothermal transduction.
voltage Vcap producing a field-dependent force, making a simple Such transduction is reversed in solid-state optical refrigerators,
mechanical dielectric drive. Applying a time-varying input voltage which achieve cooling with 2% energy efficiency by flooding a
of frequency νd (Hz) produces a mechanical output power of: sample with infrared photons of a particular frequency that will
dampen molecular vibrations, then allowing the object to shed
ε A 1 2 energy as higher-energy fluorescent light.549
Pn = 0 slab 1 − ν d Vcap {Eqn. 6.24}
Optomechanical transduction has been demonstrated by using
2 d gap κ slab
low-power laser light impinging upon an optofluidic convertor to
For ε0 = 8.85 x 10-12 coul/N-m2 (vacuum permittivity constant), create a pressure pulse of sufficient magnitude to operate a pneumatic
Aslab = 100 nm2, dgap = 2 nm, Vcap = 1 volt, κslab = 5.7 for diamond actuator in a push-pull mode,544 and an optical thermal “Brownian
at 300 K, and νd = 5000 Hz, Pn = 0.001 pW (power density 5 x 109 ratchet” uses rotating laser light to rectify the Brownian motion of a
watts/m3) and the force applied on the slab during ∆x = 1 nm micron-scale plastic bead.1043 Laser-heated gas micro-actuators have
displacements is Pn / (∆x νp) ~ 1 nN. been studied,560,640 and scattering forces from optical tweezers have
Electrothermal energy conversion occurs during simple joule been used to rotate small particles and thus may provide a means to
heating, or during Seebeck effect or Peltier effect cooling, when power nanomachines by nonmechanical means.775 Photoacoustic
current passes through a bimetallic junction causing one side to get transduction has been induced directly in piezoelectric indium
hot and the other side cold.1034,1035 gallium arsenide optical signal delay devices714 and in “photostriction”
Electrochemical transduction may occur in enzymes with electric materials such as PLZT,1065 and indirectly in aqueous suspensions of
field-sensitive conformational states,814 in voltage-gated ion channels 30-nm carbon particles illuminated by a pulsed laser.1056 A 200-
and nanomembranes (Section 3.3.3), and in electrolytic cells which micron long, 600-nm thick silicon nitride beam with a 250-nm
are chemoelectric cells (Section 6.3.4.5) operated in reverse. thick coating of a glassy material made of arsenic and selenium
Quantum-well nanostructures can be useful in fabricating (chalcogenide) contracts ~1 nm when illuminated by photons
electrooptical transducers such as light-emitting diodes, electro- polarized along the length of the beam, and expands ~1 nm when
luminescent displays and submicron-scale solid-state lasers (Section illuminated by photons polarized across the width of the beam.877
5.3.7), and electrochromic glass with voltage-dependent transmittance A ~300-micron optomechanical motor with diffraction grating
permits optical gating. Electric current sent through carbon developed for the DARPA MOEMS program operates at 20 volts
nanotubes causes both field emission and luminescence, about one and spins up to ~80 Hz.1663
Light-driven proton pumps achieve optochemical transduction
when optical photons shining on a photosensitive minicell activate
a proton pump that pumps hydrogen ions across a membrane, thus
building up a large ionic charge differential across the membrane
and chemically storing the energy of the incident light. Experimental
photoelectrolysis cells producing hydrogen and oxygen from sunlight
and water with 12.5% energy efficiency have been built.1519 Green
plants are optochemical transducers, but only 1-3% of the photonic
energy falling upon a green plant is converted to chemical energy
because most of the incident radiation is lost by reflection, trans-
mission, or absorption by non-chloroplast pigments. Of the photons
falling directly upon active photosynthetic pigments, up to ~35% is
converted to chemical energy. Certain bacteria also employ photo-
chemical transduction. Activation of unimolecular chemical reactions
by ambient blackbody radiation has been demonstrated,1122 and
10-100 GHz rotation in nanotube gears with dipole charges using
laser-generated alternating electric fields has been simulated
computationally.1235,1236
Photoelectric cells are a well-known technology for converting
Fig. 6.6. Submicron direct-current electrostatic motor (schematic optical to electrical energy. Commercial solar panel arrays3047
only, not to scale; redrawn from Drexler10). currently achieve ~105 watts/m3, although polymer thin-film
156 Nanomedicine • Volume I
(100-200 nm) photovoltaic cells may reach ~106 watts/m3 at only ~102 Rα and the range of γ photons and fast neutrons of equal energy
5.5% efficiency.1059 Multilayer multi-band-gap photovoltaic cells is ~104 Rα, although “range” for these particles is imprecisely
can convert solar energy to electrical energy with efficiencies defined because beam intensity is never truly reduced to zero but
>30%,562 and photocells and various natural photoreceptors such rather decays exponentially with increased shielding. Partly because
as the LH2 (light harvester) molecular complex of the of the heavy shielding required, 61Pm147-powered betavoltaic batteries
Rhodopseudomonas acidophila bacterium can achieve efficiencies of developed in the 1970s achieved only ~30 watts/m3,603 while
238
60%-90% at selected monochromatic wavelengths.3532,3533 Photo- 94Pu -powered thermoelectric batteries produced up to ~58 watts/
3 631
electric dendrimeric light-harvesting molecular antennas have been m ; over 2300 nuclear-powered cardiac pacemakers were implanted
designed and synthesized.2586-2591 without mishap during 1970-76,633 but new implantations apparently
In the 400-700 nm optical band only, direct (cloudless noon- ceased in 1983.3492
time) sunlight energy flux is 100-400 watts/m2. Taking the 100 The absorption of α-particles in matter results almost
watts/m2 figure and applying a 30% conversion efficiency, power entirely from collisions with electrons, or ionization reactions, which
supply Pn to a nanodevice of circular cross-section of radius R is Pn create 105-106 ion pairs per ~MeV α-particle (depending upon
~ 100 (30%) π R2 watts in direct sunlight requiring a circular absorber material), slowing the particle almost to a halt. For some
collector spot ~0.7 microns in diameter to power a 10-pW nanorobot. light-nucleus absorbers, there may also be an extremely small
Fullerene sheets exhibit interesting opto-electronic effects: high-intensity contribution from direct interactions with the nucleus.
light shined on one side of a sheet induces an electrical voltage Alpha-particles with energies as low as 4.8 MeV (e.g., from 88Ra226)
potential on the other face. Progress is also being made in developing were observed to transmute atoms of all elements from 5B up to 19K
optically pumped (optophotonic) molecular lasers.990 (except for 6C and 8O) with the emission of protons.1007 Low-energy
Low-frequency photons such as radiofrequency signals are readily α-particles can also occasionally transmute light-atom nuclei to
converted into electrical current using millimeter-scale loop antennas produce neutrons—one of the strongest such reactions involves 4.6
(Section 6.4.2). For example, a 2-mm x 10-mm device implanted MeV α-particles emanating from 86Rn222 striking a 4Be9 absorber,
subdermally with a hypodermic needle electrically stimulates muscle wherein one α-particle out of every 5000 enters the beryllium
using rf telemetry for control and power, in order to restore human nucleus and sends out a neutron (with a much longer range than an
motor functions.563 α-particle of equal energy), a 0.02% reaction probability.1008 Thus
the worst case (e.g., shield materials are poorly chosen) is one
low-energy proton or neutron emitted per 109 - 1010 ion pairs
6.3.7 Nuclear Energy Conversion Processes
generated (e.g., ~1 every 2000 sec at an α-particle current of 1
The concept of using nuclear energy as a power source for
picoamp), though most such secondary reactions have far lower
nanorobots has not been widely discussed or explored3294, in part
probabilities.
for sociocultural reasons. This Section describes a feasible radionuclide
However, naturally emitted α-particles generally cannot
power system which emits essentially no radiation into the
penetrate the nuclei of heavier elements and therefore generally cannot
surrounding tissue. This is followed by a brief examination of the
create significant secondary radiation in heavy-nucleus absorbers,
challenges in harnessing fission and fusion in medical nanodevices,
hence shielding should be made from heavier elements. To first
and a few other somewhat speculative possibilities.
order, overcoming Coulomb repulsion and entering the nucleus
requires an α-particle energy Erepulse > 2 Z e2 / 4 π ε0 rnucl (joules),1005
6.3.7.1 Radionuclides
where Z is atomic number (nuclear charge number), e = 1.60 x 10-19
The most common mode of fissile energy release occurs when
coul (elementary charge), ε0 = 8.85 x 10-12 farad/m (permittivity
an unstable radioactive atomic nucleus emits a small particle such
constant), and Rutherford’s classical formula for nuclear radius rnucl
as an electron (β- decay), a positron (β+ decay), a helium nucleus
~ ρnucl Z1/3,1006 where ρnucl ~ 1.6 x 10-15 m.* Thus for example,
(alpha decay), or a high-energy photon (gamma decay), often
using a 78Pt absorber, rnucl ~ 7 x 10-15 m and Erepulse > 33 MeV; with
transforming the nucleus into another element. Selection of an
a 32Ge absorber, rnucl ~ 5 x 10-15 m and Erepulse > 18 MeV. In either
optimum radioactive fuel is guided primarily by safety criteria:
case, the 2-4 MeV low-energy natural-emission alpha particles likely
A. Penetration Range — The mass of the α-particle is ~7000 to be employed in nanomedical nucleoelectric systems (Table 6.5)
times greater than that of an electron, so the velocity and hence the have energies about an order of magnitude smaller than Erepulse.
range of α-particles in matter is considerably less than for
β-particles of equal energy. Consequently the optimum B. Gamma Rays — Gamma rays are toxic to most biomaterials,
radionuclide for medical nanorobots is predominantly an α emitter. A have the greatest penetrating power, dissipate useful fissile energy,
simple “stopping power” approximation567 for the range of 1-10 and may foster erosion of shielding due to electron-positron pair
MeV α-particles is: creation. Thus the ideal medical nanorobot radionuclide fuel emits
no γ-rays during disintegration.
R α (microns) ~ 430 E1.3 −0.6
MeV ρ absorb
{Eqn. 6.25}
C. Decay Chain — Radioactive elements typically decay to
where EMeV = energy per α decay (MeV) and ρabsorb = absorber density progressively lighter elements which may also be radioactive. Ideally,
(21,450 kg/m3 for Pt). Thus a 3 MeV α-particle (initially traveling at each of the daughter products of the ideal radionuclide should meet
~0.04c) has a range of ~2 cm in air, ~30 microns in water, the above criteria for the entire decay chain down to stable nuclei.
~10 microns in germanium, and ~5 microns in platinum, with a Since each decay event produces a fixed amount of energy, power
fairly sharp cutoff and only ~1% straggling (fluctuation of particle density Prad of a radionuclide of density ρ is proportional to the
range around mean range). By contrast, as a crude approximation the number of disintegrations per second, or inversely proportional to
range of β-particles of equal energy (initially traveling at ~0.99c) is half-life, as:
*Some exotic artificial nuclei such as Li11 do not obey the classical Z1/3 rule.1128
Basic Capabilities • Power 157
k rad ρ E MeV
Prad = (watts/m3 ) {Eqn. 6.26}
AW t1/2 by a Stirling engine operating at ~50% efficiency. (Smaller spheres
of Gd148 run cooler.) While probably too large for most individual
where AW = atomic weight (gm/mole), t1/2 = half-life (sec), and krad nanorobot designs, such spheres could be an ideal long-term energy
= 109 ln(2) NA EeV where NA = 6.023 x 1023 atoms/mole (Avogadro’s source for a swallowable or implantable “power pill” (Chapter 26)
number) and EeV = 160 zJ/eV. To be useful in medical nanorobots, or dedicated energy organ (Section 6.4.4). A ~0.2 kg block of pure
t1/2 should be at least 10 days (~106 sec) or longer for convenience Gd148 (~1 inch3) initially yields ~120 watts, sufficient in theory to
of storage and use—ideally, commensurate with the anticipated meet the complete basal power needs of an entire human body for ~1
mission duration to preclude the need for potentially hazardous century (given suitable nucleochemical energy conversion and load buff-
refueling operations in vivo. Table 6.5 gives power densities Prad for ering mechanisms, and a sufficiently well-divided structure). Nuclear
several candidates and data for a few other benchmark radio- powered energy organs are discussed further in Section 6.4.4.
nuclides.763,764 A 1 micron3 block of radioactive gadolinium yields a useful ~3
Among all gamma-free alpha-only emitters with t1/2 > 106 sec, pW of thermal power. However, a minimum of 5 microns of Pt
the highest volumetric power density is available using Gd148 shielding is still required, so the minimum possible diameter of a
(gadolinium) which α-decays directly to Sm144 (samarium), a stable zero-emissions Gd148-powered nanorobot is ~11 microns,* reducing
rare-earth isotope. A solid sphere of pure Gd148 (~7900 kg/m3) of power density to ~104 watts/m3.** The low energy density would
radius r = 95 microns surrounded by a 5-micron thick platinum shield produce a surface temperature of 320 K, allowing only ~3% thermal
(total device radius R = 100 microns) and a thin polished silver conversion efficiency.** Higher efficiencies may be achieved using
coating of emissivity e r = 0.02 suspended in vacuo would semiconductor junction α-particle nucleoelectric transducers that
initially maintain a constant temperature T2 (far from a surface held convert the linear ionization trail of electron-hole pairs directly into
at T1 = 310 K) of: electrical current in ~10-9 sec (Fig. 6.7). Such ionization in silicon
and germanium is well-studied: the average energy loss per ion pair
1/4 produced by a passing α-particle is 3.6 eV (580 zJ) for Si, 3.0 eV
P r3
T2 = T14 + rad 2 ~ 600K {Eqn. 6.27} (480 zJ) for Ge;567 an 11-micron thick Ge wall is required to stop the
3 er σ R 3.18 MeV α-particles. A (1 micron)3 cube of Gd148 produces ~5
α-particles/sec, yielding an output current of ~1 picoampere at ~3
with a 75-year half-life, initially generating 17 microwatts of thermal
volts (e.g., ~3 pW). Unlike most nanomachinery for which a
power which can be converted to 8 microwatts of mechanical power
142
58Ce 1.6 x 1023 1.50 --- --- --- 3.0 x 10-8
235
92U 2.2 x 1016 4.35 --- 0.074-0.385 SF 1.1
210m
83Bi 8.2 x 1013 4.90 --- --- --- 1.9 x 102
150
64 Gd 9.4 x 1012 2.70 --- --- --- 1.0 x 103
14
6C 1.8 x 1011 --- 0.156 --- --- 1.5 x 104
226
88Ra 5.1 x 1010 4.77 --- 0.187-0.64 --- 1.4 x 105
148
64 Gd 2.4 x 109 3.18 --- --- --- 4.8 x 106
147
61 Pm 8.3 x 107 --- 0.225 --- --- 8.7 x 106
238
94Pu 2.8 x 109 5.48 --- 0.0436-0.875 SF 1.1 x 107
244
96Cm 5.5 x 108 5.79 --- 0.043-0.15 SF 2.0 x 107
250
98 Cf 3.1 x 108 6.02 --- 0.043 SF 3.6 x 107
35
16S 7.5 x 106 --- 0.167 --- --- 8.8 x 107
252
98Cf 8.0 x 107 6.11 --- 0.043-0.10 SF 1.4 x 108
248
98Cf 3.0 x 107 6.23 --- 0.045 SF 3.9 x 108
242
96 Cm 1.4 x 107 6.10 --- 0.04409 SF 8.4 x 108
210
84 Po 1.2 x 107 5.30 --- 0.79 --- 1.3 x 109
240
96Cm 2.3 x 106 6.26 --- --- SF 5.3 x 109
32
15P 1.2 x 106 --- 1.71 --- --- 6.5 x 109
244
98Cf 1.5 x 103 7.17 --- --- SF 9.2 x 1012
212
84 Po 3.0 x 10-7 8.78 --- --- --- 8.6 x 1022
SF = Spontaneous Fission
*The orbit radius rorbit of an α-particle of mass m = 6.68 x 10-27 kg, charge q = 2 x (1.6 x 10-19) coul and energy EMeV = 3.18 MeV circling in a uniform magnetic field
B = 1 tesla in vacuo is rorbit = (ka EMeV m / q2 B2)1/2 = 0.3 meter (ka = 3.2 x 10-13), about as wide as a human body, so more compact in vivo nanocyclotronic storage of α-particle
emissions to allow a controlled energy release is not feasible.
**Plutonium dioxide radioactive thermal generator (RTG) systems developed by NASA and DOE in the 1980s produced thermal power of ~105 watts/m3 and electrical power
of ~104 watts/m3, a ~10% conversion efficiency. Conventional large nuclear power plants average ~32% conversion efficiency, according to U.S. Federal Energy Information
Agency statistics.
158 Nanomedicine • Volume I
single-point failure would ordinarily be fatal to machine function10 destroyed, would deliver a ~500 rad lifetime lethal radiation dose in
(Chapter 13), the design presented here should be extremely resistant ~1 day; an unshielded ~0.2 kg block of Gd148 (~100 watt output)
to such failures. The C-C bond energy is also ~3.4 eV, so direct delivers an LD50 (see below) dose in ~10 seconds. Gd148 is a
nucleochemical transduction of α-particle energy into chemical form non-fissionable material, hence fissile chain reactions or explosions
is theoretically possible — conversion of carbonaceous material to are not possible. Indeed, gadolinium has the highest neutron
diamond crystal by fission fragment irradiation has been absorption cross-section of any known element and is more useful
reported.1029 in control rods or as a nuclear shield. As for chemical toxicity in the
Are Gd148-powered nanorobots safe? Yes, if their shielding event of a breach, ionic Gd is rapidly converted to colloidal hydroxide
remains intact. There are no β or γ emissions, and given adequate and phosphates in the blood, which is then rapidly taken up by the
shielding, no α-particles can escape. Significant shield erosion is reticuloendothelial system mostly in the liver and spleen;598 half-time
unlikely because: in the lung is ~2 hours.600 In macrophages, the rare earths localize
in lysosomes as insoluble phosphates.599 Rare earths such as Gd or
1. almost all α-particle interactions are with orbital electrons, not
Sm are not particularly toxic—LD50 is typically 0.5-5 grams/kg body
nuclei, of shield atoms;
weight,601 or 35-350 gm for a 70 kg human adult. No chemical
2. α-particle emission rates are low (e.g., ~5/sec); carcinogenicity or mutagenicity has been found.601 In 1998, Gd148
could be purchased from Los Alamos National Laboratory for $0.50/
3. radioactive impurities need not be present in nanomanufactured micron 3 . 2315 This cost must be significantly reduced for
structures; and Gd148-powered nanorobots to become economically feasible.
4. background radiation is not a major reliability issue for If greater operating power densities are required,
homogeneous components larger than ~10 nm (Chapter 13).10 radionuclide-powered nanorobots with power cores that are hotter
or are smaller than ~1 micron3 (but with shielded diameters still
In the extremely unlikely event of complete shield removal, >11 microns) will require switching to a less-safe material of higher
maximum range of α-particles in water or soft tissues is ~30 energy density, such as Po210, which decays to stable Pb206 with a
microns or ~one cell width. The radiation from the radioactive cores 5-month half life. For example, a Po210 spherical power core of
of ~1 billion Gd148-powered nanorobots, if all their shielding was radius 100 nm has a surface temperature of ~600 K and produces
~6 pW which may be tapped via heat engine as described earlier.
However, such a heat source also produces one 0.79 MeV gamma
photon every ~104 sec; unshielded, ~300 such photons represent a
lethal dose (~500 rad or ~5 joules/kg soft tissue) to a single
mammalian cell, giving a dose rate of ~10 millirad/hour vs.
~5 millirad/hour for the early implantable Pu238 nuclear thermo-
electric batteries.724 Thus the lifetime exposure* of any cell visited
by Po210-powered nanorobots is restricted for safety to at most ~1
nanorobot-month, which may be acceptable in many short-duration
applications. No such restriction would apply to the Gd148 device,
discussed earlier.
Larger amounts of energy (up to ~0.1% of rest mass) may be
released by the fission of a heavy atomic nucleus into nuclei of two
lighter elements of roughly equal mass, followed by any of ~50
distinct decay chains down to stable nuclei for the unstable fission
fragments, as for example:
U235 → mixed fission products + 200 MeV (3.2 x 1010 zJ)
{Eqn. 6.28}
which achieves ~0.091% mass conversion to energy. During fission,
typically one neutron is absorbed by a nucleus but 1-3 neutrons are
emitted, making possible a chain reaction. In effect, neutrons act as
fission catalysts. Nuclear species which may support a
net-energy-producing fissile chain reaction include U232, U233, U235
Fig. 6.7. Schematic of semiconductor-junction nucleoelectric (critical mass ~ 3.6 kg), Pu239, Am241 and Am242 (thermal or fast neu-
transducer. trons) and Th232, Pa231 and U238 (fast neutrons only). From a
*The rad is the standard unit of absorbed dose, defined as 1 rad = 0.01 joule/kg. LD50 is the absorbed dose that produces lethality in 50% of all exposures, typically 400-500
rads for human tissue. The traditional LD50 for a 70-kg human body (~500 rads) thus requires the absorption of ~350 joules. For a single ~10 nanogram human liver cell,
assuming the traditional LD50 (~500 rads) would require the absorption of ~50 pJ of ionizing radiation energy. To rigorously assess the safety of radiation emitted from
nanorobots, the effects of the particular radiation on specific cells or organs must be evaluated.3075-3078 There are large differences in organ sensitivity, ion-mass sensitivity,
and environmental sensitivities such as variations in iron, Vitamin C, or melatonin levels. Lethality of cells is at one end of a continuum which also includes lower-dose effects
(e.g., cancer transformation rates) that disturb the cell’s function without killing it, thus harming the body the cell is serving. The availability of cellular repair devices vastly
increases both LD50 and traditional “lifetime exposure” radiation limits that may be tolerated by humans (Chapter 24). Substantial genomic, biotechnological, and
nanotechnological engineering to increase the radiation tolerance of cells (Chapter 24) also could help to minimize cancer risks and birth defects, and to allow human beings
to more easily live and work in space. Nevertheless, a fundamental nanomedical design principle is to avoid using devices whose normal behavior causes additional damage
to the body (Chapter 11).
Basic Capabilities • Power 159
*More recent hydrodynamic simulations of a 10-micron D2O-vapor-doped D2 gas bubble compressed to 0.38 micron in 0.5 microsec using a 5-atm triangular spike superimposed
on a 1-atm 27.6 KHz oscillating driving pressure produces a 2.2 KeV peak central temperature ~11 picosec before the bubble reaches minimum radius, which should be hot
enough to generate at least a small number of thermonuclear D-D fusion reactions in the bubble.933
160 Nanomedicine • Volume I
(<1200 K) mixtures of hydrogen isotopes, with D-T reaction rates Wires of LiD exploded by high current pulses also emit fusion
of ~109 sec-1.608,610,611 The field has had its own technical journal, neutrons.622
Muon Catalyzed Fusion, since 1987, and there are excellent recent
review articles.663,664 But muon catalysis has long been considered E. Metallic Deuterides — Most controversial is the speculative
impractical for large-scale fusion reactors because the muon is relatively possibility of metallic deuteride catalyzed fusion at temperatures
short-lived (2 microsec) and is quickly captured by a helium nucleus between 300 K–1100 K,615-617,624,740,3438 first reported (then later
formed in a fusion reaction.*605 Typically the number of fusions partially retracted!) in the years 1926-27.666 Positive results are
catalyzed by a muon during its lifetime is ~150 in liquid D2/T2, but reported for a comprehensive series of experiments conducted
~1000 are needed to achieve energy breakeven given the energy cost at SRI International for the Electric Power Research Institute (EPRI)
during 1989-94,676,677 and for another comprehensive series of
of artificial muon production.664 More than 70% of the cosmic ray
experiments conducted by the U.S. Naval Air Warfare Center at
flux at Earth’s surface consists of positive and negative muons, but
China Lake during 1989-96,1275 and U.S. patents have been issued
the cosmic-ray induced fusion rate is still impractically low, ~10-26 for such devices (e.g., Patterson and Cravens, U.S. #5,607,563 on 4
watts/micron3 in liquid deuterium targets.665 March 1997). In another class of experiments [Edmund Storms,
It has also been demonstrated experimentally that various changes personal communication, 1996], a hydrogenophilic metal such as
in chemical composition, pressure, or electric fields can also act as palladium is loaded with deuterium at effective pressures ~10-100
nuclear catalysts, increasing the rates of nuclear transformations: atm, giving molecular loadings of D/Pd = 85%-95%. Palladium
A. Chemical Composition — The rate of electron capture for Be7 deuteride normally exists either as Pd2D or PdD, but it is believed
is 0.08% greater in BeF2 than in metallic Be.390 that the highest loadings1610-1612 may give rise to significant concen-
trations of PdDx (x=1-2), asserted to be the “nuclear active phase.”
B. Mechanical Pressure — The electron capture (EC) decay rates Superstoichiometric palladium hydride (x = 1.33) at ~50,000 atm has
of Tc99 and Ba131 are measurably altered at a pressure of 100,000 been observed experimentally in x-ray diffraction studies,667 although
atm.612 At 230,000 atm there is a 0.35% increase in the electron preliminary molecular simulation studies of deuterium-entrained metal
density at the nucleus of the free Be atom; the observed increase in lattices have given pessimistic results.668
the EC decay constant of Be7 oxide with pressure is so linear that it Upon applying a current of ~1 nanoampere/micron2 at ~1-10
may be used as a method of pressure measurement in diamond volts to a superstoichiometric metallic deuteride, significant heat
anvil experiments in which optical access is impossible.612 It has energy in excess of the electrical input is said to be developed as the
been suggested that very high pressures could induce deuterium is consumed, on the order of 106-109 watts/m3. He4 is
fusion.609,933 One experiment in which Pd and Ti immersed in D2O claimed to be produced at the expected rate of ~1011 He4 atoms/
were bombarded with intense ultrasound apparently sec-watt,1275 with neutrons, tritons (tritium nuclei), γ-rays and X-rays
produced above-background levels of He4, an expected endproduct missing or detected in amounts far too small to account for the
of D-D fusion processes.1289 excess energy, which is asserted to be evidence of a catalyzed D-D
aneutronic process at work. If the results of these experiments were
C. Fracture Deformations — Fracto-fusion621 experiments have confirmed, it might become possible to use diamondoid pistons to main-
detected neutron emission when a crystal of lithium deuteride or tain continuously high deuterium loadings in an active catalytic crystal
heavy ice is mechanically fractured, believed to be the and thus to develop 1-1000 pW of aneutronic thermal energy in a
consequence of deuteron acceleration by >10 KeV electric fields precisely nanomanufactured porous 1 micron3 metal-deuteride
generated by a propagating crack in the crystal, consistent with D-D reactor with He4 (23.85 MeV) as the principal (and benign) effluent,
fusion.614,620,1009 Heating, cooling, or fracturing metal specimens achieving storage densities >1016 joules/m3 which would allow a
exposed to high-pressure D2 (e.g., deuterated titanium) frequently completely self-contained >10 year fuel supply to be carried aboard
produces statistically significant bursts of neutrons and emission of a 10 pW nanorobot in a ~1 micron3 fuel tank.
charged particles, rf signals and photons. It is proposed that crack
growth results in charge separation on the newly formed crack surfaces, 6.4 Power Transmission
accelerating D+ ions in the electric field across the crack tip to energies Power may be stored in, and converted among, many different
>10 KeV sufficient to significantly raise the D-D fusion probability.618 forms, but the ultimate energy resource must be received from some
Neutrons are reportedly generated when fragments of titanium are external source by medical nanodevices (e.g., chemical energy from
crushed with steel balls in a bath of heavy water.619 It has also been ingested food). The following discussion concentrates on acoustic
speculated that the core of the spherical acoustic shock wave generated (Section 6.4.1), electromagnetic (Section 6.4.2), and tethered
during sonoluminescence, if it remains stable to a 10-nm radius, (Section 6.4.3) power transmission, and closes with a brief description
might reach temperatures appropriate to fusion 106 K.716,933 of dedicated energy organs (Section 6.4.4).
D. Electric Fields — Claytor et al at Los Alamos National Labora- 6.4.1 Acoustic Power Transmission
tory passed a current of 2.5 amperes at 2000 volts through 200-micron Acoustically powered medical nanorobots may derive their energy
diameter palladium wires in a glow discharge tube of D2 gas at 0.3 either from sources indigenous to the human body (Section 6.3.3
atm for ~100 hours apparently producing ~10 nanocuries of tritium, and Table 6.3) or from artificial sources placed in or on the human
with great care being taken to eliminate possible sources of contamina- body. Large arrays of microscale acoustic radiators could create
tion.613 Deuterium-saturated LiTaO3 crystals in a 75 KV/cm AC focused coherent sonic beams. Such artificial sources are likely to
field exhibit elevated neutron emission attributed to D-D fusion.2344 involve ultrasonic frequencies designed to minimize any aural
*In 1975 an even heavier negatively-charged lepton was discovered, the tauon. The internuclear tunneling distance for a hypothetical tauonic deuterium molecule (Mtauon ~
3500 Me) is only ~10-14 m, which should catalyze fusion almost instantaneously. Unfortunately the tauon is shorter-lived than the muon (~10-11 sec), a lifetime much closer
to the typical nuclear reaction time range of 10-13–10-21 sec.
Basic Capabilities • Power 161
the size of a wristwatch, wallet, belt buckle, ankle bracelet, Net power received by medical nanorobots is also strongly
headband*, or amulet worn around the neck. The power curves in influenced by the type of tissue lying across the acoustic path because
Figure 6.9 assume a wristwatch-band-sized radiator (~30 cm2) with of the exponential dependence of received power on the absorption
a PRF of 2% and a single 0.3 micron3 receiver on the nanorobot. coefficient αtiss (Fig. 6.11). Similarly, Table 6.6 shows that very highly
For a conservative design the longest acoustic path length in the absorbent tissues such as bone, organs containing gas bubbles such
human body (~200 cm) would govern the calculation, giving an as the stomach or bowel, and especially the air-filled lungs efficiently
optimum acoustic power transmission frequency of ~60 KHz, scatter and reflect large amounts of acoustic energy. Nanorobots
providing >40 pW in this configuration for a path entirely through positioned such that these highly attenuative tissues lie between them
soft tissue (αtiss ~ 8.3 x 10-6 sec/m; Table 4.2). Thus a 10-pW and the source should still receive adequate power due to internal
nanorobot may be powered on just a ~25% duty cycle, allowing plenty acoustic reflection, since 99.95% of the acoustic amplitude reaching
of “quiet time” for acoustic communications, sensing, and navigational the skin-air interface from inside the body is reflected back into the
activities. A 1000 watt/m2 transmitter with 30 cm2 of contact area body (Eqn. 4.54).
provides 3 watts of acoustic power, enough to supply ~1011 10-pW Available power declines rapidly for nanodevices located inside
nanorobots; ~1013 10-pW nanorobots could be supported in the op-
bone, bowel, or lung tissue, creating an “energy shadow”. Fortunately
erating table scenario. For comparison, typical average power out-
the path lengths are sufficiently short within these regions of the
puts of medical ultrasound scanners are 1-70 milliwatts at 0.5-20
body that such losses should not become severe. For example, a 1
MHz.506,628
micron3 receiver located 200 cm from a 1000 watt/m2 transmitter
As a practical matter, acoustic power transmission may require
at 60 KHz with PRF = 2% and reflection loss = 10% at the skin
slightly higher frequencies (e.g., >110 KHz) to ensure that some
receives 153 pW if the acoustic path passes through soft tissues only,
patients do not hear an annoying high-pitched noise that would be
46 pW if the 200 cm acoustic path includes 1 cm of bone (with a
perceived as being centered in the head. Ultrasonic hearing via bone
66% reflection loss at the tissue-bone interface), or 7 pW if the
or body-fluid conduction has been reported at least up to 108 KHz
path length includes 5 cm of lung tissue (with an 80% reflection
in humans, probably mediated by the saccule, an otolithic organ
loss at the tissue-lung interface). If two or more acoustic power
that normally responds to acceleration and gravity.1372 Physical
sources are simultaneously employed, destructive interference might
discomfort,3536 intra-articular pain,3537 and a lowering of electrical
occur within spatially periodic regions of smallest width on the
pain sensation threshold3538 due to ultrasound exposure have also
order of one wavelength, or vsound/νp ~ 1 cm (>>rnano) for 150
been reported in humans.
KHz waves in water at 310 K, reducing locally available power.
Figure 6.10 quantifies the effects of transdermal power reflection
Energy concentration, the opposite of energy shadowing, can
and receiver size, neither of which significantly influence the choice
also occur. If all nanorobot activity is confined to a specific organ or
of optimum acoustic frequency although larger receivers have a
other small volume, a concave focusing transducer can shape pulse
steeper frequency cutoff due to rapidly rising piston inertia losses
waves so that they arrive at a specific focal point within the body at
with frequency (Section 6.3.3).
high intensity. Spheroidally shaped regions in which the speed of
sound is slower than in the surrounding medium (e.g., lower bulk
modulus, or higher density or elasticity, as for instance a fat globule
inside an organ; Eqn. 4.30 and Table 6.7) will tend to concentrate
acoustic energy towards the center by refractive focusing.928 Sound
waves also bend toward the cold side of a thermal gradient, the
low-pressure side of a pressure gradient, and the low-concentration
side of a salinity gradient. Large tubular tissue systems with areal
cross-sections >(~λ)2 can act as acoustic waveguides; e.g., for 60
KHz waves in water, λ ~ 2.5 cm, roughly the diameter of the human
aorta.
In general, liquids within the body are only weakly absorbing,
allowing maximum transmission. Common sonolucent fluids include
urine, aqueous humor, vitreous humor, amniotic and cystic fluids.
In medical ultrasound, water immersion scanning is commonplace
(99.77% transmission at water-tissue interface; Table 6.6) and a
full bladder is a standard technique for obtaining an ultrasound
window into the uterus. Muscle tissue acoustic absorption is aniso-
tropic; a difference of a factor of 2.5 has been reported between the
attenuation across and along its fibers.628
*The maximum acoustic threshold of pain for the human ear in air is ~100 watts/m2 or ~140 dB, roughly independent of frequency within the audible range, for experienced
habituated listeners.628,1016 Animals may also take notice—maximum audible frequencies via air conduction are 20 KHz (humans), 33 KHz (monkeys), 40 KHz (dogs, pigs,
rats), 45 KHz (cats, katydids), 95 KHz (deer mice), 98 KHz (bats), and up to ~250 KHz (dolphins), while birds and fish are generally limited to <12 KHz.585
Basic Capabilities • Power 163
Biological Velocity of
Material Sound (m/sec)
Air bubbles* 20
Lung (collapsed)** 320
Dry air 353
Lung (normal) 630
Silastics 950
Ethanol 1160
Fat 1470
Water 1500
Aqueous humor 1510
Castor oil 1520
Vitreous humor 1540
Soft tissue (avg) 1540
Brain 1550
Liver 1565
Whole blood 1570
Kidney 1575
Muscle 1600
Fig. 6.11. Received acoustic power vs. acoustic frequency for various Optic nerve 1615
absorption coefficients in human tissue. Lens of eye 1630
Glycerol 1880
Collagen (across axis) 2940
1920s,634,635,637,638,3510 and commercially available miniaturized Bone (typical) 3550
implantable transmitters are now commonplace in laboratory Collagen (along axis) 3640
work,639 but using this technique to power submillimeter devices is Skull bone 4090
a relatively recent concept.630 Enamel (tooth) 5800
Diamond ~17,300
The biological effects of radio waves, microwaves, and infrared
rays are usually equivalent to the effects of heating, although * 45% by volume in water
non-thermal rf-induced vasodilation, possibly due to Ca++ flow ** pneumonitis
manipulation, apparently has been observed in frogs.3328 Radio waves
mainly induce thermal agitation of molecules and excitation of
molecular rotations, while infrared rays excite vibrational modes double the thermal radiance of a 100-watt (~2000 Kcal/day) ~2 m2
of large molecules and may release fluorescent emission as well as human body, e.g., ~50 watts/m2 across the skin, or roughly the
heat. Both types of radiation are preferentially absorbed by unsatur- intensity of direct sunlight on the skin (Section 4.9.4). Figure 6.12
ated fats. In the United States the maximum permissible continuous compares several generally accepted international occupational and
occupational exposure level to microwave radiation has been 50 watts/ population exposure limits that have been adopted.824 Michaelson823
m2 for the testes and 100 watts/m2 for the whole body—essentially carried out extensive investigations and found no evidence for hazard
164 Nanomedicine • Volume I
operating temperature Tmax, then from the standard electrical formulas have been proposed; current densities >1014 amps/m2 have been
and Eqn. 6.19: pulled through a single chain of carbon atoms.643
If fullerene nanowires are doped with metal atoms, adding electrons
ρe L or holes so that the charge carrier density is high, electrical conductivity
R= {Eqn. 6.36} may be precisely engineered from semiconductor levels up to equal
AW
1/2 or better than copper in the plane of the graphene sheet. Multitube
V P
I= =
1/2
~
r W (
4 e σ A 3/2 T 4 − T 4
max 0 ) {Eqn. 6.37}
cables may display a quantum confinement effect that sharply
reduces the resistance, possibly giving an electrical conductivity
R R ρe
10-100 times that of copper at room temperatures, and may provide
1/2
shielding comparable to coax. Doped electron-rich conductors are
V = IR = (PR )
1/2
~
r e (
4 e σ ρ L2 T 4 − T 4
max 0 ) easily oxidized on the nanometer scale, but wrapping such conductors
in a second concentric undoped outer nanotube provides an insulating
1/2
A W {Eqn. 6.38} jacket that is effectively chemically impermeable under normal
conditions. By 1998, coaxial nanocables ~30 nm in diameter had
P = I 2R ~ 4 e r σ L A1/2 4
W Tmax − T0(
4
) {Eqn. 6.39} been fabricated in lengths up to 50 microns.2016 Boron-nitrogen
(BN) equivalents of fullerene nanotubes are physically strong and
PA W =
P
~
4
4 e r σ L Tmax (
− T04 ) {Eqn. 6.40}
good insulators. Low-temperature superconductivity has been demon-
strated in doped644 and undoped3240 fullerenes.
AW A 1/2
W An interesting alternative is a conveyor belt system for direct
mechanical charge transport, crudely analogous to the charging system
D=
4
(
ρe I 2 4 e r σ Tmax − T0
~
4
) {Eqn. 6.41} of a Van de Graff generator. Nanoscale conveyor belts (Section 3.4.3)
A 2W A1/2
W could transport ~106 electrons/sec at a belt speed of 4 mm/sec,
comparable to the ~1 cm/sec drift speed of electrons flowing in
where σ = 5.67 x 10-8 watt/m2-K4 (Stefan-Boltzmann constant). macroscale wires (Section 6.5.5). This gives a 0.2 picoampere current
Thus for a silver wire 1 micron in diameter and 1 meter long, with through a device with cross-sectional area ~(10 nm)2, a modest current
ρe = 1.6 x 10-8 ohm-m, er = 0.02 for polished silver, Tmax = 373 K density of ~103 amperes/m2 and electrostatic belt stress of ~1 atm
(boiling point of water) and T0 = 310 K (body temperature), then R between adjacent charges spaced ~4 nm apart. If a much smaller
= 16,000 ohms, I = 50 microamps (current density Id ~ 5 x 107 belt can be designed of a scale comparable to the 150-micron long
amps/m2), Aw = 1 micron2, A ~ 4 mm2, V = 0.9 volt, P = 50 micro- computer data storage tape (Section 7.2.6) described by Drexler,10
watts (sufficient power to operate a load of ~45 electrostatic motors a belt speed of ~10 m/sec and charge density of ~1 electron/nm2
~390 nm in diameter, as described in Section 6.3.5), and D = 5 x 107 (~amino acid density) on a 1 nm2 belt gives a current of ~2
watts/m3. Note that the minimum quantum unit of resistance in nanoamperes and a current density of ~109 amperes/m2, comparable
atomic- or molecular-scale wires is ~h/2e2 ~ 13,000 ohms, where h = to the electromigration-limited ~1010 amperes/m2 maximum current
6.63 x 10-34 joule-sec (Planck’s constant) and e = 1.6 x 10-19 joule/eV, density in bulk aluminum,* with an electrostatic belt stress of ~3600
due to quantized conductance (e.g., Coulomb blockade) in narrow atm. Net belt mechanical energy dissipation may be as low as ~10-6
channels whose characteristic transverse dimension approaches the zJ/nm of travel for each ~nanometer-scale charge carrying device
electronic wavelength.1740 By 1998, metallic wires down to ~20 nm (Section 3.4.3).
in width had been fabricated.1517
Wires with electrical and thermal insulation can safely carry 6.4.3.2 Electromagnetic Tethers
higher currents in vivo (Section 6.5.5). If the wire in the preceding Optical energy may be piped from one place to another by
example is wrapped with a thermal insulator of thickness dinsul and allowing light to enter a narrow solid fiber of clear plastic or fused
thermal conductivity Kt, then the maximum current increases to: silica. Light undergoes total internal reflection at the glass-air boundary
1/2 and follows the contours of the light pipe, with losses due to scattering
K (T − T0 ) A W d insul and absorption in the material as each photon undergoes up to ~105
I = t max {Eqn. 6.42}
L ρe reflections/meter during transit. The scattering minimum in
commercial ultrapure silica fiberoptic cable occurs at ~1500 nm, or
Using water as the thermal insulator (Kt = 0.623 watt/m-K at ~2 x 1014 Hz, in the near infrared. These losses are roughly equivalent
310 K), a dinsul = 1 micron layer allows the wire to rise to 373 K to transmission in clear air, negligible over distances of relevance in
while the outside of the insulating jacket remains near 310 K. A nanomedicine: measurable amounts of energy may be transmitted
100-micron thick water jacket allows electrical current and voltage
through single fibers ~100 km long.
to safely rise by a factor of 10, thus power to rise by a factor of 100.
At the lowest frequencies, the cutoff frequency for electromagnetic
Another possibility is the fullerene (pure carbon) conductors
waveguides of diameter dguide filled with material of dielectric constant
(Section 10.2.2.1). For example, 7-12 nm nanotube ropes 200-500
nm in length at ~310 K conduct ~50 nanoamperes at ~1 millivolt, κe, below which frequency the waveguide cannot transmit photons
transmitting a total power of ~50 pW.641 Boron nitride coated carbon (velocity c = 3 x 108 m/sec in vacuo, and slightly lower in various
nanotube wires should be highly oxidation-resistant.1308 Field dielectric materials at various frequencies), is νcutoff = c / 2 κe dguide
emission from room-temperature carbon atomic wires has been ~ 7.5 x 1013 Hz (λ = 1000 nm) in the near infrared—close to the
measured as 0.1-1 microamperes at 80 volts, or ~10 microwatts.643 scattering minimum at 1500 nm—for dguide = 2 microns and κe ~ 1.
Nanowires a few nm wide and hundreds of microns long have already This cutoff applies only to waveguides; coax (shielded single wire)
been fabricated, and continuous meter-length threads (and longer) or triax (shielded twisted pair) lines can conduct frequencies all the
*This “maximum” may be quite conservative: “A single crystal metal wire surrounded by a strongly bonded, lattice-matched sheath should be stable at far greater current
densities than a conventional wire of the same material”.10
Basic Capabilities • Power 167
way down to DC and all the way up to near-infrared (Section a Vn = 1 micron3 nanorobot power plant at a fluid flow velocity of
7.2.5.1.) vfluid = rtube2 ptube / 8 η ltube ~ 20 microns/sec and producing a power
More specifically, if a nonmagnetic weak dielectric (~air) fills density of ~107 watts/m3, assuming Poiseuille flow.
the space between two coaxial cylindrical conductors, with inside Acoustic waves could be delivered by tether, but slightly larger
wire of radius rin, outer jacket of radius rout and line current Iline, tubes are required. Consider a water-filled pipe with dimensions as
then the average transmitted power727 is given by: defined in the previous paragraph which is excited at one end by a
vibrating piston operating at a frequency νp << vsound/rtube (~1 GHz
r for 2rtube = 1 micron). For such small tubes, the inertia and kinetic
PE = 30 I2line ln out (watts) {Eqn. 6.43} reaction of the fluid may be neglected in favor of the frictional force
rin (e.g., Poiseuille flow; Eqn. 9.25), since the compressions and
In coax theory,727 rout/rin = 1.65 allows maximum power to be rarefactions of the fluid are practically isothermal on account of the
carried at a given breakdown voltage gradient across the dielectric almost perfect heat conduction, and the power transmission is given
(most appropriate for power transmission), whereas rout/rin = 3.6 by:
gives the lowest attenuation due to conductor losses for a given outer
diameter (most appropriate for communications applications). Thus Pn = P0 e(-2 αtube ltube) (watts) {Eqn. 6.44}
for a 1-micron power coax, rout = 0.5 micron implies rin = 0.3 micron;
assuming Iline ~ 108 amps/m2 on the inside wire, PE ~ 104 pW at ~1
millivolt and the line has a characteristic impedance of 30 ohms. with the attenuation coefficient given by Rayleigh’s classical
For the highest frequencies, optical fibers may be as small as formulation:649,650
~0.5-1 micron in diameter, roughly the photon wavelength—a 1/2
dielectric rod can serve as a waveguide crudely analogous to the 8 π γ η νp
α tube = {Eqn. 6.45}
hollow metal pipes used at rf frequencies. Blue photons (~400 nm) 2 2
carry ~500 zJ of energy, almost enough to break C-C bonds (~550 zJ). ρ v sound rtube
Ultraviolet (UV) wavelengths shorter than ~300 nm are greatly where γ is the ratio of specific heats (1.004 for water, 1.009 for
attenuated for fiber lengths >1 meter due to heavy absorption, and seawater), vsound = 1500 m/sec and ρ = 993.4 kg/m3 for water at
intense prolonged UV irradiation of silica creates defects (color 310 K. Maximum energy transfer (like a rigid bar) occurs at integral
centers) in the material that lead to further absorption of the laser multiples of half-wavelengths of the incident sonic waves, in other
light in the fiber. words, at νp = n vsound / 2 ltube, where n = 1 is the fundamental
In biomedical applications, silica fibers are used to conduct frequency or first harmonic, n = 2 is the first overtone or second
photons from excimer lasers, the brightest known sources of UV harmonic, and so forth. Minimum attenuation occurs at n = 1, the
radiation.3539,3540 Typical maximum continuous power intensities first harmonic.
are ~30,000 watts/m2 for corneal sculpting, ~105 watts/m2 for bile A periodic source pulse of an intensity low enough to avoid
duct cholangiocarcinoma tumor surgery, and ~106 watts/m2 for cavitation in pure water (~104 watts/m2; Section 6.4.1) applied as
arterial debulking, laser dental machining and laser lithotripsy for input power P0 across a tube area of π rtube2 produces a 10 pW
kidney stones,645,646 so ~0.01-1 microwatts may be delivered to output power for ltube ≤ 300 microns at νp = 2.5 MHz and rtube = 0.5
medical nanodevices using a single ~1 micron2 optical tether trans- microns with P0 = 8000 pW and αtube ~11,000 m-1. To get ltube = 1
mitting UV photons. The maximum transmittable power intensity meter length requires rtube = 15 microns and νp = 750 Hz to deliver
is approximated by Eqn. 6.40; taking er = 0.80 for silica, Aw1/2 = 1 mm 10 pW at the output. (A three-phase “alternating current” acoustical
diameter fiber, L = 1 meter and Tmax - T0 = 20 K at room temperature power transmission system using 100 Hz waves traversing three
for a handheld surgical instrument, then PAw ~ 4 x 105 watts/m2, in water-filled pipes was patented by M. Constantinesco in 1920.)650
line with the above figures for excimer lasers assuming a ~40% duty Diamond rods can also make nearly lossless acoustic power
cycle. For a nanomedical optical power cable with Aw1/2 = 1 micron transmission lines (Section 7.2.5.3).
diameter fiber, L = 1 meter, T0 = 310 K and Tmax ≤ 373 K, then PAw
~ 109 watts/m2 and a maximum of P ~ 1 milliwatts may be delivered 6.4.3.4 Gear Trains and Mechanical Tethers
down the fiber. However, at this high fluence there is tremendous Lengthy nanoscale gear trains may transmit power over great
risk of localized tissue incineration, should the fiber detach in vivo distances because mechanical efficiency for steric nanogear pairs may
and the photon flow is not immediately halted—a good argument be ~99.997% (Section 6.3.2). Thus the initial mechanical input
for limiting optical power tether intensities to <105 watts/m2 or power only falls to 94% after passing through a sequential gear train
less. A thin adjacent backchannel fiber could serve as a fuse, rupturing of 2000 units, a 10-micron long train assuming each gear is ~5 nm
simultaneously with the main fiber and cutting off the feedback in diameter.
control signal. Torque power may also be transmitted via a long rotating cable
inside a fixed tubular sheath, somewhat resembling an automobile
6.4.3.3 Hydraulic and Acoustic Tethers speedometer cable or a dentist’s drill (~10-100 Hz). (Reciprocating
Power is easily conveyed to medical nanodevices through tethers cables are briefly treated in Section 7.2.5.4.) Two modes of power
by simple hydraulic means. For example, a virtually leakproof transmission are readily distinguished—first, a twist-and-release or
thick-walled fullerene nanotube measuring 2rtube = 1 micron in “AC” strategy, resulting in the propagation of a torsion wave which
diameter and ltube = 1 meter long could safely transport pressurized looks locally like a shear wave, and second, a constant-twist or “DC”
fluid of absolute viscosity η = 6.9 x 10-4 kg/m-sec (310 K water) at strategy, in which a driver end turns the cable at a constant rate (up
a fluid pressure ptube = 5 atm to drive a mechanical turbine or valved to the bursting velocity) and the cable is maintained at constant
reciprocating piston system, establishing an energy density of 0.5 torque (up to the shear strength limit). In the following analysis, we
pJ/micron3 and delivering Pn = π rtube4 ptube2 / 8 η ltube ~ 10 pW to consider a cylindrical transmission cable of radius rcable, length Lcable,
168 Nanomedicine • Volume I
were ignored, the cable could carry 0.2 milliwatts in AC mode and (including leukokine release with macrophage and fibroblast
1 milliwatt in DC mode. mobilization), and possibly a granulomatous reaction unless tethers
Similarly, an AC cable carrying a power throughput of π rcable2 can be made with variable compliance to match the stiffness of the
IAC = 100 watts (human basal requirement) with rcable = 4 microns tissues through which they pass, adding greatly to design complexity.
and Lcable = 0.4 meter is mechanically limited to an operating Mobile tethers deployed inside cells can mechanically excite
frequency of νACm 30 KHz (< νACt ~ 60 KHz), again giving a cytoskeletal elements, eventually triggering unwanted gene expression
power density of IAC / Lcable = 6 x 1012 W/m3. The same cable in cascades in the nucleus. Tethers deployed through blood vessel walls
DC mode is thermally limited to an operating frequency of νDCt 10 or cell membranes may face similar challenges regardless of the
MHz (< νDCm ~ 100 MHz) with the same power density. If thermal chemical biocompatibility of their exterior or sheathing surfaces.
limits were ignored, the cable would still carry only 100 watts in The simplest tethered configuration for powering large numbers of
AC mode but could carry up to 700 watts in DC mode. nanorobots is to transmit external power into an energy organ
The refractive index profile of a sufficiently wide (Section 6.4.3.2) (Section 6.4.4) using a single tether connection. A complete analysis of
rotating diamond cable could be engineered, and might possibly be networks and configurations of more complex tethered nanorobot
made sufficiently transparent, to also act as a photonic channel power supplies is beyond the scope of this book. However, several
simultaneously conveying optical power or communications signals. simple configurations include Cartesian, fractal, and hub systems.
A Cartesian system is laid out along a regular gridwork using a
6.4.3.5 Chemical Tethers rectangular, cylindrical, spherical, helical, or other coordinate system
Chemical energy may also be delivered by tether at power densities as appropriate to the biotopology. A fractal system resembles a
> 1010 watts/m3. Single tethers could bring ATP, glucose, or synthetic branching vascular-like “power tree” inside the body, with tendrils
energy storage molecules (Section 6.2.3) directly to nanodevices in following blood or lymph vessels and natural tissue graining. A hub
vivo. Double-tether cables could carry two hypergolic fuels, or a system (aka “mother ship”) employs an array of isolated distribution
separate fuel and oxidizer, in a paired cable under pressure with the nodes, with numerous individual nanorobots directly connected to
components mixed on site to release their stored energy. At one or another node.
Tethers must be directed entirely through tissue; placement in
1000-10,000 atm pressures, most organic substances should
the active bloodflow may precipitate prompt thrombosis from
undergo a hypergolic (spontaneous) reaction with oxygen piped in at
microturbulence shear forces or netting action with formed elements.
equivalent pressure; safety would be a primary concern with this
Macrophagic responses characteristic of wound repair (Chapter 24)
approach. Chemical tethers may also be used to resupply macro-
would likely be stimulated within hours of tissue entry as cellular
scopic energy organs (Section 6.4.4), or to exchange chemicals with
shear force sensors activate cytokine signaling mechanisms in response
an artificial nanoliver or other chemical modulating, processing, or
to mechanical stresses. To avoid massive granulomatous reaction,
synthesizing implanted nano-organs.
tethers cannot be abandoned after use and probably must be spooled
out during deployment and respooled during retraction, adding
6.4.3.6 Power Tether Configurations In Vivo
additional potential failure modes and increasing the time required
If an application requires only a very small number of nanodevices
for deployment or retraction, a major drawback in emergency
operating in a very limited tissue volume for a brief period of time,
situations.
then direct tethered power supply might be preferred. Tethered devices
It might be possible to carefully install a biocompatible electrical
may employ simpler onboard energy conversion systems, hence may
or fiberoptic power network throughout a patient’s body (Section
be appropriate for devices of more primitive design such as may
7.3.1) as a permanent augmentation without causing irreparable
exist in the early years of nanomedical technology development.
damage. The presence of great numbers of isolated current-carrying
Tethered power systems could be useful when working inside a tissue
wires creates numerous stray electrical fields that could affect cellular
volume that has been drained of indigenous useful chemical energy
processes and possibly stimulate a macrophagic response; however,
resources and which has no bloodflow or active homeostatic
electric fields are minimal outside a well-shielded 1-micron-diameter
processes, such as amputated limbs, massively ischemic organs, or
coax or twisted-pair triax cable. If ~1 micron stray-field-free cables
cryogenically preserved tissues or bodies. Tethered power might also
or optical fibers are used, a total network volume of ~10 cm3 of
be acceptable for operations inside tissues with incomplete, non-
fiber (~0.01% of human body volume) has ~13,000 kilometers of
existent, or low-density vascularization, such as the epidermis, or
length; assuming ~1-meter strands and a simple Cartesian distribution,
inside tissues with incompetent or compromised immune systems,
fibers have a mean lateral separation of ~80 microns between nearest
such as an embryo or fetus. In cyto slaved nanodevices may transmit/
neighbors (~4 cell widths).
receive power or data to/from an extracellular master nanorobot via
transmembrane tethers (Section 9.4.5.6).
The two principal drawbacks to tethered supplies are physical 6.4.4 Dedicated Energy Organs
vulnerability and tissue irritation (see also Section 7.3.3). Tethers Delivery of energy to in vivo nanorobots via tethers necessarily
may kink, break, or become tangled; failures in rotating cable tethers involves a hierarchical distribution network of some kind, ranging
may include “drilling” and “weed-whacker” modes, chemical tethers from maximum span (e.g., maximally horizontal hierarchy: all units
can detach and leak, and so forth. If billions or trillions of medical directly connected to the external source) to minimum span (e.g.,
nanodevices are deployed, these vulnerabilities are enhanced. In maximally vertical hierarchy: all units connected in series). Many
addition, tether volume may equal or exceed nanorobot volume, intermediate network topologies are readily imaginable. Networks
increasing intrusiveness and reducing nanorobot mobility. For instance, typically are most efficient at some optimum mix of spans and levels.
a 10 cm long tether measuring 20 nm in diameter that might be To support this optimum mix, dedicated energy storage organs
used to power a ~1 micron3 device has a volume of ~30 micron3— positioned at network nodes can add stability and longevity to the
a clear case of the tail wagging the dog. Limb/organ macromotions system and provide load buffering. Energy organs may act as
and tissue micromovements may produce a microscale sawing action distribution or routing devices, simply passing power down the line,
of tether fibers against tissues, causing irritation, inflammation or they may act as output nodes which are periodically encountered
170 Nanomedicine • Volume I
Table 6.8 Estimated Power Output and Measured Power Density of Biological Cells and Human Tissues
Skeletal muscle cell (max., tetanic) 2300 2000 1.2 x 106 526
Honeybee flight muscle cell 3400 1000 3.4 x 106 ---
Heart muscle cell (maximum) 3500-5000 8000 4.4-6.3 x 105 783,787
Pancreatic islet (multi-cell) 50,000-90,000 8,000,000 0.6-1.1 x 104 793
Brown fat cell (thermogenic) 64,000 200,000 3.2 x 105 786
Operated at its peak output of 1600 watts,780,865 the human A proper comprehensive analysis of energy flows818 requires a
body’s core temperature rises ~3.5 K.821 Even assuming a simple detailed model of body geometry, incident radiation, skin emissivity,
linear relation, a whole-body 100-watt nanorobot power budget convection currents, heat exchange by conduction, evaporative
would correspond to an increase in core body temperature of at cooling, respiratory heat losses, physiological and behavioral thermo-
most ~0.2 K, far smaller than the mean normal diurnal variation of regulatory responses, work done by the patient, and the precise
~1 K (Section 6.3.1) and less than the ~0.2-0.5 K load error in the distribution, clumping patterns and activities of in vivo nanorobots,
human thermoregulatory control system.865 Since glucose-powered all of which is very complex and quite beyond the scope of this
nanorobots may compete with tissues for fuel, a 100-watt total book. However, a simple log-linear interpolative relation with correct
withdrawal also represents ~2000 Kcal/day, near the limit of what endpoints (Dtiss = 106 watts/m3 at Ltiss = 20 microns and Dtiss = 103
can be conveniently replaced dietetically on a long-term basis. watts/m3 at Ltiss = 0.5 meters) suggests the following proposed crude
172 Nanomedicine • Volume I
300
Dn = ~ 109 (watts/m3 ) {Eqn. 6.57}
rn
*Since oxyglucose foraging nanorobots are not seriously glucose-limited, there is little to be gained by enabling energy organs or cooperative nanorobot populations to secrete
insulin/glucagon hormones (mimicking the pancreas), cortisol hormones, etc. to artificially manipulate serum glucose levels. Available oxygen also may be artificially
manipulated using nanorobotic compressed gas dispensers1400 or by other means (Chapter 22).
**Note that as nanodevices get smaller, their surface/volume ratio expands. Thus the Square/Cube law predicts that smaller nanodevices can admit more energy (e.g., chemical,
acoustic, electromagnetic) through their surfaces per unit enclosed volume of working nanomachinery, hence can have higher power densities, as illustrated by Eqn. 6.58.
Basic Capabilities • Power 173
human blood plasma (Appendix B), and rn ~ 0.5 micron, Ddiff = For er = 0.97 (e.g., carbon black) to maximize heat emission at
1-7 x 1010 watts/m3. However, because oxygen dissolves only slightly the lowest possible temperature and Tenviron = 300 K, then Rcrit =
in blood plasma and interstitial fluid, the oxyglucose engine is more 0.22 mm for fn = 100%. Assuming a full cold start, critical time to
severely diffusion-limited by its oxygen requirements than by its incineration is tcrit = CV (Tburn - Tenviron) / fn Dp = 1.4 sec for fn =
glucose requirements.* Applying Eqn. 6.58 and using (for oxygen) 100% if nanorobot heat capacity CV = 1.8 x 106 joules/m3-K
D = 2.0 x 10-9 m2/sec (Table 3.3), C = 7.3 x 1022 molecules/m3 in (~diamondoid). Decreasing Dp to a more reasonable 107 watts/m3
arterial blood plasma (Appendix B), Efuel ~ Eglu/6, and rn ~ 0.5 micron, or simply switching off 99% of the nanorobots (fn = 1%) increases
Ddiff = 7 x 108 watts/m3. Once again, ~109 watts/m3 appears to be a Rcrit to ~22 cm.
correct upper limit for whole nanorobots.**
The disposition of combustion byproducts, particularly CO2, 6.5.4 Selection of Principal Power Source
may provide another weak constraint on chemical systems. For example, In selecting the ultimate source of power for a given application,
a 10-pW glucose-burning nanorobot generates ~107 molecules/sec the appropriate energy acquisition strategy must first be decided.
of CO2. Pressurized to 1000 atm, this production rate fills ~0.001 Two overall strategies are readily distinguished: (1) nonrefuelable
micron3/sec of onboard storage space, assuming no venting. If CO2 and (2) refuelable.
is vented from a population of 1012 10-pW nanorobots uniformly A nonrefuelable strategy implies that all nanorobot power is
distributed throughout a ~0.1 m3 human body volume, then local drawn from internal energy storage. Such a nanorobot simply stops
CO2 concentration rises by ~2 x 10-7 M/sec, reaching 0.0003 M when its internal energy stores are depleted. The relevant parameter
after 1 hour of continuous operation assuming no physiological is onboard energy storage density, which should be maximized. From
removal—still well below the normal ~0.001M blood plasma CO2 Section 6.2, chemical energy storage produces the highest energy
concentration. density, up to ~1011 joules/m3. (Nuclear storage has a much higher
By implication, these limits also drive the maximum number theoretical energy density, but in medically “safe” fissile systems the
density of nanodevices deployable in human tissue. For example, at rate of energy withdrawal from the store cannot be precisely regulated
109 watts/m3 the hottest 1-micron nanorobot develops 1000 pW; using known technology, thus limiting the effective energy density
assuming a ~0.1 watt power budget when restricted to the thyroid of this potential source.) A 1 micron3 store of chemical energy at a
gland (Section 6.5.2), 100 million nanodevices may be deployed in conservative 1010 joules/m3 powers a 10 pW nanorobot for ~103
the gland giving a maximum number density of ~1013 nanorobots/ sec, which may be sufficient in some applications.
m3. Nanorobot power consumption may range from ~0.1 pW for A refuelable strategy implies that onboard energy stores serve
simple respirocytes1400 (Chapter 22) up to ~10,000 pW or more mainly as buffers, which are refilled periodically or continuously
for the largest and most sophisticated repair and defensive in vivo from external chemical, sonic, electrical, or tethered sources. A
devices (Chapter 21), but the typical simple micron-scale nanorobot relevant parameter is now the rate of energy transfer, or environmental
may develop ~10 pW (roughly in line with biologically-derived power density, which should be maximized consistent with safety.
allometric scaling laws giving Dn ~ 107 watts/m3) and thus could Again, at least two strategies can be distinguished: (2A) in vivo sources
safely achieve a number density of ~1015 nanorobots/m3 (~10 micron and (2B) ex vivo sources. In vivo power sources may include free-flowing
mean interdevice separation). Recall that the maximum diffusion-limited chemical fuels (e.g., bloodstream glucose circulating once every 60
total power draw for a population of oxygen-unrestricted seconds represents ~2 x 105 watts/m3), encapsulated chemical fuels,
glucose-energized foraging nanorobots in cyto is ~70,000-300,000 pW or implanted dedicated energy organs. Ex vivo power sources may
(Section 6.3.4.1). include acoustic (2 x 104 watts/m3), electromagnetic (2 x 103
Minimum powerplant size varies with requirements. Assuming watts/m3), or tethered sources. For tethered sources, a safe properly
configured 1-meter tether 1 micron in diameter transfers hydraulic
1012 watts/m3 energy conversion for chemical (Section 6.3.4) or
energy at ~105 watts/m3 (at 1000 atm), fiberoptic photonic energy
electrical (Section 6.4.1) power transducers, then a 100 pW power
at ~106 watts/m3, electrical energy at ~107 watts/m3 (silver wire,
supply subsystem inside a working nanorobot may be as small as
~107 amp/m2 at ~1 volt), chemical energy at ~108 watts/m3 (at 1000
(~50 nm)3 in size.
atm), or mechanical energy up to ~1010 watts/m3.
Macroscale masses of working nanodevices may grow extremely
However, this is only the first step of the analysis because the
hot, placing major scaling limits on artificial nano-organs and other
initial energy, once received, must be transduced into other useful
large-scale nanomachinery aggregates (Chapter 14). As a somewhat
forms which may be used to drive onboard systems. Most nanorobot
fanciful example, consider a macroscopic ball of radius R consisting
designs will involve energy transduction chains of various lengths,
of N tightly-packed nanodevices each of mass density ρ and
so the efficiency of the entire chain is also a relevant parameter driving
whole-nanorobot power density Dp ~ 10 9 watts/m3, of which
the choice of initial power source. Consider, for example, a nanorobot
nanodevices some fraction fn are active, all suspended in mid-air.
requiring electrical power for some internal function. While the
The ball grows hotter as R (~N1/3) rises, until at some “critical
maximum available electrical power density in the environment may
combustible mass” Mcrit = (4/3) π ρ Rcrit3 the surface temperature
be comparatively low, the advantage of a much higher available
exceeds the maximum combustion point for diamond in air (Tburn
chemical power density may be offset by a relatively low direct
= 1070 K)691 and the solid ball of nanorobots bursts into flame.
chemoelectric transduction efficiency (Section 6.3.4.5). On the other
(Sapphire devices cannot burn, but have a Tmelt ~ 2310 K;1602 as a
hand, the relative efficiency of the chemoelectrical pathway may be
practical matter, nanomachinery may fail at temperatures significantly
improved by using a glucose engine to generate mechanical motions,
below Tburn.)
which motions may then be converted to electrical energy via highly
From simple geometry and neglecting ~2% air conduction losses,
efficient mechanoelectrical transduction (Section 6.3.2).
the maximum noncombustible aggregate radius Rcrit is:
6.5.5 Electrical vs. Mechanical Systems
R crit ~
( 4
3 σ e r Tburn 4
− Tenviron ) {Eqn. 6.59} Because of the ubiquity of electrochemical processes in biological
f n Dp systems, it is natural to assume that electrical power would be the
174 Nanomedicine • Volume I
energy of choice to drive nanomedical systems. However, it is clear F. Electromagnetic Coupling — Detection of photons and electric/
that mechanically powered nanorobots are competitive because magnetic fields is more easily mediated by an electrical transmission
mechanical energy may be transmitted at very high efficiency over device than a mechanical device. For instance, a photocell or rhodopsin
nanoscale distances. Fully mechanical motors, pumps, actuators, antenna absorbs photons to directly create moving charges. This is
manipulators, and even computers have been designed.10 probably more efficient than using a piezoelectric transducer backwards
The principal disadvantages of electrically-powered nanorobots as a detector, but involves handling higher-energy packets of energy
include: which is inherently riskier.
A. Bioelectric Interactions — Electrical systems can create stray
fields which may activate bioelectric-based molecular recognition G. Transmission Attenuation — Electrical signals at sub-MHz
systems in biology. While electrical systems allow ready coupling frequencies are only modestly attenuated during passage through
with electrochemical systems in the body, stray fields also may provoke human tissue.
unintended electrokinetic interactions. For example, all galvanic sources
have been found to provoke a significant host reaction, including 6.5.6 Power Analysis in Design
formation of layers of necrotic debris, free neutrophils, granulation An important part of any nanodevice design exercise is a detailed
tissue and complete fibrous connective tissue encapsulation of assessment of power requirements and heat dissipation. Such an
long-term implants. 590,3512 Microelectrophoretic interactions assessment might typically include the following elements:
with possible natural rf oscillations of cells683 could present additional A. Molecular Transport — Sorting rotors, internal transport
complications. Stray high-frequency vibrations from purely mechani- mechanisms, sieving or nanocentrifugation, and receptor-based
cal systems may be less provocative. transport have specific power requirements (Chapter 3). Sorting
rotors operating at full speed (~105 rev/sec) dissipate ~1010 watts/
B. Electrical Interference — Electrical nanorobots are susceptible
m3. However, it should be possible to boost efficiency in some
to electrical interference from external sources such as rf or electric
continuous molecular exchange systems by recovering most of the
fields, EMP pulses, and stray fields from other in vivo electrical
devices. (Digital cellular telephones have been reported sorting energy by compressing (or concentrating) one species using
interfering with implanted cardiac pacemakers, causing the pace- energy derived largely from the decompression (or deconcentration)
makers to speed up, slow down, or even turn off.3495-3498) Cosmic of the other via differential gearing.
rays can provoke arc discharges in systems operated at high electrical
potential. B. Chemical Transformations — Drexler10 estimates that the
energy dissipation caused by chemical transformations involving
C. Thick Insulators — Very thick insulation is required to prevent carbon-rich materials is ~1000 zJ/atom or ~108 joules/kg of final
electron leakage, especially serious at the smallest sizes where product using readily-envisioned irreversible methods in systems
significant quantum mechanical tunneling can occur. Without careful where low energy dissipation is not a design objective, but may in
design, the high conductivity of the in vivo medium* can cause theory be as low as ~1 zJ/atom or ~105 joules/kg “if one assumes the
sudden power loss, e.g., by “shorting out.” development of a set of mechanochemical processes capable of trans-
forming feedstock molecules into complex product structures using
D. Thick Wires — Relatively thick wires are needed to conduct only reliable, nearly reversible steps.” However, R. Merkle notes that
significant power levels without overheating, although future essentially all current proposals are quite dissipative. Most interactions
room-temperature superconductors might reduce this with biological molecules may also have relatively low energy densities
disadvantage.
because common cut-and-repair operations can involve only a small
number of covalent bonds on a single macromolecule. For example,
The principal advantages of electrically-powered nanorobots include: forging just one new 1000-zJ covalent bond on a single 500-residue
protein molecule containing ~10,000 atoms has a net molecular
E. Speed of Operation — Electronic field configurations have a transformation cost of only ~0.1 zJ/atom. Transformations involving
velocity near the speed of light (c ~ 3 x 108 m/sec), much faster than noncovalent bonds can have even lower per-atom energy costs.
mechanical logic rods which may move as slow as 1 m/sec. Even the
classical electron drift speed vd in a bulk metallic conductor at high C. Mechanical Operations — As a crude rule, physically
current density Id may be faster than mechanical rod motions: vd = active nanocomponents such as rotating roller bearings generate
Id / ne e, where ne = 8.4 x 1028 electrons/m3 for copper and e = 1.6 ~105 watts/m3 of waste heat; inactive parts produce no waste heat.
x 10-19 coul/electron, giving vd ~ 100 m/sec at Id ~ 1010 amps/m2, Larger mechanical assemblages such as nanomanipulator arms
near the maximum current density. (A more typical Id ~ 106 amps/ dissipate ~109 watts/m3 in normal continuous operation,10 or ~1
m2 gives vd ~ 1 cm/sec.) And the mobility of an electron confined megawatt/kg for active diamondoid nanomachinery. Energy required
to a one-dimensional wire or patterned diamondoid channel can be for locomotion, actuation and manipulation is described in Chapter 9;
much higher than in the bulk material, up to ~106 m/sec or
energy requirements for shape-changing or other metamorphic
~0.3%c.1097,1098 Thus applications demanding the greatest speeds
may require electrical systems. activities must also be assessed (Chapter 5).
*The purest water (e.g., distilled and deionized) has a specific resistance of 2.5 x 105 ohm-m.390 It is normally difficult to obtain and store water with resistivity exceeding
~104 ohm-m because of the absorption of CO2 and other air gases, and of alkali and other electrolytes leached from glassware; ordinary distilled water in equilibrium with air
has resistivity ~1000 ohm-m.390 These values may be compared to 1.59 x 10-8 ohm-m for silver at 293 K,763 3.5 x 10-5 ohm-m for amorphous carbon at 293 K,1662 0.0893 ohm-m
for 1M KCl in water at 298 K and 68.1 ohm-m for 0.001M KCl solution390 (human blood is ~0.15M NaCl), 107-108 ohm-m for synthesized diamond (depending on the growth
process used), and >1018 ohm-m dark resistivities in natural diamond.537
Basic Capabilities • Power 175
D. Communication and Navigation — There must be a design Leaving aside all considerations of changing concentrations of
assessment of the energy required, if any, for internal navigation various atmospheric components (e.g., CO2, H2O, O3), one might
(Chapter 8) and for all communication tasks (Chapter 7) ask at what point anthropogenic energy releases could begin to
including intradevice and interdevice signaling, inmessaging and seriously affect the global energy balance. (Climatologists sometimes
outmessaging, plus allocation of systemic overhead for call this the “hypsithermal limit.”) Global warming data remain
communications and navigational networks. inconclusive but certainly suggest that the present ~1013 watts may
lie within an order of magnitude of an important threshold. The
E. Computation — Mechanical nanocomputers using rod logic power dissipation of all terrestrial vegetation is ~1014 watts,* and it
in the design described by Drexler10 dissipate ~1012 watts/m3 at is well-known that such vegetation plays a major role in the planetary
~GHz clock rates, yielding ~1010 MIPS/watt or ~104 instructions/ energy equation. Climatologists have speculated that an anthropo-
sec per pW (~1028 instructions/sec-m3). R. Merkle suggests that genic release of ~2 x 1015 watts (~1% solar insolation) might cause
the use of nearly reversible computational operations713 may re- the polar icecaps to melt. A high upper limit is provided by Venus,
duce energy requirements per instruction by at least two orders of which receives ~3.3 x 1017 watts at its cloudtops, producing a surface
magnitude, at the cost of a slower clock cycle. With standard logic, temperature of ~700 K and a hellish ~100 atm sulfurous atmosphere—
dissipative irreversible operations can approach a minimum energy despite its close geological and size similarity to Earth. As a fairly liberal
dissipation of ln(2) kT ~ 3 zJ per operation at 310 K, and in principle estimate,3100,3101 the maximum hypsithermal limit for Earth is taken
with reversible logic a computer can dissipate arbitrarily less energy to be ~1015 watts.
per logic operation (Section 10.2.4.1). Nevertheless, total The hypsithermal ecological limit in turn imposes a maximum power
nanorobotic power demand will often be dominated by computational limit on the entire future global mass of active nanomachinery or
energy requirements (Section 10.2). “active nanomass.” Assuming the typical power density of active
nanorobots is ~107 W/m3, the hypsithermal limit implies a natural
F. Component Assembly — Fabricating nanoscale diamondoid worldwide population limit of ~108 m3 of active functioning nanorobots,
parts using hydrogen-rich organic feedstock molecules and oxygen gen- or ~1011 kg at normal densities. Assuming the worldwide human popu-
erates energy, because the process involves a controlled, but lation stabilizes near ~1010 people in the 21st century and assuming a
highly-exoergic, combustion reaction. In a well-known example uniform distribution of nanotechnology, the above population limit
given by Drexler,10 “burning” hydrocarbon to make diamondoid would correspond to a per capita allocation of ~10 kg of active
liberates 17 MJ/kg of gross energy, less 1.7 MJ/kg of local entropy continuously-functioning nanorobotry, or ~1016 active nanorobots per
decrease in the reactants, giving ~15 MJ/kg of free energy; person (assuming 1 micron3 nanorobots developing ~10 pW each, and
assuming 3 MJ/kg dissipated in the mills, rotors, and computers ignoring non-active devices held in inventory).** Whether a ~10-liter
needed to drive the manufacturing process, a net output of 12 MJ/ per capita allocation (~100 KW/person) is sufficient for all medical,
kg of surplus energy is produced. However, subsequent higher-order manufacturing, transportation and other speculative purposes is a
assembly processes using this diamondoid material are endoergic. matter of debate.
In the worst case, assembly of larger diamondoid structures from The hypsithermal active nanorobot population limit cannot be
1-nm cubes may cost ~9 MJ/kg, although with proper technique defeated by heroic artifices of planetary engineering such as giant
most of this energy can be recovered as mechanical work, reducing Earth-orbiting sunscreens or planetary-scale heat pumps, which would
the cost of block assembly of larger structures to as low as ~0.5-1.0 devastate global photosynthetic activity or climate while not sig-
MJ/kg.10 Leaving aside the initial exoergic energy production, then nificantly reducing thermal energy density at the Earth’s surface. Like-
depending upon computation, materials handling, and other require- wise, significantly reducing the atmospheric concentration of the most
ments in a particular implementation, assembling prefabricated important natural greenhouse gases, especially CO2 and H2O, on a
diamondoid part-like or module-like components into larger worldwide basis is not possible if the present ecology is to remain
structures will probably cost ~1-3 MJ/kg of energy10(Chapter 19). essentially undisturbed, but even the complete elimination of such gases
would raise the hypsithermal limit by at most a factor of 10-20.
6.5.7 Global Hypsithermal Limit Specifically, if Earth had no atmosphere at all, then to maintain the
Finally, it is possible to derive a limit to the total planetary active global mean surface temperature at its current value of TEarth ~ 288
nanorobot mass by considering the global energy balance. Total solar K,3097 an additional nanorobogenic power of Pnoatm ~ π REarth2 (4 σ
insolation received at the Earth’s surface is ~1.75 x 1017 watts (IEarth TEarth4 - IEarth) ~ 2 x 1016 watts could be released at the Earth’s surface,
~ 1370 W/m2 0.4% at normal incidence887,1945). Global energy where REarth = 6.37 x 106 m (radius of Earth) and σ = 5.67 x 10-8 W/
consumption by mankind reached an estimated 1.2 x 1013 watts m2-K4 (Stefan-Boltzmann constant). Still more unrealistically, if Earth’s
(~0.02 W/m2) in 1998. This latter figure may also be regarded as surface were an atmosphere-free black body surrounded by a perfect
the total heat dissipation of all human technological civilization mirror (e.g., albedo = 1.00, vs. ~0.31 for natural Earth), an additional
worldwide, as distinct from the ~1012 watt metabolic output of the nanorobogenic power release (underneath the mirrored barrier) of
global human biomass. The evidence for global warming remains Pmirror 4 π REarth2 (σ TEarth4 - Igeol) ~ 2 x 1017 watts would allow
controversial, 887 but it is clear that as the waste heat from maintenance of the current mean global surface temperature TEarth;
human-built machinery continues to grow, the climate will begin Igeol = 0.05 W/m2,3123 the mean geological heat flow at Earth’s surface
to change. Technological heat plumes from asphalt-covered major due to radioactive decay (e.g., U238, K40) in the crust. Reductions
cities already have demonstrable impact on local weather and thermal in nanorobot waste heat made possible by low-dissipative molecular
patterns. manufacturing and reversible computing may be offset by popular
*Global photosynthetic fixation of CO2 by plants is ~3.85 x 1014 kg CO2/yr, ~46% by ocean flora;1720 CO2 fixation requires ~794 zJ/molecule (Eqn. 6.16) or ~1.1 x 107 J/kg
CO2, giving a global vegetative total of ~1.4 x 1014 watts.
**Note that a global population limit of ~1026 10-pW nanorobots represents only ~100 moles of active devices; for 1000-pW devices (~109 W/m3 power density), the upper
population limit is only ~1 mole of 1-micron3 active nanorobots worldwide. Facile talk of controlling localized “mole quantities” of nanodevices is thus highly misleading.
176 Nanomedicine • Volume I
insistence on adherence to a more conservative global limit, perhaps limit ultimately can only be avoided by continuing human techno-
~1013 watts (today’s level), to better preserve the terrestrial habitat. logical progress in space, which seems an excellent idea in any case.
Consistent with long-term ecological maintenance the hypsithermal
CHAPTER 7
Communication
7.1 Nanorobot Communications Requirements
C
ommunication is an important fundamental capability of MHz transmission bandwidth)*; downloading an entire uncompressed
medical nanorobots. At the most basic level, nanomachines human genome during cytogenetic repair operations (Chapter 20)
must pass sensory and control data among internal subsystems in ~1000 sec requires a ~107 bits/sec transfer rate.
to ensure stable and correct device operation. They must also According to classical information theory for channel capacity
exchange messages with biological cells, communicating with the on a dissipative transmission line with additive equilibrium thermal
human body at the molecular level. Nanodevices must be able to noise,699 the minimum erasure energy required per transmitted bit
communicate with each other in order to: is
1. coordinate complex, large-scale cooperative activities, Ebit ≥ kT ln(2) = 3 zJ/bit {Eqn. 7.1}
2. pass along relevant sensory, messaging, navigational, and other
operational data, and where k = 0.01381 zJ/K (Boltzmann constant), T = 310 K, and 1
zeptojoule (zJ) = 10-21 joule. Thus the maximum Imax ~ 109 bits/sec
3. monitor collective task progress.
bandwidth requirement noted earlier must draw 3 picowatts (pW),
Finally, nanorobots must be able to receive messages from, and trans- well within the anticipated 1-1000 pW power budget of typical in vivo
mit messages to, both the human patient and external entities medical nanodevices (Section 6.5.3). Slower bit rates can draw even
including antennas and telecommunications links, laboratory or less power. The design challenge is to closely approach this minimum
bedside computers, and attending medical personnel. theoretical limit.**
It is instructive first to examine the gross information flows likely In this Chapter, an analysis of the most common nanorobotic
to be required in typical nanomedical situations. Nanorobot onboard communication modalities (Section 7.2) and communication network
computers are likely to generate from I ~ 104 bits/sec for the simplest architectures (Section 7.3) is followed by a brief discussion of the
systems to ~109 bits/sec for the most complex systems and tasks many specific communication tasks to be performed (Section 7.4).
(Chapter 12), which sets broad limits on internal communications
requirements. Assuming onboard data storage of 105-109 bits, 7.2 Communication Modalities
rewriting an entire nanorobot memory in ~1 second demands As a general principle, any method by which materials or power
information flows of 105-109 bits/sec. Communications with can be transferred into, around, or out of the human body also may
human cells may take place at many levels, ranging from 10-1000 be employed as a mode of communication by imposing a
bits/sec for individual neuronal impulses (Section 4.8.6) up to brief time-varying modulation on the flow. For in vivo communications,
bursts at ~106 bits/sec (~MHz frequencies) for intracellular processes the leading candidates are free-tissue chemical, acoustic, and electro-
involving enzyme action or molecular gating. Inter-nanorobot com- magnetic broadcast, nanomechanical and cable systems, and dedicated
munications are unlikely to require data transfer rates exceeding communicytes. An extensive treatment of data protocol systems,1652
103-106 bits/sec; explicit exchanges between nanodevices and the such as TCP/IP or any layered communication protocol, as they
human user are restricted by the maximum data processing rate of might apply to medical nanorobotic systems, would be interesting
the conscious mind, variously estimated as 1-1000 bits/sec (Chapter but is beyond the scope of this Volume.
25), although dermal and retinal displays may transfer visual
information to the patient at up to ~107 bits/sec (Section 7.4.6). 7.2.1 Chemical Broadcast Communication
Communications with external entities may include monitoring Chemical broadcast communication is widely used in the
or data transfer operations. For example, the ~525 x 390 = human body, as for example, in cellular communications using cytokines
204,750 pixel/frame of standard halftone black-and-white broad- and other mechanisms (Section 7.4.5), hormones, neuropeptides,
cast television transmitted at 30 frames/sec with ~1 bit/pixel immune system components and pheromones. Consider the simple
mandates a ~6.1 x 106 bit/sec (6.1 MHz) digital transfer rate (~6.1 case of in vivo nanorobots attempting to communicate with each
* Although treated as approximately equal for simplicity in this book, the digital transfer rate is distinct from the transmission bandwidth. The bandwidth needed to handle
a specific transfer rate is related to the actual coding and modulation technique selected. The simplest modulation techniques can indeed approach ~1 bit/sec per Hz of
bandwidth, but much more efficient techniques are available. For instance, a typical 1998-vintage PC modem used complex coding and modulation schemes to transmit 33
KB/sec over a voice-grade transmission line that was only 4 KHz wide, thus achieving a transfer rate of ~8 bits/sec per Hz of bandwidth; ~100:1 data compression algorithms
are currently available for voice transmissions.
** Landauer700 points out that in theory there is no minimum energy required to transfer a bit; but see also Levitin2318 and the discussion of reversible computing in Section
10.2.4.1.
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
178 Nanomedicine • Volume I
other exclusively by chemical means. In this model, the sender artificial blood formulations for years.704,705 Such fluorocarbons are
releases a coded messenger molecule of some type into the cytosol, characterized by high chemical and biochemical inertness, absence
interstitial fluid, or bloodstream, and this molecule travels via of metabolism, and rapid excretion.704 The rate of excretion has
diffusion and convective transport to its intended recipient, whereupon been shown to decrease exponentially with increasing molecular
the messenger molecule is recognized, absorbed and decoded. weight, with the exception of fluorocarbons containing a lipophilic
substituent such as Br (e.g., Perflubron) or a hydrogenated fragment in
7.2.1.1 Ideal Messenger Molecule their molecular structure.704 These water-insoluble compounds
The ideal chemical messenger molecule will have several important usually consist of 8-10 carbon atoms with molecular weights of
characteristics. First, its structure will contain a distinctive “head” ~450-500 daltons; clinical administrations typically reach maximum
or “flag” that permits easy recognition and binding by nanorobot bloodstream concentrations of 70-400 gm/liter.705 (cf. LD50 ~ 700
molecular receptor systems such as molecular pumps or sorting gm/liter estimated from acute single-dose toxicity studies707), many
rotors (Section 3.4), so that the entire message need not be read in orders of magnitude in excess of the levels anticipated for nanodevice
order to identify the intended recipient. Second, it will be relatively chemical communication applications. Interestingly, mice survive
bioinactive, thus not readily broken down by natural processes immersion in fluorocarbon through which oxygen is bubbled,2183
before the message is likely to be received. Third, it should be easily and rats breathing 95% oxygen have survived total blood replacement
eliminated from the body, thus preventing potentially toxic with fluorocarbon fluid.2184 The boiling point of perfluoropentane
accumulations; however, the molecule and any likely breakdown (C 5F 12 ) is 29.2˚C, but is >37˚C for n>5—e.g., 56.6˚C for
products should also be inherently nontoxic in anticipated maximum perfluorohexane (C6F14).
concentrations.* Finally, the molecule should be capable of easy Fluorocarbons and fluorocarbon moieties have very strong
extension to larger sizes, permitting significant entire messages to intramolecular bonds and very weak intermolecular interactions,2940
be written on the molecule, as the statistical nature of the transport hence should display low particle aggregation. Fluorinated surfactants
process implies a relatively long time between assured detections of are less hemolytic and less detergent than their hydrocarbon counter-
the messenger molecule. parts,2940 and fluorosurfactants appear unable to extract membrane
One possible candidate messenger is the partially fluorinated proteins.2940 The stability and permeability of fluorinated liposomes
polyethylene molecule originally suggested by Drexler 10 for has been widely studied.2941-2944 For example, anionic double chain
nanocomputer tape bulk memory systems, although others have glycophospholipids with either two hydrocarbon or two
been investigated.1200 Such molecules can store one bit per carbon perfluorocarbon chains, or a mixed double chain (one fluorinated,
atom using an H atom to represent a “0” and an F atom to represent a one hydrogenated), readily give vesicles 30-70 nm in diameter when
“1” on one side of the carbon-chain backbone, with all H atoms dispersed in water, with maximum tolerated IV doses up to 0.5 gm/
occupying the other side of the backbone to facilitate easy reading. kg body weight in mice (~5 gm/liter blood volume); hemolytic
The message may be a single linear chain or may include branching activity sharply decreases with increasing degree of fluorination.2943
structures representing conditionals or prioritizations embedded in Many fluorinated surfaces such as Teflon are simultaneously hydro-
the message. Assuming molecules (averaging 50%/50% H/F atoms phobic and lipophobic.2940
on the read side) are of the form CH3(CHX)nCH3 (with X = H or Fluorocarbons are typically administered in the form of emulsions
F atoms) and can store 1 bit per unit (with n units/molecule), then of 0.1-0.2 micron droplets dispersed in a physiologic solution, similar
message molecule density rmessage ~ 1000 kg/m3 and message molecule to fat emulsions routinely used for parenteral nutrition. A compact
volume Vmessage ~ (3.82 x 10-29)n (meter3), giving an information folded messenger molecule of spherical radius rmessage can store
density of Dmessage ~ 26 bits/nm3 (~3 bits/nm of linear message approximately
molecule length). (By comparison, linear DNA achieves ~1 bit/nm3.) 4 3
I message = π rmessage Dmessage (bits) {Eqn 7.2}
Message molecule molecular weight MWmessage ~ n MWunit (kg/mole) 3
for n >> 1, where MWunit = 0.023 kg/mole for (CHX), ignoring the
end caps and again assuming 50%/50% H/F atoms. and may display Isurface ~ (3 π1/2 I message/4) 2/3~1.2 I message2/3 (bits)
Hydrofluorocarbon message molecules with n > 20 may be on a compact spherical packet surface. For rmessage = 0.2 micron,
strategically crosslinked in a standardized pattern across the all-H Imessage ~ 109 bits/molecule (e.g., “genome packets”) with I surface
backbone and folded into a maximally compact spheroidal configura- ~ 106 bits. Of this number, at most ~1000 bits may be required
tion in preparation for transmission. Alternatively, the polymer could for recipient identification, time stamping, “destroy by” dating, or
be wound up onto a bobbin or reel, allowing more convenient reading other message packet flagging or header information. For the (CHX)n
and a high packing density.10 The read-write mechanism may core fragment, Imessage = n (bits).
require ~104 nm3 of nanomachinery, providing a readout rate of Hydrofluorocarbon messenger molecules will not be readily
Iread ~ 109 bits/sec by scanning the message molecule at a ~30 cm/ metabolized. The smaller molecules are cleared rapidly from the
sec read rate,10 although the complete tape-handling mechanism may circulation with brief retention in the mononuclear phagocyte system,706
require up to 10 5 nm 3 of nanomachinery. Two-dimensional mainly in the liver, spleen and bone marrow. They are then reintro-
information-bearing fluorinated hydrocarbon molecules have also duced into the circulation by lipid carriers in the blood at a rate that
been considered.2182 appears to depend on the fluorocarbon’s solubility in fat, with some
Are hydrofluorocarbon molecules biocompatible? Fluorinated concentration in adipose tissues. Eventually, they are excreted through
hydrocarbon perfusants with n < 20 such as Fluosol-DA or the the lungs with the expired air709 as a vapor (for short message segments
commercial solvent polyfluoro-octobromide (Perflubron) are of low molecular weight), with an intravascular persistence of 4-12
FDA-approved and have been used as reversible oxygen carriers in hours for present oxygen-carrying emulsions.704 (Linear mixed
* M. Krummenacker notes that if a common standard format is established for design economy, then any stray messenger molecules that are released intact into the environment
could trigger unwanted action in other bodies, and at inappropriate times, if inhaled or ingested by someone other than the original patient. Such “information toxicity” can
be reduced by judicious degradation and deflagging of all messenger molecules prior to final excretion, by recycling, and by employing validity-checking security protocols
(Chapter 12) before permitting any action to be stimulated or influenced by received messenger molecules.
Basic Capabilities • Communication 179
fluorocarbon-hydrocarbon amphiphiles have demonstrated at least B) or ~1.4 x 1022 F atoms/m3. From Eqn. 3.4, the maximum diffusion
some bloodstream persistence in vivo of up to 4 months.712) Massive current to the entire surface of a spherical nanodevice of radius
single doses or repeated administration can cause saturation and R = 1micron and diffusion constant D ~ 2 x 10-9 m2/sec (est. from
transient blockade of the reticuloendothelial system (RES), temporarily Table 3.3) is J = 3.6 x 108 F atoms/sec or 1.1 x 10-17 kg/sec, enough
depressing this component of the host-defense system. 710 fluorine to manufacture 2.7 x 10-17 kg/sec representing a continuous
Message-carrying fluorocarbons should be extremely inert, although long-term maximum broadcast rate of I ~ 7.2 x 108 bits/sec of
there is some evidence that macrophages which have ingested (CHX)n 1-bit/unit hydrofluorocarbon messenger molecules.
perfluorocompounds show loss of phagocytic function and possible Even in the unlikely event that all 8.3 x 1022 atoms of fluorine
release of cytokines and other immune mediators.708 Fluosol has present in the human body (Table 3.1) were somehow converted to
been found to elicit anaphylactoid-type reactions is a small percentage hydrofluorocarbon messenger molecules and released into the blood-
of patients at blood concentrations as low as ~0.1 gm/liter.711 stream simultaneously, the bloodstream concentration would reach
Irregular Teflon (CF2)n granules measuring 4-100 microns (equivalent ~1.2 gm/liter, well below the ~700 gm/liter LD50, though admittedly
to n = 106-1010) employed clinically in periurethral injection 944 have exceeding the ~0.1 gm/liter limit that occasionally triggers
produced granulomatous reaction, embolization, and migration to the anaphylactoid-type reactions.
lungs. 945-946 This implies a maximum size limit on large In 1963, Bossert and Wilson703 completed the first systematic
naked messenger molecules and a possible requirement for analysis of chemical communication in the context of animal
encapsulation in a biocompatible shell prior to release. R. Bradbury olfactory communication in air, later extended by Bossert725 in an
suggests that such a shell might include a lipid membrane with analysis of maximum possible bit rates. In the following discussion,
“docking tags” similar to viral attachment proteins. These tags their results are adapted to the problem of in vivo chemical com-
should be engineered to be incapable of binding by antibodies, munication among medical nanodevices.
to have minimal affinity for common cell receptors, and to be
indigestible by the regular cellular protein breakdown and recycling 7.2.1.3 Instantaneous Stationary Source in Stationary Medium
machinery (and thus be incapable of generating long-term immunity). Consider a chemomessaging nanorobot that releases Qmessage
A hydrofluorocarbon messenger molecule with a lengthy stretch messenger molecules (each carrying Imessage bits/molecule) in a single
of exposed hydrogens might display increased toxicity, as some puff as a point source at time t = 0. This is the ideal design for an
short-chain linear paraffin hydrocarbons (CnH2n+2) are considered alarm-type message or for messages requiring rapid fade-out. For
“poisonous”2945 with an official NFPA Health Hazard Rating of 1 simplicity, the human body is taken to be a continuous, isotropic,
or “slightly toxic” (scale 0-4).2947 Animal toxicity of pure propane unbounded, stationary aqueous medium; a more detailed treatment
(C3H8) occurs with inhalation exposures to concentrations >10% is beyond the scope of this book. The spatial density of message
and includes mild respiratory tract irritation and irregular respiration, molecules as a function of time t and distance r from the point
cardiac sensitization to catecholamine-induced arrhythmias, analgesia source is
and hypotension,2947,2948 although the principal risk is simple
asphyxia and cold burn during bulk exposures. Typical OSHA r2
Qmessage −
workplace air exposure concentration limits for propane and Umessage = e 4Dt (molecules/m3 ) {Eqn. 7.3}
(4 π D t)3/2
butane are 0.06%-0.1%. 2946,2947 Inhalation toxicity to
pentafluoroethane (C2F5H) in rats is 70.9% (4-hour ALC), with where D = the translational diffusion coefficient for message molecules,
no significant toxicological effects under <5% concentration.2948 which are assumed to be roughly spherically packed, estimated from
Toxicity mechanisms may differ for short-chain and long-chain Eqns. 3.5 and 7.2 as
hydrocarbon molecules.
This entire area deserves an in-depth toxicology study. If kT Dmessage
long-term toxicity is found to be unacceptable, the solution may be D= {Eqn. 7.4}
η 162 π 2 I message
to engineer “digestible” but non-immunogenic packages, reducing
bit density but increasing the available molecular pool of raw materials For Imessage = 100 bits, D = 2.2 x 10-11 m2/sec; for Imessage = 109 bits,
for building messenger molecules in vivo. As a possible alternative D ~ 1.0 x 10-13 m2/sec. Because the detection of molecules by
to hydrofluorocarbons, R. Bradbury suggests using unusual protein receptor-based chemical sensors requires a concentration-dependent
or polysaccharide chains (which can compactly encode large minimum sensor cycle time tEQ approximated by Eqn. 4.3, then
quantities of data; Section 8.5.2.2)3122 that are easily read by there exists some minimum threshold concentration (cmin) of message
nanorobots but also are easily digestible by cells as “food.” If patient molecules that can be detected by a chemical sensor in some
immunotype is known, then protein sequences can be designed minimum waiting time tsensor = tEQ, given by
which cannot be bound by MHC molecules (Section 8.5.2.1), pre-
venting the patient from developing an immunity to them, and which
look like self-shapes or are nonbinding to antibodies. N I message MWunit 1/2
c min = 2 encounters {Eqn. 7.5}
7.2.1.2 Diffusion-Limited Broadcast Rate rmessage t sensor 4 π kT N A
Given Imessage ~ 109 bits for rmessage = 0.2 micron from Eqn. 7.2,
it is clear that onboard stores of messenger molecules will be quickly
exhausted at the highest broadcast bit rates unless the communication For Nencounters ~ 100,10 NA = 6.023 x 1023 molecules/mole (Avogadro’s
system architecture makes substantial use of messenger molecule number), rmessage from Eqn. 7.2 and taking tsensor = 1 sec, then cmin ~ 1
recycling. Without recycling, emission of hydrofluorocarbon message x 10-9 molecules/nm3 for Imessage = 100 bits and cmin ~ 9 x 10-11
molecules is fluorine-limited, because carbon and hydrogen atoms molecules/nm3 for Imessage = 109 bits. The concentration of message
are readily available from glucose and water molecules. The blood- molecules exceeds cmin within an expanding diffusive sphere. In a time
stream concentration of fluoride is ~4.5 x 10-7 gm/cm3 (Appendix trec = (0.0293 / D) (Qmessage / cmin)2/3 this expanding sphere reaches a
180 Nanomedicine • Volume I
maximum size Rmax = (0.419) (Qmessage / cmin)1/3, after which it begins radius of the detectable message molecule envelope declines to
to contract as the puff dissipates;703 the concentration eventually zero at Xfadeout, with tfadeout = Xfadeout / vn. Thus, a nanorobot ve-
falls below cmin everywhere at tfadeout = e trec, where e = 2.718... locity vn = 10 microns/sec and an Xfadeout = 1000 microns requires
1012 nanorobots uniformly distributed throughout a 0.1 m3 Qmessage = 4 x 105 molecules/sec for simple message molecules (Imessage
human body have a mean interdevice separation of ~50 microns. = 100 bits) giving Rmax ~ 60 microns at Xmax = 370 microns and
For simple messages (Imessage = 100 bits) and Rmax = 50 microns, tfadeout = 100 sec.
then Qmessage ~ 2 x 106 message molecules emitted, trec ~ 20 sec These equations703 also apply to a continuous stationary source
(I ~ 5 bits/sec), and tfadeout ~ 50 sec. If Rmax = 1 mm, then Qmessage in a nonstationary medium, where the medium moves past the source
= 2 x 1010 molecules and trec ~ 8000 sec to receive the signal (I ~ 0.01 with a slow, constant velocity with perfect laminar nonturbulent
bits/sec). For complex messages (Imessage = 109 bits), Qmessage ~ 1 x 105 flow in the absence of nearby boundary surfaces, an idealized
molecules but trec ~ 4000 sec (~1 hour) for the message to be trans- instance of the case described in Section 7.2.1.7.
ported Rmax = 50 microns (I ~ 3 x 105 bits/sec).
A simple alarm signal (Imessage = 100 bits) released within an 7.2.1.7 Continuous Stationary Source in Nonstationary Medium
individual tissue cell is received everywhere throughout the cytosol— A nonstationary transporting medium does more than just move
an assumed ~(20 micron)3 cell volume—in trec ~ 0.8 sec (I ~ 100 message molecules in the direction of flow—it also may create
bits/sec) with tfadeout ~ 2 sec, using a single alarm puff of Qmessage ~ turbulence in the medium, adding a component of turbulent
17,000 message molecules (computed with Rmax ~ 10 microns) diffusivity that overwhelms simple Brownian diffusion, giving a total
which molecules may be stored in a (40 nm)3 volume per puff. As a diffusivity that is more a property of the flow structure of the
practical matter, the cytosol is quite crowded with macromolecules medium and the boundary surfaces than of the substance of the
and cytoskeletal components (Section 8.5.3); exclusion effects will medium, a complex analytical problem. Consider a continuous point
increase diffusion times by as yet unknown amounts, to be determined source emitting a constant Qmessage (molecules/sec) from a fixed
experimentally. position near the luminal surface of a blood vessel of radius Rvasc.
From the relations given in703 and as a crude approximation assuming
7.2.1.4 Instantaneous Stationary Source in Flooded Tube plume width << boundary wall separation, Qmessage ~ (0.0396) vvasc
For a source at the end of a long water-filled tube with non- cminXfadeout7/4 to create an ellipsoidal message molecule plume of
absorbent walls, cross-sectional area Atube, and length Xmax = (0.484) maximum detectable length Xfadeout in a medium flowing along the
Qmessage / Atube cmin, then trec = (0.117 / D) (Qmessage / Atube cmin)2 x-axis with fluid velocity vvasc. The widest part of the plume occurs
and tfadeout = e trec ,703 using cmin from Eqn. 7.5. Hence a simple at Xmax ~ (3.57) F4/7, Ymax ~ (0.686) F1/2, and Zmax ~ (0.341) F1/2,
message (Imessage = 100 bits) passing through a tube of area Atube = 1 where F = Qmessage / vvasc cmin. Message receipt time trec ~ Xfadeout /
micron2 and length Xmax = 50 microns requires Qmessage = 130 message vvasc.
molecules and is received in trec ~ 60 sec (I ~ 2 bits/sec). Thus a simple message (Imessage = 100 bits, cmin ~ 10-9 molecules/
nm3 for tsensor = 1 sec) broadcast from the luminal surface of the
7.2.1.5 Continuous Stationary Source in Stationary Medium common carotid artery (vvasc ~ 0.2 m/sec, Rvasc ~ 3 mm; Table 8.2)
Consider a source of message molecules emitting continuously with a desired plume length Xfadeout = 100 microns requires at least
at the constant rate Qmessage (message molecules/sec) into the idealized Qmessage ~ 109 molecules/sec, producing a very narrow plume with
stationary medium described in Section 7.2.1.3. Such a source might Ymax ~ 40 microns, Zmax ~ 20 microns (the radial direction), and trec
be useful for status telemetry, navigational beacons, or periodic ~ 0.5 millisec (I ~ 100 bits/sec, limited by tsensor = 1 sec). For a
sampling monitors. If the source continues for a long time then complex message (Imessage = 109 bits, cmin ~ 9 x 10-11 molecules/nm3 for
the detectable threshold concentration sphere703 of message molecules tsensor = 1 sec), Qmessage ~ 7 x 107 molecules/sec at trec ~ 0.5 millisec
around the point source asymptotically approaches a maximum (I ~ 109 bits/sec, limited by tsensor = 1 sec).
radius Rmax = Qmessage / (4 π D cmin). The time for the expanding
detectable concentration sphere to reach a radius R = fR Rmax (where 7.2.1.8 Assessment of Chemical Broadcast Messaging
0 fR 1 is the fractional radial expansion of the message sphere), Chemical broadcast messaging in theory permits information
the exact solution for which involves the complementary error transfers up to 10 9 bits/sec but appears to be extremely
function, is approximated reasonably well by trec ~ (1.1 fR Qmessage / energy-inefficient. The assembly of (CHX)n messenger molecule
8 π cmin (1-fR) D3/2)2 for 0.1 < fR 1, using D from Eqn. 7.4 and units may require 1-1000 zJ/bit (Section 6.5.6 (B)). For instance,
cmin from Eqn. 7.5. Thus for simple messages (Imessage = 100 bits) replacing C-H (642 zJ) with C-F (876 zJ) costs ~234 zJ, but
with Rmax = 100 microns and R = 50 microns (fR = 0.5), then Qmessage recycling CH3F molecules into C-CH2F chains actually produces
~ 4 x 104 message molecules emitted per second and trec ~ 140 sec 97 zJ of energy. A feedstock of CH3F and CH4 will release energy
(I ~ 1 bit/sec). For complex messages (Imessage = 109 bits), Qmessage when the tape is first assembled, but will cost energy to tear apart
~ 10 message molecules emitted per second and trec ~ 8.4 hours (I ~ into its fundamental subunits. R. Bradbury believes that the net
3 x 104 bits/sec). cost of tape production and recycling can be reduced to 10-50 zJ/bit,
given sufficient space to store lots of tape subunits: “If the
7.2.1.6 Continuous Mobile Source in Stationary Medium assembly process is efficient at harvesting the energy produced, and
Consider a mobile nanorobot traveling through a stationary the molecules don’t get lost to cellular recycling machinery, then
aqueous medium at velocity vn (m/sec), emitting message molecules you could produce a system with very high overall efficiency, though
continuously at the rate of Q message (molecules/sec). The you will have to worry about distribution of harvested energy and
cigar-shaped molecular trail envelope has a maximum length feedstock.”
Xfadeout = Qmessage / 4 π D cmin, and at a distance Xmax = Xfadeout / e However, since ~106 molecules must be released to ensure
behind the moving source the message molecules diffuse outward to a receipt of at least one message molecule by an intended recipient
maximum detectable radius Rmax = (0.342) (Qmessage / vn cmin)1/2 as ~50 microns away (e.g., Section 7.2.1.3), the energy cost per
measured from the motion axis; for distances >X max the received bit rises sharply to ~106-109 zJ/bit, which is >> 3 zJ/bit, the
Basic Capabilities • Communication 181
theoretical minimum (Eqn. 7.1). Thus a 1-pW communications power and 6.4.3.3). Issues remaining to be addressed here include the
budget limits steady-state bandwidth to ~1 bit/sec across ~50-micron generation of ultrasonic radiation by nanorobots (Section 7.2.2.1)
transmission ranges. Additional disadvantages of chemical com- and free-tissue acoustic channel bandwidths available in the human
munications are slowness of transmission (except in nonstationary body (Section 7.2.2.2). Acoustic cables and transmission lines are
media or across short distances) and the ability to be delayed or treated in Section 7.2.5.3.
blocked by semipermeable or impermeable barriers, or by absorptive
nanorobotic agents active in the environment. Noise on chemical 7.2.2.1 Acoustic Radiators
channels may almost be eliminated by using artificial messenger The acoustic power generated by any vibrating source is Pout =
molecules, reducing the natural background nearly to zero, though noise U2 RA (RMS watts), where U is the rate of oscillatory volume
may still be present due to the presence of old signals, interference or displacement of the fluid, measured in RMS m3/sec, and RA is the
cross-talk from other man-made devices, or even from intentional acoustic radiation resistance seen by the source, measured in MKS
medical or military jamming. The encoding mechanism of “genome acoustic ohms.889 Two basic generators are the vibrating piston and
packets” would act less like email, and more like FTP, because the the pulsating sphere, both of radius r. From Stokes Law (Eqn. 9.73)
amount of information transferred per messenger molecule is so the input power required to propel a circular piston through water
large.1652 Finally, used messenger molecules must be degraded by at velocity v is Pin ~ 6 π r η v2, or Pin ~ 24 π r η v2 for a radially
nanomachines (or other means) after the “destroy by” date has been oscillating sphere. Hence U = π r2 v = (π r3 Pin / 6 η)1/2 for a vibrating
passed; the number of messenger molecules to be captured and piston to which Pin watts of mechanical input power are delivered,
degraded or recycled by the messaging nanorobot population must and U = (2 π r3 Pin / 3 η)1/2 for the pulsating sphere.
approximate the number of messenger molecules released. The radiation resistance RA = π ρ ν2 / kr vsound, where kr = 2
Nanorobot-to-nanorobot chemical broadcasts may be useful (piston) or 4 (sphere) and ν is acoustic frequency (Hz). This equation is
in the case of nanorobots working in close quarters where low valid only when r/λ << 1 (e.g., radiator size is very small in comparison
emission rates will suffice, as in bacterial quorum sensing.3236 to acoustic wavelength λ = vsound / ν); for r = 1 micron and ν = 1
For example, achieving the minimum detectable concentration MHz, then r/λ ~ 0.001 in water. Sound energy generated from a
cmin ~ 10-9 molecules/nm3 for 100-bit message molecules inside source with dimensions small compared with the wavelength of the
a (20 micron) 3 human tissue cell requires emission of only ~104 vibration in the medium produces an intensity uniform in all angular
molecules (Section 7.2.1.3), costing ~1 pJ to manufacture and directions; such a generator is considered to be a point source.
representing just 10-7 % of tissue cell volume. Chemical com- Formulas for radiators having r/λ >> 1 are also provided by Massa.889
munications may also be useful in various special applications Combining these results with Eqn. 4.53, transmitted acoustic
such as “silent alarms” using premanufactured messenger molecules pressure (Ap), output power (Pout), and power intensity (Ip) at the
vented from onboard storage tanks, thus moving the manufacturing radiator surface are given by
energy cost ex vivo. Assuming 0.1 micron3 tankage per nanorobot, each 1/2
device may store ~108 100-bit message molecules available for ready π ρ 2 ν 2 r Pin
release, enough to signal ~104 in cyto alarm events. Each such alarm Ap = (N/m 2 ) {Eqn. 7.6}
3 kr η
signal may permeate the entire cytosol in ~1 sec.
Chemical broadcast messaging may be most useful when the high k r π 2 ρ ν 2 r 3 Pin
energy cost of creating the message molecules is borne by some Pout = (watts) {Eqn. 7.7}
24 η v sound
external or macroscale agency, thereby requiring individual
nanorobots only to receive the chemical signal but not to send it. 4 Pout
For example, messenger molecules manufactured in the laboratory, Ip = (watts/m 2 ) {Eqn. 7.8}
treatment clinic, or implanted dedicated communication organ k 2r π r 2
(Section 7.3.4) may be injected into the bloodstream in sufficient For example, a vibrating piston radiator of radius r = 1 micron and
concentration to ensure receipt. Given cmin ~ 1 x 10-9 molecules/ input power Pin = 10 pW operating at ν = 1 MHz in vivo produces
nm3 (Imessage = 100 bits/molecule) or cmin ~ 9 x 10-11 molecules/nm3 Ap = 0.0007 atm radiation pressure, Pout = 0.005 pW (giving e% =
(Imessage = 109 bits/molecule), the minimum number of messenger Pout / Pin = 0.0005 (0.05%) and an acoustic intensity of Ip = 0.002
molecules needed to promptly raise the entire bloodstream concen- watts/m2 at the surface of the radiator, assuming ρ = 993.4 kg/m3,
tration to cmin (assuming no absorption by the body) is >7 x 1015 η = 1.1 x 10-3 kg/m-sec and vsound ~ 1500 m/sec for human interstitial
100-bit messenger molecules (a ~0.006 mm3 injection) or >5 x 1014 fluid at 310 K. Figure 7.1 summarizes Eqn. 7.6 for various parameter
109-bit messenger molecules (a 4 cm3 injection producing ~0.9 gm/ choices.
liter concentration, somewhat exceeding the ~0.1 gm/liter threshold
that occasionally produces anaphylactoid-type reactions). By 7.2.2.2 Free-Tissue Acoustic Channel Capacity
comparison, a single nanorobot with a 1 pW power budget can only Figure 7.1 (with blood pressure variations compared; Section
manufacture ~104-107 100-bit message molecules/sec. 4.9.1.2) and Eqn. 7.7 illustrate the well-known result in acoustics
In 1998, chemical messaging was only starting to be applied in that for a given driving amplitude, micropistons and microspheres
robotics. For example, in one experiment simple pheromone-guided are more powerful sound radiators at higher frequencies. That is,
macroscale mobile robots could follow a scent plume using silk- input power (driving the radiator) is more efficiently transduced
worm moth antennae wired into an electronic neural network.2163 into output power (waves in the medium) both at higher frequencies
and at larger radiator sizes. Thus to achieve the highest acoustic
7.2.2 Acoustic Broadcast Communication channel capacity per unit of input power, the highest practical frequency
Communication by acoustic waves is a highly useful channel for and the largest possible radiator should be used for
information transfer in nanomedicine. Previous Chapters have nanorobot-to-nanorobot acoustic communications. Of course, at
described the reception of acoustic energy in sensing (Sections 4.5, higher frequencies, attenuation becomes more severe and eventually
4.8.2 and 4.9.1) and in the transfer of power (Sections 6.3.3, 6.4.1 limits the value of ever higher frequencies.
182 Nanomedicine • Volume I
{Eqn. 7.9}
maximum operating frequency of ~0.0003 Hz, too low to convey
any meaningful information. (Here, signal-to-noise ratio SNR = 2
(20 dB); error-corrected digital signals can provide virtually perfect
communications even below 10 dB.) Furthermore, simple scaling
For fduty = 10%, r = 1 micron, Xpath = 100 microns, taking ν = 10 predicts nanoelectric antennas will have nondirectional
MHz gives e% ~ 0.05 (5%), Pin ~ 6000 pW continuous, and I ~ radiation patterns, since antenna gain G ~ A / λ; for A = 1 micron2
106 bits/sec. Increasing ν to 100 MHz improves e% to at least ~50% antenna surface, then λ 1 micron (3 x 1014 Hz) to achieve G 1.
and I = fduty ν ~ 107 bits/sec without increasing Pin, giving a maximum The reciprocity theorem in electromagnetic field theory predicts
safe acoustic power intensity of ~e% Pin / π r2 ~ 1000 watts/m2 that the radiation pattern of an antenna will have the same shape as
(Section 6.4.1) at the transmitter surface. Further increases in ν the response of that antenna when used as a receiver. W. Ware points
cause I to decline, because e% cannot improve beyond a maximum out that a group of antennas tuned to a given resonant frequency, if
of 100%. illuminated by an external source at that frequency, will reradiate at
These results imply that nanorobot-to-nanorobot acoustic that frequency, essentially echoing the signal. Thus a ~1 watt external
communications will generally take place at ~10-100 MHz frequencies source may induce 109 micron-scale antennas (one antenna per
over 10-100 micron path lengths in vivo. Acoustic messaging over nanorobot, with a billion nanorobots reporting) to reradiate a total
longer path lengths require mobile signal amplifiers such as of ~0.01 pW at the same frequency, in theory detectable by a single
communicytes (Section 7.2.6), dedicated fixed-position communi- nanorobot rf receiver and certainly detectable by macroscale
cation organs with repeater protocols, or packet routing networks instruments situated external to the body. (For comparison, television
analogous to the Internet (Section 7.3). signals entering home TV antennas typically provide ~10-10,000
pW to the receiver). Near-coherence of the echo is virtually assured
7.2.3 Electromagnetic Broadcast Communication because the external rf interrogation signal passes through 30 cm of
The receipt of externally-generated radiofrequency (rf ) power tissue in ~10-9 sec, so ~MHz antennas located anywhere in the body
signals up to ~MHz frequencies by nanorobot antennas has already will lie at worst ~0.1% from perfect coherence. Interrogation pulses
been considered in Section 6.4.2. Such signals are readily adapted at many different rf frequencies may simultaneously poll echoing
to communication and may carry ~MHz signals into the human nanorobots programmed to monitor various internal phenomena
body, allowing information transfers to in vivo nanorobots of up to of interest (and to adjust their antenna resonances accordingly prior
Basic Capabilities • Communication 183
to interrogation) in order to establish spatial distributions of those conductivity Kt and heat capacity CV, producing Pn watts of thermal
phenomena—which may include temperature, pressure, biochemical power at a distance Rdetect from a second nanorobot equipped with
concentrations, bloodflow velocities, detection of specific cell types a thermal sensor of temperature sensitivity ∆Tmin. The maximum
or metabolic processes. In 1999, the 250-micron microtransponders detection range is
under development by PharmaSeq 3432 were expected to be
interrogated at a throughput rate of 1000/sec. Pn
R detect = {Eqn 7.13}
Aside from the environmental sources of electrical noise already 4 π K t ∆Tmin
described in Section 4.7.1, two additional potential sources deserve
brief mention. First, radio, television, radar and other broadcast For Kt = 0.623 watts/m-K for water at 310 K, ∆T min = 10-6 K
sources in developed countries produce a frequency-dependent (Section 4.6), and Pn = 10-1000 pW, then Rdetect ~ 1-100 microns.
broadband background (e.g., a carrier-frequency spike for each If Pn is pulsed on and off to send a message, the thermal time constant
source) across a 0.01-1000 MHz spectrum up to ~10-11 watts/m2-Hz τthermal = 4 π Rdetect CV / Kt = 0.0001-1 sec for CV = 4.19 x 106
which at MHz frequencies passes through the human body largely watts/m3-K in water at 310 K. Assuming single-channel bandwidth
unattenuated (Section 6.4.2). However, a ~1 micron2 antenna ~ 1 / τthermal, then detectable signals range from ~10 KHz (~104
employing a ~1 MHz channel receives at most ~10-5 pW of this rf bits/sec) at a distance Rdetect = 1 micron from a 10-pW modulated
broadcast energy, only ~0.002 kT/cycle which is almost certainly heat signature down to 1 Hz (~1 bit/sec) at a distance Rdetect = 100
undetectable. In other words, micron-scale nanorobots probably microns from a 1000-pW modulated heat signature.
cannot directly receive commercial TV, radio, or satellite broadcasts
or GPS signals unless mediated by a macroscale communication 7.2.4 Nanomechanical Communication
organ (Section 7.3.4) or assemblage. Hence such broadcasts should Internal communications (or interdevice communications
generate no detectable noise at these frequencies. through hard junctions between linked devices; Section 5.4.2) are
Second, electrical discharges associated with muscular and neural readily achieved via sliding or rotating mechanical rods and couplings.
action throughout the body cause electrical potentials to appear at the A thin diamondoid rod producing 1-nm displacements and
skin3508 which are typically detected in a medical context during elec- oscillating longitudinally at ~1 m/sec may transfer information at
trocardiographs (ECG or EKG, ~10-3 volt), electroencephalographs ~GHz frequencies. Similarly, a diamondoid transmission line carries
(EEG, ~10-4 volt), and biofeedback monitoring with frequencies acoustic compression pulses at ~17,300 m/sec, providing a >10 GHz
ranging from 1-40 Hz. These surface waves also may reach ~10-11 bandwidth channel sufficient to support the ~GHz clocking speeds
watts/m2-Hz, producing an undetectable 10-9 pW signal in a ~1 typical of sensors and nanomechanical computers (Section 10.1).
micron2 antenna using a 100-Hz channel—although an electric field A simple communication mode between unlinked nanorobots
strength of >10-2 volts/m is in principle detectable by living cells operating in close quarters is simple physical tapping. During a 1
(Section 4.7.1). Thus, micron-scale nanorobots can sense individual microsecond contact event, transfer of 1000 bits is allowed at a 1 GHz
neural discharges nearby but probably cannot directly monitor global line frequency assuming single-threaded transmission; arrays of isolated
brainwave, ECG, gastroelectric or intestinal electrical wave patterns transmission lines can transmit much more information. Cleavage
(which require a macroscale electrosensory organ or, possibly, cellular energies for diamond range from Ecleave = 10.6 J/m2 for the {111}
eavesdropping). crystal plane up to 18.4 J/m2 for the {100} plane.536 Adopting the
Electromagnetic modulations νrf >> 10-100 MHz (which must more conservative number to estimate the minimum hammer/anvil
be imposed upon microwave, infrared, or optical carrier waves) may cleavage velocity vcleave, and as a crude approximation, a rodlike
be difficult to generate, control and detect using submicron diamondoid signal hammer 100 nm in length moving at velocity
nanorobot components if those components are limited to mechani- v hammer with tip area A tip = 100 nm 2 and mass m hammer
cal ~GHz motions (Section 10.1.2.2); electronic components may ~ 3.5 x 10-20 kg impacting a diamondoid anvil at speeds of:
cycle faster. Such carrier waves are 99% absorbed by soft tissue for 1/2
path lengths ranging from ~10 cm for 100 MHz waves, to ~1 mm 2 E cleave A tip
Vhammer < Vcleave = = 246 m/sec {Eqn. 7.14}
for infrared, or ~40 microns for optical photons. Energetic carriers m hammer
also face a sharply declining count rate at the receiver due to the cannot cause cleavage in an unfractured anvil structure. The smallest
increasingly particle-like nature of the nondirectional transmission detectable impact for this hammer has energy kT eSNR = (1/2) mhammer
carrier at higher frequencies. For example, while micron-scale vhammer2, giving minimum detectable vhammer ~ 1.3 m/sec for SNR = 2
solid-state lasers are available, from simple geometry, an omni- (Section 4.3.1) at T = 310 K. At this speed, and neglecting anvil
directional 1-micron2 optical photon (~1014 Hz) emitter with a mass, a hammer cycled at νhammer = 1 GHz (~109 bits/sec) against a
1-pW power budget producing 107 photons/sec transmits only ~103 spring-loaded receiver anvil has a displacement stroke of:
photons/sec to a 1-micron2 receiver located 100 microns away
(~maximum mean free path in tissue; Section 4.9.4). This limits 1/2
kT e SNR
information transfer to ~103 bits/sec at an energy cost of ~106 zJ/ ∆x = 2 = 670 pm {Eqn. 7.15}
bit. Short bursts at much higher bit rates also satisfy the stated power 2 m hammer ν hammer
budget; using this strategy, photon intensity must still be held below
well above the minimum detectable displacement of 10 pm (Section
~100 watts/m2 (Section 6.4.2) at the source, so for a 1 micron2
4.3.1), giving a maximum power cost of kT eSNR νhammer ~ 32 pW
transmitter the maximum transfer rate is ~105 bits/sec in a ~0.01
(~32 zJ/bit).
second burst, with bursts repeatable only once per second.
Relatively slow modulations impressed on high-frequency electro- Mechanical communication can also be achieved by more passive
magnetic waves might provide another useful communications means, as for example the posting of Braille-like tactile-readable
channel. For example, nanorobots may detect each other’s heat information mechanically on the nanorobot surface which may be
signatures, so modulations of those signatures can be used to transmit scanned by neighboring nanorobots using compliant read tips at
messages. Consider a nanorobot immersed in a medium of thermal the distal ends of flexible manipulator arms (Section 5.3.2.5).
184 Nanomedicine • Volume I
dimensions, and power requirements. For example, a rotating cable Second, the message travel speed from one end of the cable
2 nm in diameter and ~50 nm long (suitable for internal data to the other is limited to the fluid flow velocity vfluid = rtube2
transmissions) operated in AC mode can convey 6 x 104 bits/sec at pcable / 8 η l cable. Thus a given message requires a travel time
a power cost of 1 pW (~16,000 zJ/bit). tmessage = l cable / vfluid = 8 η lcable2 / rcable2 pcable ~ 0.001 sec to pass
Power and control signals can also be transmitted through a stiff through a 50-micron-long 1-micron-diameter cable; a 109 bit message
reciprocating member, operating in the manner of a bicycle brake molecule measuring ~0.4 micron in diameter (Eqn. 7.2) travels at
or derailleur cable. Molecular control cables using polyyne rods ~5 cm/sec and therefore only transfers the message information at
encased in single-walled carbon nanotube (Section 2.3.2) sheaths is ~1012 bits/sec, or ~5 zJ/bit, near the theoretical minimum. Similarly,
one simple example.2281 Polyyne is a chain of carbon atoms with tmessage ~ 4 days through a 1-meter-long micron-wide cable at 1 atm
alternating single (0.1377 nm) and triple (0.1192 nm) bonds, hence driving pressure (~6 minutes if driving pressure is raised to 1000
the polyyne cable has ~7.8 carbon atoms and a mass of ~1.5 x 10-25 atm).
kg per nanometer of length. The stretching stiffness of the single R. Merkle points out that these two restrictions may be ameliorated
bond is ~824 N/m, the triple bond ~1560 N/m, and the length of by employing a cable transporting monomeric units that can adopt
a bond pair is 0.2569 nm, giving the compliance for a cable of one of two or more distinct physical conformations. In particular, if
length L of (7.2 x 106) L (m/N), or the stiffness as ks = (1.4 x 10-7) the monomeric units are flat (e.g., small bits of graphite), are held
/ L (N/m). Thus an L = 1 micron polyyne cable stretches by ~1 nm together by short sections of polyyne (carbyne rods), and if the cable
when a tensile force of 140 pN is applied. Thermal noise produces is formed in a flat housing, then one bit of information can be
an uncertainty in the position of the end of the polyyne cable, which transmitted by rotating each monomeric unit into one of two positions
varies approximately10 as ∆x ~ (kT / ks)1/2 ~ 0.18 nm in the previous which are separated by 180˚. Minimal energy should be required to
example, at 310 K. rotate a monomer entering the cable input, or subsequently to read
the rotational state of a transported monomer exiting the cable output.
7.2.5.5 Chemomessenger Cables A monomer transport speed of v = 1 m/sec and a 1-nm separation
Unlike the chemical messaging described in Section 7.2.1, which between successively arriving bit-carrying monomeric units allows
was dominated by diffusive effects, information transfer using a νcable ~ GHz data transfer rate. From Eqn. 3.19, Pdrag ~ 10-16
chemical messenger molecules that are confined within sealed pipes watts per monomeric unit giving a total cable power dissipation of
is controlled by the laminar bulk flow rate of the rapidly-moving Pcable = Pdrag lcable νcable / v ~ 105 pW (105 zJ/bit) taking lcable = 1
carrier fluid. meter, νcable = 1 GHz and v = 1 m/sec.
Consider a chemomessenger cable of length lcable and radius rcable
carrying a fluid of viscosity η at a volumetric flow rate of V 7.2.6 Communicytes
maintained by a pressure differential of pcable between the two ends A useful supplemental means of information transport through-
of the cable. Assuming the fluid is a 10% suspension of messenger out the body is a mobile mass-storage memory device called a
molecules of information density Dmessage ~ 26 bits/nm3 (Section communicyte. Communicytes may serve an analogous function to
7.2.1.1) with viscosity similar to human plasma, then net fluid postal carriers—messages are delivered to them, passed among them,
information density D fluid ~ 2.6 x 10 27 bits/m 3 ; from the and eventually delivered by them to the intended recipients. Mass
Hagen-Poiseuille law (Section 9.2.5) the maximum information mailings to selected recipient subpopulations are also possible. Classes
transfer rate is of communicyte mass memory may include rapidly spooled
hydrofluorocarbon memory tape (Section 7.2.1.1), dense banks of
4
˙I π rcable p cable Dcable {Eqn. 7.20} diamondoid register rods forming a random access memory (RAM)
chemo = (bits / sec)
8 η l cable (Fig. 10.2), or other means (Section 10.2).
In the first case, a 1 micron3 storage block could contain a 1010
Assuming a safe, ultraconservative pcable = 1 atm and taking rcable = bit, 0.4-micron3, 3-meter length of memory tape, with the remaining
0.5 micron and η = 1.1 x 10-3 kg/m-sec, then Ichemo = 1014 bits/sec 0.6-micron3 volume occupied by read/write heads, spool drivers,
through a cable of length lcable = 50 microns, with power con- housing and the like. With a read speed10 of ~30 cm/sec (~109 bits/sec)
sumption Pchemo = π rtube4 pcable2 / 8 η lcable = 4500 pW (~0.04 zJ/ the entire data cache may be offloaded in ~10 sec. The energy cost
bit). For a cable 0.5 meter in length, Ichemo = 1010 bits/sec and Pchemo to rewrite the tape is 1-1000 zJ/bit (Sections 6.5.6 (B) and 7.2.1.8),
= 0.4 pW (~0.04 zJ/bit). If pcable is more liberally raised to 1000 hence the entire tape may be erased and overwritten in 1-1000 sec
atm, a cable 0.5 meter in length can transfer Ichemo = 1013 bits/sec assuming a 10 pW tape-handling power budget, giving a write speed
requiring P chemo = 450 nanowatts (~40 zJ/bit). While these are of 107-1010 bits/sec.
phenomenal information transport rates compared to other methods, In the second case, register rods of cross-section ~1 nm2 (described
two important caveats are in order. in Drexler10) require ~4 nm of length to accommodate a single
First, such high transfer rates are purchased at the price of input/output rod pair and can store at least ~1 bit/40 nm3. Thus a
significantly increased receiver complexity and message processing 0.4 micron3 block of tightly-packed register-rod RAM may hold
107 bits, with the remaining 0.6 micron3 of the 1 micron3 storage
time, since the message molecules must be captured, oriented,
block reserved for springs, latches, and other essential mechanisms
unspooled, fed past a read head at relatively slow speed, then stored,
(including address-decoding logic) to access the stored data, and
recycled, or disposed of properly. Data carrier fluid must be returned
housings. Read and write speeds are ~1010 bits/sec; full-cycle energy
to the transmitter using a second cable; a double-cable pair establishes losses are ~5 zJ/bit assuming 1 bit/register,10 a ~50 pW power draw
a complete fluidic circuit. The additional transmitter complexity during the ~1 millisec required to read or write the entire onboard
and extra power required for chemical modifications of message data cache.
carriers may be confined to external facilities and hence do not Communicytes may also incorporate mechanisms allowing data
significantly constrain in vivo operations. transfers among themselves or between themselves and living or
186 Nanomedicine • Volume I
artificial entities (Section 7.4). Communicytes will normally be In subnetwork #4, xfiber4 = 10 cm, giving total fiber length Lfiber4
deployed as components of a communication network of such = 30 meters and 100 communications voxels. For Pnet4 = 1 watt and
devices, as described in Section 7.3.2, although they may also serve using a bundle of 100,000 10-THz optical cables (bundle diameter
as mobile data repositories or software libraries. ~360 microns) with Ebit4 ~ 10 zJ/bit, I4 ~ 1018 bits/sec, and power
intensity ~10 5 W/m2, the maximum deemed safe for in vivo
7.3 Communication Networks applications (Section 6.4.3.2).
To maintain a continuous information flow for sensor data sharing, Assuming 5 zJ/bit switching losses at each node, total power
mission monitoring and wide-area control, it is convenient to dissipation of all nodes in each subnetwork is ~0.5 watts, or ~2
establish a communication network in vivo that facilitates watts for nodes at all four levels. Combining the four subnetworks
point-to-point and broadcast messaging. Two distinct physical into a single well-linked network gives the ability to transfer 109
network architectures are readily discerned—fiber networks (Section billion-bit (e.g., “genome packet”) messages per second across the
7.3.1) and mobile networks (Section 7.3.2). entire installation volume—providing ~1018 bits/sec along the optical
backbone with a 6-watt power budget. By comparison, in 1997 the
7.3.1 Fiber Networks Internet backbone (admittedly much larger in physical extent) could
Fiber networks may employ fixed-topology data-conducting transfer only ~1010 bits/sec, average global communications traffic
cables (Section 7.2.5) of virtually any description, including electrical, was ~1012 bits/sec, total worldwide Ethernet capacity was ~1013
optical, acoustical, mechanical, or chemical. A complete design bits/sec, and worldwide data storage in all movies, recordings,
analysis of each of these network classes is beyond the scope of this corporate and government databases, and personal files was informally
book. The following discussion focuses on high-frequency electrical estimated by Michael Dertouzos, 983 Philip Morrison,1649 and
and optical cables, which most clearly exemplify the salient char- Michael Lesk3130 as ~1019 bits.
acteristics of fiber networks. Messages are transmitted acoustically from in vivo nanorobots
Suppose that a simple three-dimensional hierarchical Cartesian present within a (100 micron)3 communications voxel to the nearest
grid of electromagnetic communication fibers of radius rfiber is local network node. These nonoptical links are the principal bottle-
embedded in a block of tissue of volume Vtiss (m3) with a mean neck in the system. In the worst case, a nanorobot lies at most Ln /
separation between adjacent parallel fibers of xfiber1 in the rectangular 2 = (31/2 / 2) xfiber1 from the nearest local node (Section 5.2.1 (F)).
grid. This defines a total of Vtiss / xfiber1 3 = Nnode1 intersection nodes From Eqn. 7.9, taking ν = 100 MHz, fduty = 1%, r = 1 micron and
and an equal number of cubic voxels, each of volume xfiber13 (m3) Xpath = 87 microns, then Pin = 550 pW per voxel. Each communica-
and bounded by Nseg1 = 3 Nnode1 fiber segments each of length tions voxel contains up to ~100 (20 micron)3 tissue cells, so one
xfiber1.* Total fiber volume is Vfiber1 = 3 π rfiber2 Vtiss / xfiber2 and total nanorobot per cell communicating continuously on a 104 bit/sec
fiber length Lfiber1 = 3 Vtiss / xfiber12. Allowing a maximum power channel produces 106 bits/sec of message traffic, just 0.1% of rated
budget of Pnet1 (watts) for the network, then each internodal fiber capacity of each local node. At this maximum bit rate, local acoustic
segment may dissipate up to Pseg1 = Pnet1 xfiber13 / 3 Vtiss. A cable power dissipation totals ~55 watts, giving a total of ~60 watts for
energy dissipation of Ebit1 (joules/bit) implies a maximum data traffic the network. If nanorobots can physically dock at a node, the need
of I = Pseg1 / Ebit1 on each segment between nodes. for acoustic links is eliminated; bit rate per channel rises to ~107
For whole-body installation in a human being, Vtiss ~ 0.1 m3. bits/sec and network power draw falls to ~6 watts.
For the first subnetwork, xfiber1 = 100 microns, rfiber = 0.5 microns, Assigning one nanorobot in each tissue cell (~1013 nanorobots)
and Pnet1 = 1 watt, giving total fiber length Lfiber1 = 3 x 107 meters, a unique address requires each message packet to contain a log2
fiber volume Vfiber1 = 24 cm3, and Nseg1 = 3 x 1011 internodal fiber (1013) = 44-bit sender identifier plus a 44-bit recipient identifier,
segments defining Nnode1 = 1011 communications voxels. This mandating a ~100-bit header allowing 12 check bits, the absolute
network may be emplaced by ~1011 installer nanorobots (Chapter minimum message packet size for a comprehensive cell-addressible
19) of size ~1000 micron 3 that travel through tissue at 1-100 network. At a 1 MHz acoustic nodal access rate, a simple 200-bit
microns/sec (Section 9.4.4). Each installer unspools ~300 microns message takes ~0.2 millisec to upload or download, plus ~2 meters
of internally stored fiber (~240 micron3) in 3-300 sec while consuming / ~c = ~10-8 sec to pass through the network at ~0.67c, where c = 3
<<1 pW of motive power (Section 9.4.4.2), then briefly conjugates x 108 m/sec (speed of light). Nodal read/write functions should
(Section 9.4.4.4) with other installers to make the nodal connections. operate at 10-10,000 MHz (Section 7.2.6) and optical switching
Using GHz nanocoax (diameter ~1 micron) with Ebit1 ~ 3 zJ/bit, may be even faster, so signal passage through at least the local nodes
internodal traffic has a capacity of I1 ~ 109 bits/sec (~1 GHz). Cable should impose no significant additional delays. Hence simple messages
power density is ~40,000 W/m3; power intensity is ~4 W/m2. may be passed between any two specific nanorobots in ~0.4 millisec;
Three additional subnetworks are interleaved with the first, each a complex 109-bit message requires ~1000 sec. By comparison,
passing messages to the others through appropriate nodal junctions: simple adjacent internodal Internet “pinging” takes ~10 millisec.
In subnetwork #2, xfiber2 = 1 mm, giving total fiber length Lfiber2 (Again, node-docked nanorobots with no acoustic intermediaries
= 3 x 105 meters and 108 communications voxels. For Pnet2 = 1 watt can exchange messages several orders of magnitude faster.)
and using a single IR line or a bundle of ten 100 GHz lines (diameter Communication with bloodborne nanorobots is most convenient
~3.6 microns) with Ebit2 ~ 3 zJ/bit, I2 ~ 1012 bits/sec. during capillary passage (once every ~60 sec), when nanorobots
In subnetwork #3, xfiber3 = 1 cm, giving total fiber length Lfiber3 = 3 should remain within the operating range of local nodes during the
x 103 meters and 105 communications voxels. For Pnet3 = 1 watt and entire transit owing to the narrow width of such vessels (4-15 microns).
using a bundle of ten 10-THz optical cables (Section 7.2.5.2; bundle Capillaries are typically ~1 mm long with flow rates of 0.2-1.5 mm/
diameter ~3.6 microns) with Ebit3 ~ 10 zJ/bit, I3 ~ 1015 bits/sec. sec, so the passing nanorobot has 0.7-5 sec to upload or download
* This network design, with each node having 6 connecting fibers, may be unduly redundant, resulting in excess fiber usage. Single nodes may need no more than 4 connecting
fibers, forming a tetrahedral grid.
Basic Capabilities • Communication 187
messages. Given the ~0.2 millisec echo time, a nanorobot entering available bandwidth) simultaneously to each of 100 nanorobots
a capillary can announce its position and begin receiving its email located in an adjacent voxel. Thus total mononodal traffic over all
before it has traveled more than ~0.2 micron through the narrowest 1011 nodes can approach the ~1018 bits/sec of the optical fiber
vessels; messages of up to ~5 x 106 bits may be sent or received backbone throughout the entire installation volume. At a 0.01 MHz/
during each capillary transit. channel nodal access rate for each of 100 nearby nanorobots, a simple
Communication from the arterioles (average ~100 microns 200-bit message takes 20 millisec to upload or download, plus ~200
diameter) requires contacting the nearest local node which may be microns / vsound ~10-7 sec to pass between adjacent communications
150 microns away, boosting required nanorobot acoustic transmitter voxels at the speed of sound (vsound ~ 1500 m/sec in soft tissues and
power to ~1600 pW at 100 MHz. Energy costs become prohibitive whole blood; Table 6.7). Hence simple messages may be passed
in the arteries and larger veins and other special locations such as between any two specific nanorobots in nearby cells in ~40 millisec,
the cardiac chambers, the bursae, and the bladder. Simple 200-bit though a complex 109-bit message requires an impractical ~105 sec.
messages might possibly be transacted by nanorobots immediately Bloodborne communicytes provide a supplementary
adjacent to the 25,000-micron diameter aortal wall; maximum flow long-distance messaging capability. Deployment of ~1010 5-micron3
velocity of ~1 m/sec carries an unanchored nanorobot beyond the communicytes in a 5.4-liter blood volume (<0.001% concentration by
100-micron operational radius of a medial local node in just ~10-4 volume) gives a mean interdevice separation of ~80 microns.
sec. Under conditions of bradycardia or cardiostasis, communications Communicytes passing through a 1 mm capillary (averaging 10
improve significantly in the vascular regions because bloodborne embedded nodes along its length) in ~ 1 sec can upload or download
nanorobots remain longer in the vicinity of nearby embedded nodes. ~105 bits at each node. Each bloodborne communicyte has a patrol
Subdermal networks may be useful in some specialized applications, volume of (80 microns)3 = 500,000 micron3, about ten times the
but the skin area (~2 m2) is relatively small in comparison with volume of the average capillary, so a fresh communicyte enters each
various internal surfaces such as the vascular network (~300 m2). capillary about once every 10 seconds and can receive messages
Fiber nodes may store considerable quantities of useful data. For totalling 106 bits during each transit. The fixed patrol volume per
instance, in the above example there are 1011 local network nodes. bloodborne communicyte implies that these devices will not remain
If each node stores just ~2600 bits on hydrofluorocarbon memory in continuous contact with their bloodborne neighbors while in
tape at 26 bits/nm3 (Section 7.2.1.1) accessible in <10-5 sec (Section transit through vessels much smaller than ~80 microns in diameter
7.2.6), this cache occupies a volume of ~100 nm3 per node and the (e.g., terminal arterioles, metarterioles, capillaries, and the
entire local nodal network storage capacity is ~3 x 1014 bits, or ~one postcapillary and collecting venules; Section 8.2.1). For example,
Library of Congress. in a 40 micron-diameter terminal arteriole the mean interdevice
spacing grows from ~80 microns to ~400 microns, resulting in a
7.3.2 Mobile Networks temporary communications blackout between bloodborne neighbors
In a fiberless network, mobile communicytes may be deployed during transit through the microvasculature. The blackout may
in tissue and blood, and serve as communications nodes. Devices normally last 5-10 seconds (Section 8.2.1.1).
enter a tissue and station themselves for optimum data transfer. All Once received by a bloodborne communicyte, simple
nodal and internodal traffic is acoustic. With a spacing of 100 long-distance messages are quickly rebroadcast (post-blackout)
microns between nodes, continuous internodal message transmission throughout the bloodstream communicyte fleet (which draws ~6
at 100 MHz with fduty = 1% using an r = 1 micron radiator requires watts continuous), the signal propagating at near the speed of sound,
~600 pW (Eqn. 7.9). From relations given in Section 7.3.1, a finally reaching the one communicyte situated nearest to the
whole-body installation with V tiss ~ 0.1 m 3 requires ~10 11 intended recipient node in at most ~2 meters / vsound ~ 10-3 sec.
communicytes uniformly distributed throughout the tissues, a Assuming a 10 microsec delay between rebroadcasts due to reading
maximum network dissipation of ~60 watts plus another 0.5 watts a 10-bit routing header at 1 MHz implies an additional rebroadcast
for node switching losses. Since broadcasts are necessarily omni- delay of at most ~0.2 sec through a chain of ~20,000 communicytes
directional for transmitters smaller than ~vsound / ν = 15 microns at over a ~2 meter path length. Allowing up to ~10 sec to enter and
100 MHz, the network is entirely uniform with no backbone and traverse the entire length of the relevant capillary, then long-distance
total long-distance message capacity is ~106 bits/sec in broadcast point-to-point messaging requires at most ~11 sec and allows
mode. Limits on broadcast power can minimize bandwidth overlap transfer rates of ~10 5 bits/sec or better systemwide. Total
and crosstalk between nonadjacent nodes. At 100 MHz and fduty = long-distance capacity is limited to acoustic bandwidth and the
10%, a whole-body network capacity of 107 bits/sec generates an maximum transfer rate of each communicyte, say, at fduty = 1%, or
uncomfortable ~600 watts of waste heat; if these communicytes are ~106 bits/sec (Section 7.2.6) equivalent to ~0.01% of the entire
installed in only <17% of the body volume, then local 107 bit/sec Internet backbone in 1997. Bloodborne communicytes also provide a
networks may be made available at <100 watts. There may be many useful messaging facility for bloodborne non-communicyte
conceptual similarities to telephonic cellular networks,1650,1651 nanorobots.
including frequency re-use, handoff algorithms, and the likelihood Besides serving as mobile message repeater stations, bloodborne
of large numbers of point-to-point ~106 bit/sec communication communicytes may further boost total system capacity by acting as
sessions through different modes without straining the system. Such physical message carriers. For example, a single communicyte bearing
design details, while interesting, are beyond the scope of this book. messages totalling 1010 bits (Section 7.2.6) circumnavigates the entire
Non-communicyte mobile nanorobots access the network via vascular circuit once every ~60 seconds. Thus, in theory,
acoustic channels as in the fiber network. The ν fduty = 1 MHz/ point-to-point messages may be carried throughout the entire
node limit implies that long-distance communications will be sharply operational volume at an effective ~108 bits/sec rate in this manner,
curtailed within the tissues. However, local-area communications most useful for nanorobots in peripheral tissues attempting to send
may have quite satisfactory bit rates. For example, each of 100 messages to devices (or postal depots) located in the heart or lungs
nanorobots present in one (100 micron)3 communications voxel (organs which the entire blood volume reliably transits once every
can send continuous ~100 bit/sec messages (using only ~100 Hz of circuit). (Acoustic downloading at the destination is limited to
188 Nanomedicine • Volume I
106 bits/sec at fduty = 1%, but modest locomotion skills and maneu- brain, sclerotic livers, radiation-damaged bone marrows, chancres
verability would permit physical docking with nodes allowing up to and blisters, hematomas, and the uterus and related tissues during
~1010 bit/sec mechanical downloading rates; purely statistical pregnancy; normal periodic movements in muscle-laden tissues such
collision-mediated data transfer is not efficient at these low blood- as the biceps, cardiac tissue, arterial walls, and the thoracoabdominal
stream concentrations.) A total of 1020 (message-carrier) bits may be diaphragm; and other nonpathological but irregular movements such
in transit at any one time in the blood. Except for this message-carrier as tissues which may rapidly inflate with fluid, including the sex
function and the “blackout” effect in the microvasculature, organs and related tissues, the bladder, and to a lesser extent the
communicyte network performance is not significantly affected by lungs. With such movement, nodal positional assignments quickly
conditions of bradycardia or cardiostasis. become obsolete and nodes may be carried out of acoustic range.
As in the fiber network, communicyte nodes may store con- Fiber spatial distributions may develop undesirable clumping and
siderable quantities of data. Assuming up to ~1010 bits for each of rarefactions. Fiber-embedded tissues which slough off in the normal
1011 nodal devices, either network has a maximum total storage course of events (e.g., epidermal, endometrial, placental,
capacity of ~1021 bits. A single dedicated (4 mm)3 library nodule gastrointestinal) may carry fibers out into the uterine or intestinal
(Section 7.3.4) implanted anywhere in the body can also contain canals, or expose them to air in the case of the epidermis.
~1021 bits. The paradoxical conclusion is that overall fiber network reliability
may be improved by adding nodal mobility. One crude biological
7.3.3 Networks Assessment analog is the filopodia of embryonic axons which can drag their
Fiber networks excel at high-capacity long-distance communi- fibrous neural cargo through embryonic tissue at ~0.1 micron/
cation, with additional capacity readily added to the design by sec.3296 While adult tissue may in theory have a more solidified extra-
multiplying the number density or bundle density of fibers. Acoustic cellular matrix (ECM) and greater intercellular connectivity,
mobile relay networks have relatively low and fundamentally limited making dragging more difficult, leukocyte and fibroblast mobility
bandwidth. An additional advantage of the fiber network is speed— through ECM is typically 0.05-0.70 microns/sec (Section 9.4.4.2).
point-to-point fiber messaging takes ~10-4 sec vs. up to ~10 sec for
the mobile network. Both of these advantages may be important in 7.3.4 Dedicated Communication Organs
transdermal communication and whole-body diagnostic monitoring By analogy to implanted energy organs (Section 6.4.4), dedicated
applications. macroscopic organs may be installed in the human body to facilitate
However, fiber and mobile networks may provide roughly internal communications. Such organs could serve as high-capacity
equivalent local transmission speed and capacity if both must data storage, computation, and retransmission nodes in internal
employ acoustic nodal access, as this provides the highest endogenously networks; as storage bays or reprogramming facilities for
transmitted bit rate per unit power consumption for mobile communicytes; as transdermal links to the outside world to permit
nanorobots that are arbitrarily positioned network users. Thus in rapid inmessaging and outmessaging, offloading of major data
applications requiring predominantly local information transfers, processing tasks to ex vivo computational resources or to dedicated
the choice of basic network architecture may be driven by factors computational organs (Section 10.2.5), or integration with external
other than system total capacity and speed. sensory, communications, and navigational facilities; as rf, TV, or
Fiber networks also have many significant disadvantages. Both satellite broadcast receivers, for example to receive Global Positioning
fibers and mobile nanodevices can be made immunochemically System (GPS) signals or personal email; as radio signal transmitters
biocompatible, but fibers are physically vulnerable and can cause for outmessaging; as convenient foci for multisystem or autogenous
serious physical tissue and cellular irritation (Section 6.4.3.6). It is control, coordination, or data distribution; or as library nodules or
well-known in dermatology that subdermally-placed, but incompletely personal medical history information storage devices.
absorbed, “dissolvable” stitches can work their way back to the surface
of the skin; fiber network elements could be similarly ejected from 7.4 Communications Tasks
the body. Some of these mechanical difficulties possibly may be Nanomedical messaging tasks fall into three broad categories:
overcome using a helical coil or a fiber which is coupled to a
biocompatible sheathing using compliant internal springs; 1. nanorobots communicating with externalities including physicians,
large-diameter fibers could be installed within bones where they laboratory machines, external computers, or even the conscious
would experience minimal flexing and immune system exposure, perception of the patient himself;
although transmissions across joints or tissues with high flexure or 2. nanorobots communicating with other nanorobots; and
vascularization might still be required to be acoustic.
Networks with mobile components are easier and quicker to 3. nanorobots communicating with human organs, tissues, or
install, to reconfigure, to upgrade while in vivo, or to remove in the cellular systems.
event of malfunction or change in medical objectives, than fiber Communications data flowing into a nanorobot from some
networks with immobile components. On the other hand, extrarobotic source is called inmessaging; outward-bound data
communication protocols may need to be substantially more compli- transfers are called outmessaging. A comprehensive examination of
cated to provide the necessary reliability with drifting nodes.
all these possibilities is beyond the scope of this book. The present
The fixed physical positions of fiber network nodes is also a major
discussion is limited to a brief overview of the following elementary
disadvantage because tissue movement is ubiquitous inside the human
situations: inmessaging from external sources (Section 7.4.1),
body, causing progressive fiber misalignment. Examples of such
movement include untreated metastasizing tumors or benign inmessaging from patient or user (Section 7.4.2), intradevice messag-
growing tumors, angiogenesis in injured or heavily exercised tissue, ing (Section 7.4.3), interdevice messaging (Section 7.4.4), biocellular
enlargement and shrinkage of tissue channels or prelymphatics messaging (Section 7.4.5), outmessaging to the user (Section 7.4.6),
after wounding or edema, adipocyte deposition, and the breakdown outmessaging to an external receiver (Section 7.4.7), and transvenue
or buildup of muscle tissue; cell loss and tissue modifications in the outmessaging (Section 7.4.8). Some of the examples presented may
Basic Capabilities • Communication 189
appear whimsical from a 20th century perspective, but they illustrate radiation flux, or geographical position and altitude (see Section
the incredible variety and power inherent in the technology. A 4.9).
discussion of user interfaces is largely deferred to Chapter 12.
7.4.2 Inmessaging from Patient or User
7.4.1 Inmessaging from External Sources Autogenous command and control (Chapter 12) gives a patient
Inmessaging occurs when information is conveyed from a source or user the ability to issue instructions directly to nanodevices present
external to the human body, or external to working nanodevices, to in his or her body. Patient or user inmessaging is an important
a nanorobotic receiver located inside the human body. Security enabling technology for autogenous control, wherein a human
protocols (Chapter 12) are a strong necessity here. The receiver being manipulates a consciously controlled variable, which
may be associated with medical nanodevices, either individually manipulation is then detectable by in vivo nanodevices. Once the
or collectively, or with specialized communications organs. message is received by even a single nanorobot, the information
Methods of modulating power sources to achieve data transmission may be rapidly multiplied and passed along to other nanorobots
have already been examined at length in Section 7.2. To summarize using an internal communications network.
a few of the many possibilities—commands, data, software, processed
results of extensive computations, and messages from medical 7.4.2.1 Mechanical Inmessaging
personnel may be conveyed into the human body by: Perhaps the simplest example of user inmessaging is
finger-drumming on a hard surface such as a tabletop, a method
A. Chemical Inmessaging — communicytes or messenger molecules which we will now examine in some detail. A ~15 gm finger may be
encased in pills or suspended in ingestible liquids, injectable or IV drummed at a maximum of ~5 Hz920,921 over a 2 cm path length at
fluids, mouthwashes, earwashes, eyedrops, inhalants, nasal sprays, a maximum velocity of ~0.2 m/sec; if the impacting finger is brought
dermal patches, suppositories or enemas; or artificially vascularized to a halt within 1 mm of the ~1 cm2 fingertip and ~50% of the
data secretion glands transdermally linked to external control kinetic energy is converted into acoustic energy, the phalangeal
mechanisms. impact produces a maximum compression wave of ~0.3 atm (~300
watts/m2). The lightest audible tapping produces a pressure wave of
B. Acoustic Inmessaging — dermal ultrasound transducers ~0.01 atm (~0.3 watts/m2). Either pulse is easily detectable by ~10-6
including handheld units, cuffs or bracelets, or transmission through atm-sensitive nanorobot acoustic sensors (Section 4.5.1) located in
water baths; vibrating treatment tables, beds or chairs; ingestible the patient’s hand or arm.
sonosondes; osteoimplanted acoustic radiators or implanted dental Consider five sensor-equipped nanorobots each positioned ~2 mm
vibrators with rf or direct cable external links; or implanted circum- below the epidermis in the soft tissue just beyond the distal phalanx
vascular acoustic radiators. of five different fingers, and each with access to a local communica-
tions network (Section 7.3) spanning the hand. An impact pulse
C. Electromagnetic Inmessaging — broadcasts from external rf applied to a given finger reaches the sensor stationed in that finger
and microwave sources including epidermally-placed electrodes in ~1 microsec by conduction through soft tissue at ~1540 m/sec.
(Section 4.7.1); optical laser arrays pressed against the skin; ingestible The acoustic pulse then travels down the phalanges and metacarpals,
radiosondes638 and radio telemetry pills;3333 whole-body electrical crosses the distal row of carpals, then travels back up through the
current flows including transosteal intercellular transmissions; metacarpals and phalanges of the other fingers mostly via bone
transdermal multi-tesla oscillating magnetic fields; electromagnetic conduction at ~3550 m/sec (Table 6.7), reaching the adjacent
emanations from implanted rf or microwave emitter organs under sensors 90-110 microsec after the initial impact. The pulse does
external control; or direct linkages to internal networks via permanent not travel exclusively in bone as it must pass through 8-11
transdermal access ports.
Table 7.1. Temporal Signature of a Detectable Mechanical Pulse Conducted Mostly through Bone, which is Applied to One
Finger and Received by Nanorobot Sensors Distally Located in Each of the Five Fingers of the Hand
diarthrodial articulations (see Figs. 7.2, 8.25). Approximating each Many conceptually similar methods of mechanical inmessaging
as a bone/soft-tissue interface with R = 66% reflection loss across each may be employed by a patient whose in vivo nanorobots have been
interface (Section 6.4.1), the 0.01-0.3 atm pressure pulse is reduced appropriately programmed and positioned, including clapping/
by at most 10-4, still detectable even at the lightest tapping pressure. slapping of hands/feet (~3 bits/sec), mandibular clicking (~2 bits/sec),
Assuming nanorobots may possess synchronized internal clocks tongue-tapping on palate (~2 bits/sec), eyelid or eyebrow flapping (~2
with at least 1-10 microsec accuracy (Section 10.1), then data sharing bits/sec), dental/dermal drumming using a rigid
of pulse arrival times among the five nanorobots via the network object (~1 bit/sec), epiglottal pulsing (~1 bit/sec), thoracoabdominal
allows the reconstruction of five unique temporal signatures of an diaphragmatic contractions (~1 bit/sec), or toe tapping (~0.5 bit/
impact event at any particular finger (Table 7.1). Conduction also sec).
occurs through soft tissue pathways which may be ~15 cm shorter Other mechanical stimuli at the skin—including pressure, touch,
than the typical osteal path length (Xpath) used in Table 7.1, and vibration, and tickle (see Schmidt1633)—may also be eavesdropped
may also produce much less signal attenuation. These soft-tissue by medical nanorobots. Interestingly, the frequency response of these
pulses arrive ~120-160 microsec post-impact because of the slower receptors may range as high as 800 Hz for Pacinian corpuscles (sensory
conduction speed and thus should not be confused with the osteal organs located at the skeletal joints, tendons, and in the muscles;1634
signal. Still other pathways with widely varying conduction velocities Table 7.3). Thus an eavesdropping subdermal nanorobot could
will increase noise levels, but a brief training session should produce receive 100 Hz modulated signals through this channel that would
acceptable signal/noise ratios for event recognition especially since only be perceived as “flat stimulus” by the conscious human
maximum pulse extinction time (~200 microsec) << pulse repetition patient.
time at ~5 Hz (~0.2 sec).
Interphalangeal amplitude attenuation provides an additional 7.4.2.2 Kinesthetic Inmessaging
check on the identity of the tapping finger. An impact deceleration With the support of an internal communications and navigational
in ~5 x 10-3 sec produces a single ~5 millisec pulse (~200 Hz) which network, proprioceptive nanosensors resident in selected human
from Eqn. 4.52 attenuates from 10,000 x 10-6 atm to at most 9997 tissues permit the direct detection of gross limb positions, limb
x 10-6 atm over a ~20 cm path length through soft tissue, or to at velocities, and body orientation in space with tmeas ~ 10-3 sec or
most ~9900 x 10-6 atm over a ~35 cm path length through bone— better (Sections 4.9.2 and 8.3.3). Thus, for example, data may be
either of which is detectable by nanorobot acoustic sensors sensitive rapidly inmessaged using a highly literal manual sign language3297
to changes of ~1 x 10-6 atm. designed for minimum ambiguity and maximum precision, with a
With single-finger coding, each tap represents log2(5) = 2.32 minimum number of discrete symbols to memorize. (Native American
bits/tap; a maximum tapping rate (~5 Hz) for each of the five fingers sign language has ~400 root signs and other gestural languages have
simultaneously (e.g., playing Rimsky-Korsakov’s “Flight of the ~2000 signs,731 though a manual alphabet is also used.) Fingers and
Bumblebee” on the piano) gives a maximum capacity of ~58 bits/sec. limbs can be comfortably moved at 0.1-1 m/sec; if ~1-cm positional
Multifinger coding is slower, since each tap becomes a 5-digit increments can be adequately controlled by a patient and thus can
binary word representing log2(31) = 4.95 bits/tap, and a maximum be employed to convey one bit of information, then the maximum
multifinger tap rate of ~5 Hz gives a maximum capacity of ~25 channel capacity of signing is 10-100 bits/sec per finger or 100-1000
bits/sec, about the same as Quastler’s result.1265 The practical limit bits/sec for all ten fingers. This estimate compares favorably with
for this modality is probably 1-50 bits/sec, roughly 2-100 English the ~100 bits/sec achieved by hearing-impaired signers translating
words/min or 10-500 decimal digits/min. Experiments by the MIT speech at a conversational rate of ~150 words/min, and also with
Wearable Computers Group with one-handed chorded keyboards the record manual typing speed of 216 words/minute (~173 bits/
(such as The Twiddler, manufactured by HandyKey1595) suggest a sec) achieved on an IBM Selectric typewriter.739 Nanorobots may
requirement of ~5 minutes of training to learn the alphabet, ~1 also eavesdrop on proprioceptive information detected by Pacinian
hour to learn to touch type, and ~3 days to reach ~10 words/minute. proprioceptors.
Basic Capabilities • Communication 191
Properly monitored voluntary large body motions such as into his body. The patient could provide the desired data or commands
break-dancing or karate programs, or lesser displacements such as to a desktop manufacturing appliance, which appliance then encodes
head rolling or shrugging movements, leg jiggling or calisthenic the information onto billions of copies of a hydrofluorocarbon
exercises, rapid periodic lung inflations, anal sphincter contractions, messenger molecule suspended in a carrier fluid or solid pill, which
blinking or eyeball rotations can similarly transfer useful information the patient subsequently inhales or ingests. Messages up to ~109
into the body at ~1 bit/sec. In combination with real-time retinal bits may be distributed throughout the body in ~one circulation
displays (Section 7.4.6.5), eyeball movement nanosensors can time (~60 sec), a data transfer rate up to ~107 bits/sec. Patients
allow patients to use their eyes as an “ocular mouse” to point to an without access to personal manufacturing appliances could be given
icon or array of alphanumeric characters superimposed on the fluid ampules, standardized pill sets or inhalers whose contents are
visual field. This will allow them to initiate a programmed function designed to trigger specific predetermined nanorobot behaviors. Such
or to spell out words or numbers. In 1997, an analogous system, sets must contain personal security codes to prevent their unauthorized
known as the Ocular Vergence and Accommodation Sensor (OVAS) use on other patients (see Chapter 12).
manufactured by Applied Modern Technologies Corp. of Garden A related technique for chemical inmessaging is to allow naturally
Grove, California, used 12.5 W/m2 IR laser beams reflected from inhaled or ingested molecules (e.g., gustation or olfaction) to trigger
each eye’s retina to provide information about eye movement and specific nanorobot actions. For example, if continuously circulating
other biometric data. The OVAS design included a 12-component detoxification nanorobots are programmed to begin removing alcohol
optics system and a Pentium processor with algorithms for processing from the bloodstream whenever the presence of garlic compounds
data on the accommodative state, movements, and vergence of the is detected, then the patient can voluntarily trigger the detox response
eyes, as well as 10 other ocular functions.1295 In 1998, Canon EOS by sniffing or chewing a clove of garlic. (A population of 1012
cameras used eye-control focus sensors to detect where in the frame bloodborne nanodevices with aggregate storage volume ~6 cm3 can
the photographer was looking, and autofocus there, instead of reduce serum alcohol from 0.2% to 0.005% in ~1 second by prompt
defaulting to the center of the frame. Superimposing retinal displays onboard sequestration, followed by metabolization of the entire
over normal vision need not prove confusing to the patient. inventory in ~10 minutes within a systemic caloric budget of ~200
Experiments with head-mounted displays show identical ergonomic watts, although outflows from ethanol-soaked body tissues into the
efficiency and accuracy for pointing tasks when control characters bloodstream and other factors complicate the process; see Chapters
are projected either on a dark background screen or on a translucent 19 and 25.) Similarly, nanorobots with selected chemical sensors
background through which moderately distracting objects and stationed in the vomeronasal organ,1971 vallate papillae or olfactory
moving traffic are visible.1307 epithelium could directly detect and respond to specific flavors,
perfumes, pheromones1972 or other chemical substances—even
7.4.2.3 Acoustic Inmessaging molecules which humans are normally incapable of tasting or
A wide variety of sounds may be generated voluntarily by the smelling, including artificial or engineered substances.
patient and be detected by in vivo nanorobots, such as coughing, Binary message sequences employing the five basic gustatory
grunting, humming, various other mechanical body noises (Section stimuli (Section 7.4.6.4) must use one of the stimuli as a positional
4.9.1.4) and even vocalizations including direct voice commands spacer to avoid confusion. For example, a patient sipping the 8-taste
spoken aloud by the user (Section 4.9.1.5); 1-100 bit/sec inmessaging sequence “sweet (1), salty (/), sweet (1), salty (/), sour (0), salty (/),
rates appear feasible by these methods. Intracochlear nanodevices sweet (1), salty (/)” has just transferred the binary sequence “1101”
can also be used for high-capacity inmessaging (Section 7.4.6.3). into his body. (“Salty” is used as the spacer because salt sensitivity is
Soundless subvocalizations may also be detected using kinesthetic most widely distributed over the surface of the tongue. “Sour” is
techniques (Section 7.4.2.2) to measure ~0.5 mm movements in used because saltiness partially suppresses perception of bitterness,
tongue position and the muscles of the larynx that produce adjacent and because sweet and bitter taste messages are transmitted by the
distinguishable tones in the vocal cords. The triangular waveform same transducer protein, called α-gustducin.) This inmessaging
harmonics emitted by the larynx are modified during passage through modality is probably limited to ~0.1 bit/sec but may be boosted
sub- and supraglottal cavities, the shape of which may be voluntarily considerably by employing complex artificial gustatory stimuli (akin
altered by submillimeter muscular movements — again, well within to messenger molecules) which only lingually-embedded nanorobot
the range that nanorobots can detect (Section 4.9.2.1). Data sharing by sensors can detect.
multiple nanorobots using a communication network should permit Human olfactory receptors can probably detect ~1000 different
reconstruction and estimation of the intended vocalization with smells (Section 7.4.6.4); exposure to a new olfactory stimulus every
sufficient reliability to transfer useful noncritical data or commands 1-10 seconds, with each smell worth log2(1000) = 10 bits/symbol,
into the network. In 1998, radar microchips operating at ~2 GHz allows information transfer up to ~1-10 bits/sec. Individual chemical
were already used for soundless speech recognition—the system assay nanorobots that can detect ~107 different molecules (Section
recognized and interpreted motions of the human glottis, lips, 4.2.4) allow greater diversity and specificity of signal carriers, but at
tongue, jaw, and velum in real time.1648 most only ~double the bit rate because log2(107) = 23 bits/symbol.
The field of voice recognition is active, and no systematic review However, the bit rate using long-chain digitally coded artificial
will be attempted here.1654-1658,1710 In 1998, IBM’s speech recognition messenger molecules is vastly higher, and probably only
technology, including the Voice Type Dictation and Personal Dictation thermogenically (heat of manufacture and access; Sections 7.2.1.8
systems (IPDS), was well-known and commercially available,1659,1660 and 7.2.6) and biocompatibility (Chapter 15) limited.
as was Kurzweil’s VoiceCommands and VoicePro 3131 and
NaturallySpeaking from Dragon Systems.3132 7.4.2.5 Electromagnetic and Thermal Inmessaging
The human body does not emit voluntary electrical or electro-
7.4.2.4 Chemical Inmessaging magnetic radiation except for modest dermal potentials associated
Ingestion or inhalation of chemical messenger molecules is another with ECGs and EEGs which probably cannot be directly detected
way the patient can control the flow of information and commands by individual in vivo nanorobots (Section 7.2.3). Simple voluntary
192 Nanomedicine • Volume I
actions that might allow electromagnetic inmessaging to with neurotrophic factors (which encouraged neural ingrowth) was
subdermally-implanted nanorobots include placing a hand near a implanted in a patient’s motor cortex; the patient learned to mentally
heated stove, then pulling it away; or blinking a flashlight beam on operate the output signal as a binary switch.3074 Another system
and off while the flashlight is pressed against the skin, for nanorobots using cortical potentials achieved transfer rates of ~2 characters/
positioned at most 1-2 cm below the epidermis (Section 4.9.4); or min. 3121
moving a bar magnet across a patch of skin (Section 4.7.2)—all
allowing ~0.1-1 bit/sec transfer rates. A thermographic system might 7.4.2.7 Macroscale Inmessaging Transducers
also detect the slightly elevated dermal temperature caused by touching Inmessaging signals from patient to nanorobot may also be
a hand to the face or thigh, much like a simple demarcation strategy mediated using macroscale communications interfaces. These
(Section 8.4.1). interfaces may be fixed or mobile, and may be either stable or
reconfigurable. A crude example of a fixed, stable inmessaging
7.4.2.6 Neural Inmessaging transducer would be a ~1 cm dermally- or cranially-mounted
The most comprehensive inmessaging capability may be afforded coaxial cable connector which allows data to flow into an implanted
by eavesdropping on selected neural sensory traffic (Section 4.9.5). dedicated communication organ for subsequent distribution to in
Noninvasive monitoring of neuroelectric impulses (Section 4.8.6) vivo nanodevices via an internal communications network. Data
by nanorobots stationed near afferent neurons can detect and interpret passes into the patient through a simple rf or microwave coax cable
any sensory stimulus that can be consciously perceived by the patient. which is plugged directly into the patient’s socket, readily achieving
Virtually every inmessaging stimulus described elsewhere in Section ~1010 bit/sec transfer rates (Section 7.2.5.1) directed from a computer
7.4.2—including finger-drumming, hand-signing, vocalized or operated by the patient or physician. Up to ~1013 bit/sec transfers
olfactor y signals, dermal heat sensations, scalp/eyebrow are available using fiberoptic (Section 7.2.5.2) or chemocable
myopotentials, and the like—may be indirectly detected by suitably (Section 7.2.5.5) ports. Other fixed transducers may incorporate
positioned and configured neural monitors. For instance, photoelectric or olfactory sensors, microphones, neural taps, or
finger-tapping generates electrical activity in a specific ~1 cm2 patch manipulable tactile elements such as buttons or switches.
of neurons in the primary motor cortex1090—although nanorobots At the other extreme of maximum inmessaging versatility, a dermal
suitably positioned in the brachial plexus, or lower in the tree near transducer may be configured upon request and presented to the
critical junctions of the median nerve (above the digital, thumb, patient on any part of his body. For example, a tattoo-like ~30 cm2
and palmar cutaneous branches) and the ulnar nerve (above the dermal control panel comprised of ~3 billion communication-linked
muscular, dorsal cutaneous, superficial palmar and deep palmar kinesthetically-sensitive chromomorphic nanorobots spaced ~5
branches), may achieve more rapid and reliable monitoring of microns apart could be assembled under a clear flat patch of epidermis
motor impulses. Neurons may fire at >100 Hz, so, ignoring significant such as the back of the hand. This panel could take the shape of a
electrical spike redundancy, inmessaging rates up to ~100 bits/sec touch-sensitive alphanumeric keypad resembling a laptop computer
per monitored neuron can in theory be achieved with this approach. keyboard or a touch-tone telephone or home-security keypad,
Nonsensory volitional neural inmessaging channels are also complete with a touch-sensitive grid of visually-readable inscribed
available to nanorobot monitors stationed in the brain. For example, characters. (See details in Section 7.4.6.7.) Similarly, a
by consciously recalling a specific series of numbers, letters, names, wristwatch-shaped device could accept accept and interpret verbal
words, concepts, images, or events, a well-defined constellation of commands, then translate them into modulated electromagnetic
neural impulses of certain frequencies may be caused to pass signals displayed on a 2-D array of photodiodes or microlasers on
repeatably through the same, say, (~200 micron)3 blocks of brain the back of the watch; the signals could then be received by a
tissue for each recalled item. Brain tissue contains numerous nanorobot dermal transducer panel (Section 7.4.6.7) and passed
“dominance columns” on approximately this scale which appear to along to the rest of the in vivo network.
represent functionally associated fiber bundles.1036,1039 For example,
300-500 micron wide columns have been described in the striate 7.4.3 Intradevice Messaging
and inferotemporal cortex of the macaque monkey;742,1037 organized Intradevice messaging has already been briefly described in the
patterns of action potential waves have been observed via calcium context of metamorphic control (Section 5.3.3), lengthy gear trains
imaging in rodents, measuring 100-300 microns wide in the retina (Section 6.3.2), sliding and rotating control rods (Section 7.2.4), acoustic
and ~50 microns wide in the cortex.771 An experiment using a transmission lines (Section 7.2.5.3), and mechanical cables (Section
context-recall memory task in monkeys suggested that an ensemble 7.2.5.4), and does not appear to present any major fundamental or
of as few as 16 motor cortical cells could perfectly classify (i.e., 100% conceptual difficulties.
accuracy) all the items in a sequence of five stimuli ;3184 nanorobotic To summarize, internal communications within an individual
monitors stationed at those 16 cells could in theory discriminate all nanorobot may be achieved by impressing modulated low-pressure
five-stimulus sequences. acoustical spikes on the hydraulic working fluid of the power
Thus, without being able to understand any of the higher-order distribution system, or by mechanically actuating simple networks
meanings of these signals (e.g., to “read human thoughts”), of rods and couplings, easily achieving transfer rates of >109 bits/
nanorobots detecting such reproducibly neurographically-localized sec.10 Single-channel mechanical, hydraulic or acoustic cables ~10
impulse trains may pool their readings and interpret specific nm in diameter can be bundled together into a flexible 100-nm
combinations of such localized trains as data or as command strings diameter 100-channel data bus suitable for controlling flexible
(a ~0.1-1 bit/sec channel) and then take appropriate action. manipulators or for maintaining control during metamorphic shape
Biofeedback monitors,1661 volitional scalp EEG multiband user inter- shifts; nested doped buckytube fibers could provide a similar multi-
faces, PET scanners and functional magnetic resonance imaging plicity of electrical conduction channels. Internal fluid chambers
(fMRI) operate on a crudely analogous principle, but without the can distribute pressure actuation signals in the manner of the latching
benefit of precise impulse localization that is made possible by ratchet/pawl and vernier ratchet threshold-active pressure actuator
molecular nanotechnology. In 1998, a glass cone electrode filled mechanisms proposed by Drexler.10
Basic Capabilities • Communication 193
7.4.4 Interdevice Messaging transmission”) where they act as direct effectors on cell activity. For
Physically-linked nanomachines may communicate with each example, a steroid hormone, upon entering a target cell, binds to a
other through their tethers or network connections. Messaging complementary receptor protein. Binding induces conformational
between physically separated in vivo nanodevices will normally take changes in the receptor and activates it, increasing the receptor’s
place via acoustic or chemical, and occasionally mechanical or optical, affinity for DNA and allowing it in turn to bind to specific genes in
modalities. the nucleus, thus directly regulating their transcription.3140 This
Interdevice communications has been extensively discussed in process is extremely wasteful because many activated receptors bind
both free-tissue (broadcast) and cable contexts for chemical messaging to DNA at sites where their presence has no effect;531 Lewin997 notes
(Sections 7.2.1 and 7.2.5.5), acoustic messaging (Sections 7.2.2 and that activated receptors have a tenfold increased affinity for nonspecific
7.2.5.3), electromagnetic messaging (Sections 7.2.3 and 7.2.5.1-2), DNA.
mechanical tapping and cable messaging (Sections 7.2.4 and 7.2.5.4), The second class consists of local chemical mediators or
metamorphic surface reconfigurations (Section 5.3.2.5) and network paracrines, which travel only a short distance (up to ~1 mm) to
configurations (Section 7.3). The general conclusion is that neighboring cellular targets. This group also includes the autocrines
untethered free nanorobots will typically have maximum interdevice which act upon a cell’s own receptors, such as the prostaglandins
communication ranges on the order of ~100-200 microns; which are made by cells in all tissues. The single largest group in
interdevice messaging much beyond that distance probably must this class is the cytokines. Cytokines are soluble proteins or glyco-
be handled by a local or wide-area communications network. proteins, produced by leukocytes and other cell types, which act as
chemical communicators between cells but not as effector molecules
in their own right.767 Cytokines include secretory peptides formerly
7.4.5 Biocellular Messaging classified as lymphokines, monokines, interferons,
Nanodevices can also directly communicate with cells by
colony-stimulating factors, chemotactic factors and growth factors;
intercepting, modulating, or initiating the flow of natural chemical
over 150 different cytokines had been cloned by 1998.
messenger molecules. Because cells are the fundamental unit of
The third class of chemical signaling molecules is the neurotrans-
biological organization, it is useful first to examine the various
mitters, including the 60+ known neuropeptides (typically up to
modalities of cellular chemical communication in general terms
30-40 residues long), which mediate communications between nerve
(Section 7.4.5.1). Properly designed and positioned nanodevices
cells and other cells. Interestingly, a single neurotransmitter signaling
can receive chemical messages from cells (Section 7.4.5.2), send
molecule may have different effects on different target cells. For
chemical messages into cells (Section 7.4.5.3), modulate natural
instance, acetylcholine stimulates the contraction of skeletal muscle
cellular message traffic (Section 7.4.5.4), or communicate directly
cells but decreases the contraction rate and force in heart muscle
with neurons (Sections 7.4.5.5 and 7.4.5.6). Information can also
cells.531 The immune and neuroendocrine systems produce and
be transferred mechanically into the cell via links between the
respond to similar signal molecules (e.g., neuropeptides and
extracellular matrix (ECM) and the cytoskeleton in ways that have
cytokines). Neuropeptides have been shown to effect immune
yet to be fully elucidated.942
responses through their influence on cytokine production and
action, and cytokines are known to induce or influence the production
7.4.5.1 Natural Cellular Communications of peptidergic messenger substances.768
Cells communicate chemically with each other in two ways— The fourth class is the intracellular messengers, also known as
contact signaling and secretory signaling. In the first category, chemical intracellular mediators or second messenger substances. While small
messages may be passed between cells in direct contact through gap hydrophobic signaling molecules like the steroids and thyroid
junctions that directly join the cytoplasms of the interacting cells hormones pass through the cell membrane and activate receptor
(Section 5.4.2). As in the case of foreign or self-antigen presentation proteins inside the cell, hydrophilic signaling molecules such as
(Sections 5.3.6 and 8.5.2.1), cells may also display neurotransmitters, most hormones and local chemical mediators
plasma-membrane-bound molecules on their surfaces which may be activate receptor proteins on the surface of the target cell. (Cell
“read” by other cells that come into physical contact with them. Signals surface receptors for these signaling molecules may be either diffusely
may also be transduced into cells directly from the ECM.942,984-986 distributed or localized to specific regions of the membrane, and
In the second category—the principal focus of this Section— their number can vary from 500 to more than 100,000 per cell for
there are four basic classes of secretory signaling molecules in the a specific ligand.) Because cell surface receptors cannot regulate gene
human body, as described briefly below and incompletely listed in expression directly, they must emit a second messenger molecule
Table 7.2. Normal human bloodstream concentrations of some of into the cytosol which can then trigger the desired regulatory
these molecules are given in Appendix B. At least several hundred action. Cyclic AMP (cAMP), an intracellular messenger that tells
different chemical messengers are known to be used in the human certain types of cells to break down their glycogen stores in response
body, and many thousands may exist. Biologist Dennis Bray of to receipt of epinephrine at the cell surface, is perhaps the best-known
Cambridge University believes that up to ~50% of the human example (Section 7.4.5.4). Another example is the voltage-gated
genome may code for proteins involved in cell signaling,776 but Ca++ ion channel (Sections 3.3.3 and 7.4.5.3), which participates
10%-20% for “classical” communication pathways is probably more in nerve pulse events but also in signal transduction via the
reasonable. For example, the now-sequenced 97-megabase genome inositol-phospholipid pathway for more than 25 different types of
of the nematode Caenorhabditis elegans has ~19,099 protein-coding cell surface receptors of hormonal signals. 531 For instance,
genes,3138 of which ~11% are involved in signal transduction and excitation-contraction coupling in skeletal muscle cells requires the
another ~11% in transport and secretion .3139 release of Ca++ ions through ryanodine receptor channels in the SR
The first class of secretory signaling molecules is comprised of (sarcoplasmic reticulum; Section 8.5.3.5), each of which opens to
the endocrine hormones, which are usually secreted by exocytosis provide 4-8 picoamp Ca++ ion currents in 1-2 millisec bursts, through
and travel through the bloodstream to distant target cells (e.g., “volume the SR membrane.1965
194 Nanomedicine • Volume I
7.4.5.2 Inmessaging from Cells chemical signals throughout the entire bloodstream (Section 7.2.1.8),
Nanodevices can receive the natural chemical messages transmitted although simultaneous coordinated chemical releases may be made
from and between cells simply by eavesdropping on the natural from large numbers of in vivo nanomachines for special purposes.
molecular message traffic. (Of course, mechanical (e.g., cytoskeletal) Nanodevice outmessaging to cells thus will normally be limited to
and electrical (e.g., ionic) cellular emanations may also be detectable by localized paracrine-like, neurotransmitter, or intracellular messaging,
nanodevices.) and of course nucleic molecules which may have a direct control
For instance, consider a ~0.1 micromole puff of epinephrine (aka function. Indeed, the most efficient outmessaging to cells may
adrenalin, C9H13NO3, MW = 183 daltons) released into the human involve the assembly of customized RNA molecules or their antisense
bloodstream from cells in the adrenal medulla located above the variants (using locally available raw materials such as RNA bases
kidneys. Epinephrine is an emergency hormone emitted in response and amino acids) to up- or down-regulate specific gene activities
to stressful conditions which acts to increase heart rate, decrease the (Chapter 12) thus taking advantage of the cell’s inherent amplification
blood flow to the gut, increase blood flow to skeletal muscles, increase by the ribosomes.
circulation of oxygen and nutrients to other organs, and mobilize As a simple example, Ca++ serves as an intracellular mediator in
the production of metabolic fuels such as fatty acids and glucose a wide variety of cell responses including secretion, cell proliferation,
(by causing liver and muscle cells to break down glycogen)— neurotransmission, cellular metabolism (when complexed to
establishing the primitive mammalian “fight or flight” response. calmodulin), and signal cascade events that are regulated by
As bloodstream concentrations rise over 1-10 sec to a peak of calcium-calmodulin-dependent protein kinases and adenylate
cligand ~ 10-8 molecules/nm3 (Appendix B), then from Eqn. 4.3 a cyclases. The concentration of free Ca++ in the extracellular fluid or
bloodborne nanorobot with a single epinephrine chemical sensor in the cell’s internal calcium sequestering compartment (which is
having just ~0.4 nm2 of active surface area can detect the peak loaded with a binding protein called calsequestrin) is ~10-3 ions/
concentration in tEQ ~ 0.3 sec. A patch of 260 such receptors nm.3 However, in the cytosol, free Ca++ concentration varies from 6
measuring ~500 nm2 in total physical surface area can detect the x 10-8 ions/nm3 for a resting cell up to 3 x 10-6 ions/nm3 when the
peak concentration within ~1 millisec of its occurrence, or can cell is activated by an extracellular signal; cytosolic levels > 10-5 ions/
detect 10% of peak concentration within 10 millisec from the start nm3 may be toxic,531 e.g., via apoptosis (Sections 10.4.1.1 and
of the ramp-up. Epinephrine and most other signaling molecules 10.4.2.1).
cannot be directly measured by nanorobots stationed within the To transmit an artificial Ca++ activation signal to a typical tissue
cytosol because the molecule is hydrophilic and cannot pass through cell in ~1 millisec, a single nanorobot stationed in the cytoplasm
the cellular membrane (unlike the steroids). For the most rapid must promptly raise the cytosolic ion count from 480,000 Ca++
possible response to changing hormone levels, chemosensor-equipped ions to 24 million Ca++ ions, a transfer rate of ~2.4 x 1010 ions/sec
nanorobots should be positioned on or inside the cells and organs which may be accomplished using ~24,000 molecular sorting rotors
which produce specific signals of interest, with the results of positive (Section 3.4.2) operated in reverse, requiring a total nanorobot
detections of increased activity quickly passed along through the in emission surface area of ~2.4 micron2. Or, more compactly, pressurized
vivo communications network (Section 7.3). venting or an ion nozzle may be employed (Section 9.2.7). Onboard
For the rarest cytokines or steroid hormones present at cligand ~ storage volume of ~0.1 micron3 can hold ~2 billion calcium atoms,
10-12 molecules/nm3 in the bloodstream or cytosol (equivalent to enough to transmit ~100 artificial Ca++ signals into the cell after
~8 molecules inside one (20 micron)3 tissue cell or ~1 molecule ionization (2877 zJ/ion double-ionization energy)763 even assuming
inside a single leukocyte), a ~5000 nm2 sensor patch containing no recycling.
~100 individual receptors (each having ~6 nm2 of active area) can In addition to the amplitude modulation (AM) of Ca++ signals
register a detection in ~10 sec for a single cytosol-based nanorobot. noted above, De Koninck and Schulman1121 have discovered a
However, cellular signaling molecules are more commonly present mechanism (CaM kinase II) that transduces frequency-modulated
in the cytosol at ~10-8 molecule/nm3 levels,531 enabling ~1 millisec (FM) Ca++ intracellular signals in the range of 0.1-10 Hz. Fine tuning
detections using this sensor configuration. By comparison, the typical of the kinase’s activity by both AM and FM signals (either of which
target tissue cell has ~10,000 steroid receptors (each binding one is readily detected or generated by in cyto nanorobots) may occur as
steroid molecule) floating in the cytosol. the molecule participates in the control of diverse cellular activities.
Nanodevices may also eavesdrop on morphogenic signals. For Nanorobots may also mechanically outmessage to cells. The
example, simple changes in the extracellular protease/antiprotease cytoskeleton of living cells and nuclei are hard-wired such that a
concentration ratio (which causes endothelial cells to detach from mechanical tug on cell surface receptors can immediately change
their parent vessel and invade their underlying stroma during the organization of molecular structures inside the nucleus and the
angiogenesis) are readily detected using chemical nanosensors. cytoplasm942 and can dramatically alter cellular electrical con-
Continuous monitoring of the relevant natural cytokine traffic can ductivity.1100 The intermediate fiber network (Section 8.5.3.11)
help nanorobots maintain a complete picture of current cellular alone is sufficient to transmit mechanical stress to the nucleus.942
activities and states. Indeed, the principal design challenge is likely The minimum force required to initiate signal transduction may be
to be sensory traffic data management rather than sensor speed or as low as ~10 pN (Section 9.4.3.2.1), well within the ~100
specificity. Living cells are awash in a sea of messages from hormones, nanonewton capacity of the nanomanipulator arm described in
cytokines, growth factors, and a host of other message-carrying Section 9.3.1.4.
molecules, all of which must be transmitted through complex chemical
networks of intermediates and multiple signal pathways into the 7.4.5.4 Cell Message Modification
cell’s interior. Properly configured in cyto nanorobots can modify natural
intracellular message traffic according to preprogrammed rules or
7.4.5.3 Outmessaging to Cells by following external commands issued by the attending physician.
Individual micron-scale nanorobots have insufficient chemical In the case of steroids and thyroid hormones, this may involve the
release volume or manufacturing capacity to transmit endocrine-like direct manipulation of the signaling molecules themselves (after they
Basic Capabilities • Communication 195
Table 7.2. The Four Major Classes of Human Cell Secretory Signaling Molecules531,755,767,769
have passed through the cell membrane) or their bound receptor simultaneous fast release of another (different) species of cytokine
complexes. However, most signaling molecules are absorbed at the in its place. Such procedures must take into account the redundant
cell surface, initiating a signal cascade which must be modulated by signaling pathways and backup systems (e.g., developmental signals,
manipulating the second-messenger molecules or other components immune system, blood clotting). Medical nanorobotics will allow
of the signal cascade. A complete analysis of the modifications that the replacement of many redundant pathways with more refined
nanorobots may impose upon normal intracellular message traffic and specific responses.
is beyond the scope of this book. However, a few basic examples of
modifying action may be illustrated using the familiar cyclic AMP D. Linkage — Previously unlinked signal cascades may be
(cAMP; C10H11N5O6P, MW = 328 daltons) messaging system. artificially linked using in cyto nanodevices. As a fanciful example,
the receipt of epinephrine by nanorobots located in the capillaries
A. Amplification — A single epinephrine molecule received by a of the brain could trigger these devices to suppress the adrenalin
β adrenergic receptor at a cell surface transduces the activation of response while simultaneously releasing chemical messengers pro-
dozens of G-protein α subunits, each of which in turn activates a ducing message cascades that stimulate production of enkephalins
single adenylate cyclase enzyme which cyclizes hundreds of ATP or other opioids, thus encouraging a state of psychological relaxation
molecules into cAMP molecules. The intracellular population of rather than the “fight or flight” response to certain stressful conditions.
cAMP (in muscle or liver target cells) is normally 10-6 M or ~5
million molecules for a typical (20 micron)3 tissue cell. Stimulation 7.4.5.5 Inmessaging from Neurons
by epinephrine raises the cAMP population to ~25 million molecules Inmessaging from neurons to nanodevices has already been
in a few seconds. Upon detecting this rising tide of cAMP in a few considered in Sections 4.8.6, 4.9.5 and 7.4.2.6. In these discussions, it
millisec, a single in cyto nanorobot could amplify this existing was concluded that at least half a dozen different methods should
chemical signal by instantly releasing 20 million cAMP molecules permit nanorobot sensors to noninvasively detect, measure, and
(occupying ~0.01 micron3) from onboard inventories—decreasing count the passage of nerve impulses. Neurographics,
cellular response time by several orders of magnitude.* neuroinformatics,1298 connectivity mapping and individual neural
targeting are described in Chapter 25.
B. Suppression — Similarly, upon detection of rising cAMP levels in
target cells, resident nanorobots could use molecular rotors to rapidly 7.4.5.6 Outmessaging to Neurons
remove cAMP from the cytosol as quickly as it is formed, even In vivo nanorobots can outmessage to neurons as well. The most
under maximum adrenal stimulation. From Eqn. 3.4 the direct method is synaptic stimulation. In excitory cholinergic synapses,
diffusion-limited intake current at the basal concentration (~6 x 10-7 perhaps the most common type, the arrival of a presynaptic nerve
molecules/nm3) for a cAMP-absorbing spherical nanodevice 1 impulse stimulates the release of up to ~105 molecules of acetylcholine
micron in radius is ~4 million molecules/sec, so a single such device (C7H16NO2, MW = 146 daltons) from synaptic vesicles into the
could probably keep up with natural cAMP production rates and synaptic cleft in ~1 millisec, producing a local concentration of ~3
thus completely extinguish the response by preserving a flat basal x 10-4 molecules/nm3 (~0.0005 M).531 The acetylcholine molecules
concentration. (As a practical matter, it may be more efficient to diffuse across the cleft to the postsynaptic membrane (Section
simply control epinephrine generation at its glandular source 4.8.6.4), where they bind to specific receptor proteins (Section
unless it is desired to interface with just a single tissue type.) 3.3.3), opening ion channels within 0.1 millisec313 and partially
Simultaneously, the cAMP-absorbing nanorobot may hydrolyze the depolarizing the cell, increasing local Na+ permeability. When
stored cAMP (hydrolysis energy is ~11.1 Kcal/mole or ~77.1 zJ/mol- depolarization reaches ~15% of full voltage range (e.g., from -60
ecule)3298 in the manner of the cAMP phosphodiesterases (c.f. mV down to about -40 mV), voltage-activated sodium channels
nanofactories, Chapter 19), then excrete these deactivated AMP open, making the membrane highly permeable to Na+ ions. These
messenger molecules back into the cytosol. Similar methods might ions rapidly flow into the cell and initiate the ~100 nanoamp799
be useful in ligand-gated ion channel desensitization or in disease action potential spike. These channels close spontaneously after a
symptom suppression (Chapter 24)—as for example, in suppressing short interval to reduce permeability, thus allowing the membrane
the prolonged elevation of cAMP in intestinal epithelial cells associated voltage to be restored to its normal resting potential (Section 3.3.3).
with the cholera toxin, that produces severe diarrhea by causing a A sorting-rotor-tipped manipulator (Section 3.4.2) or pressurized
large influx of water into the gut. nanoinjector (Section 9.2.7.1) placed in the vicinity of the synaptic
cleft can emit a puff of ~105 acetylcholine molecules (~20,000 nm3),
C. Replacement — Combining suppression and amplification, producing partial depolarization and initiating nerve impulses at
an existing chemical signal may be eliminated and replaced by a will. (This is preferable to the use of unnatural depolarizing agents
different—even an opposite—message pathway using nanorobot such as veratridine.) A 1-micron3 storage volume contains ~5 billion
mediators. Alternative pathways may be natural or wholly synthetic. molecules, sufficient to induce ~50,000 discharges or ~1 hour of
Novel responses to existing signals may be established within the continuous firing at 15 Hz. The initiating mechanism must provoke a
cell to enhance functionality or to improve stability or controllability. discharge in ~1 millisec, a throughput rate of 108 molecules/sec
For example, detection of one species of cytokine by a nanorobot requiring, say, ~100 sorting rotors with total manipulator tool tip
could trigger rapid specific absorption of that cytokine and a area ~104 nm2. At 15 Hz continuous firing, ~106 molecules/sec are
* From a practical standpoint, R. Bradbury notes that designers should have knowledge of the biochemical pathways that are most critical in the response to a signal, hence
nanorobots may be able to skip the intermediate steps required in the biological system. In the present example, the cascade is typically intended to increase the glucose
available for muscles, so it might make more sense to skip the cAMP step and simply commence disassembly of glycogen (in the liver and muscles) and accelerate the pumping
of glucose into the bloodstream (from the liver).
** Under controlled mechanochemical conditions (Chapter 19) where the effective heat of protonation of the buffering system can be ignored, the net enthalpy of hydrolysis
at 298 K and pH 7 may fall as low as ~1.95 zJ/molecule, or ~0.28 Kcal/mole.3142
Basic Capabilities • Communication 197
consumed. Sorting rotors placed near the cleft can also absorb the 1. Periodic manipulation of electric (Section 4.8.6.1) and magnetic
two breakdown products (acetate and choline) of acetylcholinesterase (Section 4.8.6.2) fields may trigger neural impulses.3328
activity (~150 microsec turnover time 3143) and recycle them into
new molecules of acetylcholine. Taking the enthalpy of hydrolysis 2. An excess population of Na+ ions outside the myelinated nerve
under physiological conditions** as ~70 zJ/molecule (~10 Kcal/mole) fiber establishes an intra-axonal resting potential of -60 mV.
for the acetylcholinesterase-mediated hydrolysis reaction,3142 the The net movement of Na+ associated with a single neural impulse
power requirement for continuously recycling 106 molecules/sec is is ~0.3 ion/micron2 in ~0.5 millisec,526 so the direct injection
~0.07 pW. A similar rotor transport mechanism may also be used of a few electric charges should produce local depolarization,
to rapidly extract acetylcholine molecules from the synaptic cleft, initiating a neural impulse. Note that the voltage balance is
thus extinguishing a passing nerve impulse. Note that to exert control maintained by differing concentrations of several ions, not
over nerve impulses, neurotransmitter injectors must be placed very just Na+, although the inrush of Na+ is the primary cause of
close to the post-synaptic surface because the effective diffusion membrane voltage change during the discharge spike.
radius of acetylcholine is only a few microns, due to the high efficiency 3. Membrane ionic currents may be pharmacologically manipulated
of local acetylcholinesterase. 803 by nanodevices permanently stationed within the cytosol. For
Many compounds other than acetylcholine may serve as neurotrans-
example, sodium pumps are completely inhibited by the injection
mitters (Table 7.2), including nitric oxide and possibly carbon
of 10-100 nM of cardioactive steroids such as ouabain and
monoxide.1125,1129 Catecholamines such as dopamine, norepinephrine
strophanthidin.805 Injection of ~300 nM tetrodotoxin inhibits
and epinephrine, synthesized in the adrenal gland and elsewhere,
sodium currents while leaving potassium currents unchanged;
act as neurotransmitters at adrenergic synapses which are found at
inserting tetraethylammonium blocks only the potassium currents,
the junctions between nerves and smooth muscles in internal or-
gans such as the intestine and in nerve-nerve junctions in the brain. while leaving sodium currents unchanged.804
There are also histaminergic neurons found exclusively in the hip- 4. Establishing a localized ~100 mV circumaxonal (external)
pocampus.1123 Most tissues in the human body are innervated by sev- superexcess of positive charge may present an electrical barrier
eral different types of nerve cells, each using a different neurotransmit- steep enough to quench a depolarization wave, thus extinguishing
ter, allowing a great diversity of signals and responses. But a passing nerve impulse. Techniques of electronic anesthesia,
synaptic-resident nanorobots should be able to monitor, stimulate, or such as transcutaneous electronic nerve stimulation (TENS) and
extinguish all of these signals, even given the confusing geometries cell demodulated electronic anesthesia (CEDETA), involve crude
entailed by synaptic clusters. applications of similar principles.3299,3300
While some synapses use excitory neurotransmitters that elicit
an electrical signal, others use different neurotransmitters such as 5. Long-term electrical stimulation of neurons using electrodes to
GABA, glycine, or the enkephalins that deliver an inhibitory signal, apply 0.1-Hz pulses for ~105 sec reduced the expression of neural
suppressing electrical response. Some molecules work both ways. cell adhesion molecule L1 (NCAM) by a factor of ~13.1063
For example, acetylcholine is excitory at neuromuscular junctions
but may be excitory or inhibitory in the central and peripheral nervous 6. Direct ultrasonic stimulation of neurons.3535
system. A nerve cell may receive thousands of these excitory and
inhibitory chemical inputs, and their relative number determines
7.4.6 Outmessaging to Patient or User
the probability of axonal firing. Again, selections from the complete
known library of neurotransmitters of all types may be made available In many applications, in vivo medical nanodevices may need to
for storage, synthesis, absorption or release by properly configured communicate information directly to the user or patient. This
nanorobots. capability is crucial in providing feedback to establish stable and
Neuropeptides, which can act as highly specific triggers for complex reliable autogenous command and control systems (Chapter 12).
patterns of activity in the nervous system (including memory, Outmessaging from nanorobot to the patient or user requires the
learning, perception, mood, and behavior) and allow long-term nanodevice to manipulate a sensory channel that is consciously
chemical modulation of synaptic sensitivity, add yet another com- available to human perception, which manipulation can then be
plication to neural outmessaging by nanorobots. Neuropeptides are properly interpreted by the patient as a message.
manufactured by ribosomes on rough endoplasmic reticulum within Sensory channels available for such communication include sight,
the neuron cell body and must be transported to axon terminals for audition, gustation and olfaction, kinesthesia, and somesthetic sensory
release by “fast axonal transport”—a journey that may take a day or channels such as pressure, pain, and temperature. Nanodevice-originated
more for a long axon. They are stored in intracellular vesicles from
data may be superimposed upon the natural sensory traffic by:
which they are released to the extracellular space of peptidergic
neurons. Neuropeptides released into the synaptic cleft serve as
neuromodulators (to inhibit the action of excitory neurotransmitters) 1. generating an artificial sensory stimulus,
or neuromediators (to prolong the action of neurotransmitters), both 2. direct stimulation of the receptor in the absence of actual sensory
functions easily duplicated by nanorobots. However, neuropeptides stimulus, or
released into the bloodstream act as long-range neurohormones, and
neuropeptides released into the extracellular space act as paracrines 3. triggering artificial action potentials in the afferent nerves that
and enter both pharmacodynamic and pharmacokinetic cascades.770 carry information from the sensor to the CNS.
Nanorobot management of these more diffusely distributed tissue
neuropeptide concentrations (e.g., by mimicking the action of natural
peptidases of broad substrate specificity) is a more difficult, though 7.4.6.1 Somesthetic Outmessaging
not intractable, task. Human skin contains about 700,000 pressure or touch receptors,
There are many other methods by which in vivo nanorobots can mostly concentrated on the fingers (~17,000 receptors on all finger-
outmessage to neurons: tips) and on the face—especially the lips and the tip of the tongue.
198 Nanomedicine • Volume I
In addition to information about the presence of tactile stimuli, the conscious human mind may be only ~1 bit/sec, although complex
touch receptors can also discriminate both intensity and spatial spatial and temporal patterns using multiple parallel channels
direction of the stimulus (Table 7.3). Meissner’s corpuscle, located involving significantly higher data flows may be employed in creating
in the papillae of the corium just beneath the epidermis, is a receptor full-immersion virtual reality simulations and in related applications
for light touch. The Pacinian corpuscle is a deep touch or pressure (Chapter 25).
receptor located in the deep parts of the dermis, in the connective The Optacon (Optical-to-Tactile Converter), originally
tissue around muscles, tendons, and joints, and in the mesenteries developed by NASA, scanned normal inkprint and converted
supporting the visceral organs. the characters into a tactile format on a 24 x 6 vibrating-pin
A networked population of outmessaging nanorobots, with each array, enabling the blind to feel-read without Braille. Average
nanorobot positioned near a Meissner’s or Pacinian corpuscle and users achieved ~30 words/min, or up to ~100 words/min in
capable of triggering artificial nerve impulses (Section 7.4.5.6), could exceptional cases. The Optacon was first sold in 1970 by
Telesensory Inc. but is no longer manufactured. Blazie Engineering,
create coordinated spatial and temporal patterns of pressure sensations
Inc., which acquired all rights to the Optacon in 1998, also sells
that could be interpreted by the patient as specific messages. For
example, nanorobots neurally emulating the sensation of pressure in Power Braille, an 81-character 8-dot refreshable Braille display for
the fingers in the sequence Thumb-Thumb-Ring-Index-Thumb desktop computer applications.
are communicating the message “11421” to the user at a transfer
rate of 1-10 bits/sec. Similarly, stimulating the arrector muscles 7.4.6.2 Kinesthetic Outmessaging
artificially triggers the nerve plexus surrounding epidermal hair follicles Direct stimulation of kinesthetic sensory neural channels for
(which register hair motion), creating well-defined and potentially outmessaging may prove disorienting, disturbing, confusing, or even
communicative patterns of “gooseflesh” on the skin. nauseogenic to the user, as for example a periodic manipulation of
Mild stimulation of pain receptors (nociceptors), consisting of the vestibular ganglion (creating synthetic vertigo), muscular stretch
unmyelinated free sensory nerve endings with pain sensation mediated receptors (creating “phantom limb” effects), or reflex arcs (e.g.,
by the peptide nociceptin, could also produce interpretable messages. sneezing, knee jerks, lactation, pupillary dilation, or orgasm).
For instance, some C fibers when sufficiently stimulated produce Patients might be slightly more comfortable if nanorobots generate
burning pain, while small D fibers signal a prickling pain. (There a genuine sensory stimulus which can then be detected as a true
are ~228 pain receptors/cm2 in the neck region, ~188/cm2 on the sensory reading. Examples might include the creation of patterned
back of the hand, ~95/cm2 on the radial surface of the middle finger, nervous tics by triggering small-muscle spasms in the face or limbs
and ~44/cm2 on the tip of the nose).869 Heat receptors (brushes of (twitches), temporally-structured subvocal hiccups by stimulating
Ruffini) and cold receptors (end bulbs of Krause) also may be and inhibiting the phrenic nerve causing tiny spasms in the diaphragm
employed for outmessaging. Cold spots outnumber warm spots by muscle, or periodic blepharospasms (winking) by stimulating the
a factor of 4-10, with temperature receptors concentrated on the orbicularis palpebrarum muscle (ring muscle) of the eye.
face and hands and specific regions showing marked differences in Selective activation of motor neurons controlling the ~400
the mix of sensor types (e.g., the forehead contains 0.6 warm receptors/ skeletal muscles in the human body can produce involuntary macro-
cm2 but 8.0 cold receptors/cm2). Nanorobots could employ these scopic limb motion. To take a familiar example, properly positioned
neural channels to communicate temporally- and spatially-ordered neurostimulatory nanorobots may trigger in sequence the extensor
sensations of burning pain, prickly pain, or heat and cold. The indicis and the flexor indicis muscles, causing the second and third
maximum serial transfer rate of each of these outmessaging channels to phalanges of the index finger first to extend, then to retract; or trigger
Hair follicle nerve RA H Touch, vibration ~ 0.01 mm2 10-100 Hz (?) 10/cm2
200/cm2 (scalp)
Tactile disks SA I H Pressure, edge (?) 3-50 mm2 1-100 Hz (?) 70/cm2 (?)
(10 Hz) (?) (8/cm2) (?)
PC = Pacinian afferents; RA = rapidly-adapting afferents; SA II = slowly-adapting, large receptive field afferents; SA I = slowly-adapting, small receptive field
mechanoreceptive afferents; G = glabrous (hairless) skin; H = hairy skin.
Basic Capabilities • Communication 199
Fig. 7.3. Cross-section of the human ear (redrawn from Davis and Silverman868).
the extensor minimi digiti and the flexor brevis minimi digiti Hz) common to human speech, micron-scale acoustic radiators are
muscles, causing the second and third phalanges of the little finger very inefficient (Section 7.2.2.1) although there are virtually no
to extend, then the first phalanx of the little finger to flex; or trigger attenuation losses (Eqn. 4.52). Even so, from Eqn. 7.7 a cochlear
the extensor pollicis brevis and the flexor pollicis brevis muscles, nanodevice able to apply an input power of 2000 pW to an acoustic
causing the base of the first phalanx of the thumb to extend, then omnidirectional piston radiator 20 microns in diameter can generate
retract. These artificially induced finger movements may be directly 10 KHz sound waves at an output power ~ 0.1 pW, approximately
interpreted as messages by a trained user at a 1-10 bit/sec transfer the intensity level of whispering. At a more comfortable 3 KHz (the
rate, or else the patient may grasp a handheld device that translates peak sensitivity of human hearing), Pin must rise to ~22,000 pW or
the controlled sequence of forced gripping motions into a correct piston diameter must increase to 45 microns to maintain Pout ~ 0.1
alphanumeric or voiced message. pW, or a duty cycle substantially less than 100% must be employed.
If linked to a communication network, the cochlear nanodevice can
7.4.6.3 Auditory Outmessaging receive information to be audibilized from the network. This device
The human ear consists of an air-filled external auditory canal can also be used for acoustic inmessaging by allowing it to intercept
terminating on the ~1 cm2 tympanic membrane (~100 microns sound waves before they reach the basilar membrane, then passing
thick), whose vibrations are transmitted through the bony ossicles this information immediately to the network (which thus receives
of the ~2 cm3 middle ear to the membranous oval window of the the signal sooner than the brain). Perilymph contains glucose for power
inner ear (Fig. 7.3). From there, sound energy enters the cochlea as
at roughly serum concentrations; alternatively, the cochlear device
compressional waves in the perilymph, an incompressible watery
can absorb and store the natural ambient acoustic energy present in
fluid that fills most of the ~100 mm3 spiral cochlear tube. This
the auditory canal (Section 7.4.8).
~35-mm long tube resembles a snail shell, coiled two and a half
Similarly, a nanorobot located in the endolymph-filled scala
times around the modiolus, itself the center axis along which pass
the cochlear nerves and blood vessels. About 24,000 hair cells media, the innermost of the three parallel chambers of the cochlea,
(multifiber stereocilia) on the basilar membrane under the tectorial can attach itself to the reticular lamina of the organ of Corti and
membrane (Fig. 7.4) inside the cochlea resonate in response to dif- physically manipulate the stereocilia to produce the desired audible
ferent acoustic frequencies. These cells make complex synaptic con- stimulus. Stereocilia are spaced over the organ of Corti at a linear
tacts with neurons of the spiral ganglion, which passes this aural density of ~1 cell/micron along the 30 mm length of the cochlear
information into the auditory (8th cranial) nerve and thence to the spiral tube.585 Continuously stimulating all ~100 cells within reach
brain for decoding. of a 20-micron diameter nanorobot with bidirectional 40-micron
A large nanodevice (~20-50 microns) stationed in the perilymph long extensible manipulators should produce a narrow-frequency
of the cochlea can “speak” directly into the human ear, loud enough tone up to ~0.4% of maximum pressure amplitude, close to normal
to be heard. Total acoustic power delivered to the tympanic membrane conversational levels. Hair cells have a membrane time constant of
during normal audition is ~10-4 pW (0 dB) at the threshold of ~0.5 millisec ,772 in theory permitting a transfer rate of up to ~2000
hearing, ~0.1 pW for whispering (30 dB), and ~100 pW for bits/sec if all stereocilia are manipulated coherently as a single channel.
normal conversation (60 dB). At the low frequencies (30-10,000 Careful design should prevent unwanted stimulation of tinnitus.
200 Nanomedicine • Volume I
Direct neural stimulation of some of the ~31,000 spiral ganglion In this case it appears more efficient to stimulate the gustatory
cells allows transduction of information into the human auditory and olfactory nerves directly. This minimizes power consumption,
system. Each ganglial cell carries temporal and amplitude information reduces the required volume of chemical releases by many orders of
on a narrow band of acoustic frequencies received by the ear, essentially magnitude, and permits rapid multiplexing of numerous distinct
a crude Fourier transform of the original audio signal. Properly synthetic sensory signals.
positioned nanorobots can superimpose artificial signals on this
natural traffic which may be perceived by the patient as a A. Gustatory Outmessaging — There are ~12,000 taste buds in-
frequency-reconstructed voice of limited tonal range speaking words nervated by nerve fibers that lose their myelin sheaths as they pass
or numbers. Nanorobots stationed at the saccule, an otolithic organ through the basement membrane. Large fibers end on two or more
in the vestibule of the inner ear, can stimulate direct ultrasonic hearing bud cells, with the endings of small fibers invaginating the receptor
in humans up to ~108 KHz.1372 In 1998, cochlear implant devices cell membrane. The large taste fibers from the anterior two-thirds
were in wide use, with audible sounds transmitted by FM radio of the tongue branch from the lingual nerve to form a slender nerve,
waves to an electrode array in the inner ear, providing direct electrical the chorda tympani, which traverses the eardrum as part of the
stimulation of the auditory nerves.1891-1893 facial (7th cranial) nerve en route to the medulla. The afferent
A review of current technology in artificial speech synthe- fibers from the posterior third of the tongue collect in the lingual
sis1653,1654 is beyond the scope of this text. branch of the glossopharyngeal (9th cranial) nerve, through the
petrosal ganglia and into the medulla. Since taste buds have a
7.4.6.4 Gustatory and Olfactory Outmessaging response repertoire of only five known distinct sensations (sweet,
In theory it would be possible to insert artificial flavors onto the sour, bitter, salt, and umami*), nanorobots seeking to artificially
lingual surface, or to release artificial scents into the nasal epithelium. provoke these sensations may proceed to the chorda tympani or
However, human taste buds have a lifetime of ~10 days, requiring petrosal ganglia with the objective of triggering a higher-level confluent
constant repositioning of resident chemical emission devices. signal on each of a handful of distinct ganglial positions corresponding
Human olfactory receptors are located at the back of the nose (Fig. to the five primary stimuli plus a small set of mixed-sensitivity
8.11), covered by a sheet of mucus, adding signal time delays and combinations. Proper identification of the nerve bundles carrying
dispersion (due to finite and differential molecular diffusion rates) information on each of the five primary stimuli may require a brief
to high-frequency olfactory messages. Additionally, frequent training session or prior connectivity mapping (Chapter 25). Note
large-volume chemical emissions from individual nanorobots is not also that natural taste response time is diffusion-limited to ~1 sec
feasible due to scaling factors (Section 7.2.1.8). (~1 Hz, ~1 bit/sec), and it is not yet known whether the natural
*Umami, a complex “meaty” or “savory” tastiness factor, was first identified by a Japanese scientist, Professor Ikeda, at the University of Tokyo.3030-3034 Umami is specifically
associated with monosodium glutamate (MSG)3035, sodium inosinate, and sodium guanylate. Specific taste bud receptors (e.g., mGluR4) for umami have been discovered.3033,3034
Basic Capabilities • Communication 201
conscious brain can be educated to process multiplexed membrane proteins, which is localized to the olfactory cilia and
high-frequency (up to 10-100 Hz, or ~10-100 bits/sec) shares homology with the superfamily of neurotransmitters and
artificially-stimulated taste signals. neuropeptide 7TD receptors,808 constitutes an extremely large
multigene family likely to encode odorant receptors that transduce
B. Olfactory Outmessaging — Humans have up to 50 million intracellular signals by interacting with cellular transmembrane G
olfactory sensors spaced an average ~3 microns apart in the olfactory proteins which then activate second messenger systems inside the
epithelium (~2.5 cm2/nostril) located in the upper part of the nasal cell. This family of putative odorant receptors could constitute one
cavities on the surface of the superior conchae and upper part of the of the largest gene families in the genome, with perhaps as many as
septum (see Figure 8.11). Each sensor protrudes a long and extremely 500-1000 genes,809 approximately one receptor type for each
thin olfactory nerve fiber. These fibers are grouped into ~20 filaments glomerulus.
in each nasal cavity, and the filaments pass through the cribriform If each glomerulus may be treated as the locus for a single unique
plate of the ethmoid bone into the olfactory bulb (the terminus of olfactory sensation, this may provide an essentially clear output
the olfactory (1st cranial) nerve) in the forebrain in the cranial cavity. channel for a neurostimulatory nanodevice. Such a device could
The nasal epithelium also contains a few bare nerve endings from trigger action potentials in a single glomerulus producing a perception
fibers of the trigeminal (5th cranial) nerve. The responses of olfactory of a rapidly pulsing (possibly up to ~10-100 Hz, or ~10-100 bits/
receptor neurons are rarely specific to only one odor; the majority sec) rare scent. Such signals would no longer be diffusion limited
of cells respond to a broad range of substances.3433 (to ~1 Hz, ~1 bit/sec) as is the case with natural olfaction, and rapid
The olfactory nerve fibers enter the olfactory bulb to end in a adaptation caused by receptor saturation would also be eliminated
series of intricate basketlike synaptic terminations or antenna-shaped for these signals since the signals are inserted at the glomeruli and
dendritic clusters called glomeruli. Each olfactory glomerulus don’t pass through the sensory receptors at all. A thousand coordinated
receives impulses from about 26,000 receptors and sends them on nanorobots positioned one at each glomerulus could provide complete
through 24 mitral cells and 68 tufted cells, thus showing a high
olfactory sensation control and the potential for massive multiplexing.
degree of neural convergence.
As with taste messaging, it is unknown whether the natural conscious
The number of such glomeruli (~1000) may approximate the
number of nonmultiplexed distinct olfactory sensations available to brain can be trained to process such multiplexed high-frequency
man. Humans can identify over 10,000 structurally distinct odorant smell signals. In 1998, studies of the human olfactory (combinatorial)
ligands807—some have claimed as many as 400,000 discernible code were in progress.3207
odors3134,3135—but this does not imply an equally large repertoire
of odorant receptors, because structurally related odorants may bind 7.4.6.5 Ocular Outmessaging
to the same receptor molecules.1120 Indeed, individual neurons Nanorobots may send messages to the patient by emitting photons
respond strongly to closely related groups of odorants and weakly directly into the eye (Fig. 7.5), generating an artificial visual
or not at all to many others.807 Sensory neurons with similar ligand stimulus. Retinal displays could be broadcast by photoemissive
specificities project to common glomeruli. The family of 7TD nanodevices located:
202 Nanomedicine • Volume I
1. in the palpebral conjunctiva (inner mucosal surface) of the eyelid, Present-day micron-scale LEDs emit up to ~1 watt/m2 (Section
where access to nutrients from the capillary bloodflow is still 5.3.7), so extraretinal displays from such emitters are comfortably
available in muscular tissue below the fibrous plates; read by patients. If the emitters overwrite 10% of the
visual field, then total optical power input through the lens is
2. on the exterior surface of the cornea, when nanorobots may
Pout ~ 0.03-3.0 microwatts. Assuming a very conservative energy
obtain power from transcorneal-diffused glucose and other sugars
conversion efficiency of e% ~ 0.01(1%) for LEDs (Section 5.3.7),
in the lacrimal fluids at cligand ~ 2.9 x 10-4 molecules/nm3 (~10%
the emitters consume a total input power (and radiate waste heat)
blood plasma concentration);585
of Pin = Pout / e% = 3-300 microwatts, well below the conservative
3. on the interior corneal or exterior lens surface (c ligand = 2000 microwatt maximum for 0.1 cm3 of eyelid tissue (Eqn. 6.54).
1.6-3.7 x 10 -3 molecules/nm3 for glucose in the aqueous Emitter power density ranges from ~0.4 megawatts/m3 at 10-2 watts/
humor, ~plasma concentration),585,3284 or in the anterior m2 intensity up to ~40 megawatts/m3 at 1 watt/m2 intensity.
chamber in front of the lens (implanting an artificial lens in the
anterior chamber was considered an experimental vision cor- B. Foveal Projection — The fovea is a small pit in the macula
rection procedure in 1998); lutea, opposite the visual axis, which is the spot of most distinct
vision (Fig. 7.5). There are no rod cells in the fovea and relatively
4. inside the lens which is 68% water (cligand = 0.8-2.0 x 10-3
few in the near-foveal region. Foveal cone cells have diameters of
molecules/nm3 for glucose,585 ~50% plasma concentration);
1-5 microns 585 (average dfov ~ 3 microns) with a minimum
5. the interior lens or retinal surface with access to glucose in the center-to-center separation of ~2.6 microns (average xsep ~ 5.2
vitreous humor (~same concentration as aqueous humor); or microns) across the foveal surface of the retina. The retina is
arranged “inside out” so that light must pass through nine layers of
6. within the individual rod (dim light, monochromatic) and cone
connecting nerve cells and other tissue to reach the receptors which
(bright light, color-sensitive) cells — retinal glucose is stored in
lie at the deepest level (Fig. 7.6, enlargement of box in Figure 7.5).
glial Muller cells and is supplied upon demand.3260
This covering tissue is xtiss ~ 130 microns deep across the fovea (the
Oxygen is available at ~5% of normal plasma concentration via ganglion and bipolar layers are pushed aside, directly above the fovea)
solvation in the lacrimal fluids and diffusion into the aqueous and xtiss ~ 300 microns thick elsewhere on the retina. The foveal
humor; CO2 and lactate exit by the same route. Formation of and near-foveal region extends ~2˚ (~0.55 mm2) around the visual
potentially signal-blocking scar tissue is avoided by using mobile axis, comprising ~20,000 cone cells and providing a resolvable visual
nanorobots with active, biocompatible exterior surfaces3234 (Chapter angle of 0.5-2.3 minutes of arc (sufficient for reading printed text)
15). and creating a 140 x 140 pixel writeable billboard.
We shall now consider four different methods for ocular Consider a cylindrical emitter of diameter ~1 micron affixed to
outmessaging: the retinal surface over the fovea. This emitter produces a collimated
beam with an axial divergence angle ϕe ~ 1˚, which diverges to a
A. Extraretinal Projection — Photoemissive nanodevices must width wbeam = xtiss tan (2 ϕe) ~ 5.2 microns after traveling a distance
generate a photon flux intensity sufficient to equal or exceed ambient xtiss = 130 microns into the fovea. Each cylindrical emitter can target
background illumination levels. With the eyelid lightly closed, normal one foveal cone cell with no overlap, so ~20,000 photoemissive
indoor illumination transmitted through this thin muscular fibrous nanorobots are required for complete control of all foveal cone
tissue produces a background retinal flux of at least Imin ~ 10-2 watts/ receptors. A population of 20,000 photoemissive nanodevices
m2. With eyes open in a normally lighted room, the background ~1 micron in diameter attached to the inner retinal membrane above
flux may be ~1 watt/m2 or even higher (Section 4.9.4). the foveal surface blocks only ~3% of photons entering the fovea
Normally the lens of the eye can accommodate viewing distances via the lens, an unnoticable diminution of the natural incident
no closer than Xmin ~ 10 cm (measured from posterior lens surface) intensity that is visible to the patient.*
in adults. Photons emitted from nanodevices located in the eyelid Given that dfov < wbeam and π re2 < 1 micron2, achieving
(Xobject ~ 8.6 mm), exterior corneal surface (Xobject ~ 7.3 mm), interior 0.01-1 watts/m2 intensity at the receptor cells to overcome the
corneal surface (Xobject ~ 6.2 mm), or exterior lens surface (X object natural illumination background requires an emitter photonic
~ 3.8 mm) cannot be brought to focus inside the eye unless they intensity of 0.04-4 watts/m2, already within state-of-the-art in 1998.
are tightly collimated. A cylindrical emitter of length he = 25 At a very conservative e% = 0.01(1%) ergophotonic efficiency, Pin
microns and radius re = 0.5 micron can produce a collimated beam ~ 3-300 pW per nanodevice or 0.06-6 microwatts for the entire
with an axial divergence angle ϕe = 0.5 tan-1 (2 re / he) ~ 1˚ (2˚ full-width population, well below the ~0.1 watt recommended thermogenic
divergence), which is geometrically equivalent to rays passing limit for the eyeball from Eqn. 6.54. If the nanorobot employs an
through a pupil aperture dpupil = 5-6 mm after emanating from an oxyglucose power supply, continuous foveal control consumes
object located at a distance Xobject = dpupil / 2 tan (ϕe) = 12-15 cm ~1010-1012 glucose molecules/sec which would exhaust the ~1019
which is Xmin, hence is focusable. One major difficulty with eyelid glucose molecules present in the vitreous humor in ~0.3-30 years
projection is that tight flexing of the corrugator supercilii muscle but would more quickly exhaust the oxygen supply (Section 6.5.3)
(which draws the eyebrow downward and inward) causes the eyelid in ~0.5-50 days even if there were no diffusive resupply from the
tissue to ripple and fold, potentially producing significant optical surrounding tissues; fortunately, such resupply appears highly likely.
distortions. A large projector suspended in the anterior chamber If the photoemissive foveal nanorobot population is extended to
might offer greater spatial stability. These devices are probably small cover the rest of the retinal surface (with most devices not emitting
enough to avoid stimulating lid edema or blepharitis. photons most of the time), then real-time ocular and cranial positional
* J. Logajan points out that if the cylindrical emitter has a photodetector on the end facing the lens, then even the 3% loss could be largely retrieved by amplification; the
emitters could also serve as dark-area amplifiers, providing improved night vision or infrared-to-visible light conversion (Chapter 30).
Basic Capabilities • Communication 203
Fig. 7.6. Above, the human retina (redrawn from Vander et al866 and
Feynman et al538).
C. Ganglionic Stimulation — Because of the inverted structure to 103-104 rods may report to a single ganglion cell. Convergence is
of the retina, neurostimulatory nanorobots attached to the inner minimal in the fovea, where one cone cell may synapse with a single
retinal membrane can trigger artificial action potentials directly in ganglion cell through a single bipolar cell.
the axons of afferent ganglia carrying information from rods and Low-level signal processing aided by amacrine and horizontal
cones to the optic (2nd cranial) nerve. It is useful to briefly review cells in the bipolar layer thus reduces the optic data traffic from 256
the basic structure of the human retina (Fig. 7.6). million to only 1 million channels at the ganglionic axons which lie
Starting with the outermost layer and moving inward toward the closest to the nanorobots attached to the inner retinal membrane.
vitreous humor that fills the eyeball, the choroid layer (Fig. 7.5) is The ganglia are spaced from ~3 microns apart bordering the fovea
covered with a very sensitive optically absorbing pigmented epithelium to ~100 microns apart at the farthest periphery of the retina, aver-
which bleeds and detaches easily from the retina if physically disturbed aging ~30 microns. For simplicity, if we regard each ganglion as
by overpressures of ~10 mmHg. Above and covering the pigment carrying the equivalent of a single pixel of data in a 1000 x 1000
layer lie about 250 million rod cells and 6 million cone cells. Rod pixel visual field, then a comprehensive retinal ganglionic manage-
and cone cells communicate by electronic conduction, not by ac- ment system comprising ~106 neurostimulatory devices installed
tion potentials. Rod and cone receptor cells converge in a complex within each eyeball allows complete control of the entire human
synaptic network on bipolar and horizontal cells. Bipolar cells are visual field with a refresh rate close to the flicker frequency for rods
depolarizing (inhibited by rod/cone neurotransmitters) or hyper- of ~15 Hz,585 with ocular data transfer near ~107 bits/sec which is
polarizing (excited by rod/cone neurotransmitters), allowing the near the practical upper limit for in vivo mobile communication
transmission of positive and negative signals to amacrine and gan- networks (Section 7.3.2). Assuming up to Pin ~ 30 pW for each
glion cells. Horizontal cells laterally connect rods and cones to bi- neurostimulatory nanorobot (Section 7.4.5.6) a continuously
polar cells, allowing lateral inhibition in the retina. Amacrine cells operated retinal ganglionic control system consumes at most ~30
connect bipolar cells to ganglion cells. Numerous types of ganglion microwatts, comparable to ocular projection systems described in
cells react to contrast borders, intensity changes and color contrasts. (A) and (B), so energy supply and heat generation are not significant
Preprocessed visual information flows into ~1 million ganglion cells design limitations.
whose fibers collect into a giant bundle and exit the eyeball under As of 1998, prototype retinal implant components had been
the ~1.5 mm-diameter optic disk or “blind spot”, forming the installed and tested in rabbits. These test devices delivered ~10
optic nerve. Convergence is maximal at the periphery of the retina— microamps per electrode directly to ganglion cells and produced
rods outnumber cones by more than 10:1 in the periphery, and up measurable activity in the visual cortex of the animals’ brains.1044
204 Nanomedicine • Volume I
Other retinal implant devices were under investigation by Rolf information transfer are very energy inefficient and are about as
Eckmiller at Universitat Bonn, by a Harvard Medical School/MIT informative as “Indian smoke signals.”731 Artificial symptoms
collaboration, and by a Japanese group at Nagoya University;1887-1890 have only limited utility as a primitive channel for nanodevice
Eckmiller expects the first implant in a human volunteer by 2001. outmessaging.
Direct electrical stimulation of the human visual cortex was first
attempted in 1968 using 100 Hz pulses applied in 200 microsec 7.4.6.7 Macroscale Outmessaging Transducers
bursts via an array of 81 electrodes implanted in a blind person’s Inmessaging transducers (Section 7.4.2.7) may also be employed
brain, with poor results.1713 as outmessaging interfaces between in vivo nanorobots and patients.
For example, a simple transduction organ (e.g., macroscale
D. Direct Photoreceptor Stimulation — A single photoemissive transdermal needle) inserted into the bloodflow could chemically
nanorobot may be carefully stationed in each of the 256 million or acoustically interrogate passing nanodevices and obtain information
rod and cone cells of the human eye. If the nanorobot is positioned from them as they travel by, without the need for nanodevice
in the pigment-rich apical region of the cell,* (e.g., the ~9-nm removal or locomotion. This information may then be transferred
thick double-membranous lamellae, or planar structures, of the outer out through the skin to a small external receiving device accessible
to the patient.
segment of the rod cell; Figure 7.6) its emitted photon is likely to
In vivo nanodevices can also join together to form coordinated
be detected even without collimation. Assuming a very conservative
aggregates which may be large enough to emulate the action of a
1% energy conversion efficiency to generate optical photons, 10%
macroscale communications device. In some instances, this approach
absorption efficiency of optical photons within the cell, and a 25
will produce only energy-inefficient marginally-feasible results. For
Hz image refresh rate, power consumption is only ~0.01 pW per
example, consider the concept of the subdermal nanospeaker or
nanorobot for continuous transmission and ~2.5 microwatts for
“talking tattoo.” The minimum acoustic power output that can be
complete control of the human visual apparatus. Outmessaging rates
heard as a whisper is ~0.1 microwatts (Section 4.9.1.5). From Eqn.
are limited by the peak capacity of the external communications
7.7, a 1-micron acoustic radiator driven by 1000 pW of input power
link, ~107 bits/sec for a mobile network using ν ~ 100 MHz and
at 3000 Hz produces ~4 x 10-18 watts/radiator. The sound waves
fduty = 10% (Section 7.3.2).
then lose 99.9% of their power passing through the skin-air interface
Chemical or mechanochemical stimulation may also be used in
(Section 4.9.1.6), so ~22 trillion devices are required to generate
place of photons. For example, such means could induce the 11-cis
the required ~0.1 microwatt (by coherent emission) in order to be
to 11-trans torsional isomerization of the retinal chromophore in
heard. But this many 1000-pW devices operated simultaneously
rhodopsin, the first step in photoreceptor stimulation, which
produce 22,000 watts, well in excess of the suggested 100-watt
occurs naturally in ~0.2 picosec.1692 This conformational change
whole-body thermogenic maximum. However, if the radiators
opens a calcium channel in the rod cell membrane; the rapid calcium
position themselves near the skull to employ bone conduction into
ion influx triggers a nerve impulse, and light is perceived by the
the tympanum, most of the skin-air interface loss is avoided reducing
brain.996 (Each rod rises1-2 microkelvins in temperature during the
the required radiator count to 22 billion and total power to 22 watts,
heat burst following a light flash causing 180-1800 rhodopsin
which might be acceptable. Such radiator nanorobots occupying
photoisomerizations per rod.3470)Direct nanorobot modulation of
10% of local tissue volume make a patch ~350 microns deep covering
intracellular concentrations of α-transducin, the G-protein that trans-
the area of a postage stamp (~1 inch2). (Skin-air interface losses
duces the light signal in retinal cells, or directly opening an artificial may also be avoided by acoustic nanoradiators positioned exclusively
transmembrane Ca++ channel allowing a Ca++ influx (mediated by a supraepidermally.) The “talking wristwatch” approach (Section
membrane-spanning nanorobot) may be even more efficient. 7.4.2.7) is another possibility.
A more efficient nanorobot-aggregate user interface is the
7.4.6.6 Artificial Symptoms programmable dermal display. Pigment tattoos,96 port-wine stains,
The triggering of artificial symptoms in the human body offers strawberry marks (common hemangiomas), and other birthmarks
at best a primitive, noisy, misinterpretable, and low bit rate constitute an existence proof that small biocompatible particles can
outmessaging channel. Outmessaging protocols may allow a be permanently implanted in the dermis and do not migrate on
population of in vivo nanorobots to communicate systemwide status timescales of decades or longer. This suggests that dermal displays
(e.g., “low serum oxygen,” “low serum glucose,” “immune system can be positionally stable over very lengthy periods of time.
under attack,”) or specific conditions (e.g., “cancer tumor detected
Consider a population of ~3 billion display nanorobots embedded
in breast,” “breach of intestinal wall detected”) directly with the
200-300 microns below the surface of the epidermis covering a 6
patient by inducing recognizable physiological cues (e.g., fever, nausea,
cm x 5 cm rectangle on the flat part of the back of the hand or on
shivering, tingling, gasping, tinnitus, hypothalamic “reward” center
stimulation). But message noise level is high because these signals the smooth medial surface of the forearm. The nanorobots are ~1
are readily confused with natural symptoms that may normally micron3 in volume and occupy only 1% of the 300 mm3 local tissue
communicate the presence of entirely unrelated conditions. One deployment volume. Each device consumes ~10 pW when generating
suggestion to improve the signal/noise ratio is to insert artificial visible photons of desired colors at a comfortable visible intensity of
genes that code for enzymes producing a harmless but chromatic ~1 pW/micron2 or ~1 watt/m2 (Section 5.3.7), assuming an
signaling compound that colors the urine when excreted, or which improved 10% ergooptical conversion efficiency. Visible photons are
adds an unusual color to hair or fingernails as a diagnostic telltale.2991 completely scattered in 10-100 microns but almost none are absorbed,
Nanodevices also could “manually” trigger such a gene, or producing a diffuse glow as ~50% of the scattered photons eventually
manufacture the colorant themselves. Alternatively, coordinated exit the surface of the skin. For installation and stationkeeping,
nanorobot-induced neural firings might produce externally-measurable display nanodevices require at least limited mobility, and a few
changes in the cranial radiative electric field.3472 All these sorts of additional nanodevices may be required to assist with computation,
* The tips of rod cells are renewed at the end of each night, the tips of cone cells at the end of each day, as regulated by the diurnal circadian clock (Section 10.1.1).1664
Resident nanorobots should avoid being sloughed off during this process.
Basic Capabilities • Communication 205
data storage and external communications, and other housekeeping Sections 4.9.4 and 6.3.6), or by employing a passive (reflective) display
chores. which might be satisfactory for some purposes.
If powered by continuously available chemical fuels, the display The array of 3 billion nanorobots may be programmed to
adopt any of many thousands of different displays. Each display
would only be operable for 0.1-10 sec before exhausting the entire
configuration is capable of
oxyglucose supply present in the limited tissue deployment volume.
Consequently, it is necessary to include a large energy storage buffer 1. presenting output data received from the larger in vivo nanorobot
constituting 40% of device volume (assuming 1010 joule/m3 stored population scattered throughout the body (via a communication
energy density; Section 6.2.3) which allows ~1000 sec of operation network), and
if only 20% of all pixels are radiating at any given time. This power 2. accepting input data from the patient to be conveyed (through
can be reabsorbed from local oxyglucose supplies in ~1 day, giving a the communication network) to appropriate internal nanorobot
long-term ~1% duty cycle for the display (~14 min/day) although subpopulations.
the buffer can operate the display for up to ~21 minutes before
Full-motion animation or video may also be projected, up to the
being exhausted. This power restriction may be entirely avoided by
107 bit/sec maximum limit of the mobile communication network;
adding supplemental power from, say, a wristwatch-sized extradermal fiber networks may allow up to ~109 bit/sec data transfer rates (Section
acoustic source (Section 6.4.1), a dedicated transvascular energy 7.3.1). Figure 7.7A shows a small sample of alternative displays (at
organ (Section 6.4.4), photoelectric collectors (~30 pW/micron2 in actual size) from among the many thousands that are conceivable.
cloudless noontime sunlight, ~1 pW/micron2 in a well-lighted room; Acquisition of the information displayed requires a population of
sensory nanodevices distributed throughout the body and linked 7.4.7 Outmessaging to External Receivers
by a communications network. For instance, the “Vital Signs” panel Much of the extensive self-diagnostic data that could theoretically
requires at least one telemetering nanorobot stationed in each of be made available to the patient via dermal displays (Fig. 7.7) is
the several hundred arteries of the human body (or possibly behind probably beyond the comprehension of the typical user and thus
each vein valve cusp (Fig. 8.3) throughout the venous system), with will require professional interpretation. All such information may
each device reporting local blood pressure conditions on a be rapidly downloaded to instruments under the physician’s control
periodic basis. via a wide variety of outmessaging transducers including cable
As for the display itself, in the first example (“Messager/Cal-
connections through transdermal output ports (Section 7.4.2.7),
culator”) there are 60 input keys measuring (0.5 cm)2 each and a 2
cm x 6 cm output panel that can print 7 rows of 30 characters, each magnetic induction, infrared or acoustic links with internal communi-
character measuring (2 mm)2 with 1 mm of blank space between cations organs (Section 7.3.4), or dermal displays configured for
each line. Line segments used to write characters are 500 microns optimal high-capacity optical external data transfers. Physicians
wide, more than ten times the limit of human visual acuity at a might also receive information from in vivo nanorobots which
reading distance of 30 cm; ~500 million active nanorobots participate generate subtle physiological patterns (e.g., an artificial electrical or
in drawing the images of the 60 input keys. Display nanorobots mechanical signal superimposed on the normal cardiac or respiratory
have a mean separation of ~5 microns in the tissue but remeasure “carrier wave”) requiring sensitive clinical diagnostic equipment to
their relative positions at least ten times per second; a finger-touch detect, though of course great care must be taken to ensure that
on an input key (Fig. 7.7B) depresses the skin by ~500 microns, such imposed patterns are non-nosogenic. Nanorobots could operate
producing massive and easily detectable displacements of the an implanted radio transmitter.
underlying nanodevices from which the chosen key may be inferred.
Artificial data secretion glands or other distributed data secretion
Non-message related skin stretchings and proximate limb flexures
are readily distinguished from input fingerings. The display is sources may write huge quantities of data onto nonmetabolizable
activated or deactivated by using finger tapping on the epidermis, messenger molecules which are then excreted by the patient, recovered
temporally coded handclaps or other similar means, and becomes from the urine by laboratory nanodevices, then passed through a
invisible under the epidermis when unilluminated and not in use. reading device, thus making the information available to the physician.
The display may be partly obscured by excessive body hair or A minimum urine flow of ~120 cm3/day containing Dmessage ~ 26
particularly dark dermal pigmentation. Post-installation bruises, bits/nm3 messenger molecules (Section 7.2.1.1) at an innocuous
scabs, incisions, scars, or even wrinkling on the back of the hand concentration of only 100 parts per million by volume allows a data
may slightly or temporarily impair readability. But nanorobot stream of ~4 x 1015 bits/sec to flow from patient to physician—
stationkeeping allows maintenance of near-perfect feature geometry subject to unavoidable time delays for excretion, materials processing
during any trauma short of major avulsion or excision wounds and message extraction. The total power requirement to originally
involving significant loss of tissue, deep burns, or outright dermal encode this information in vivo is 1-1000 zJ/bit (Section 7.2.6) or
excoriation or flaying. 4-4000 microwatts for the entire stream, well within safe whole-body
In 1998 the closest analogous technology was an all-digital
thermogenic limits. This technique may be especially valuable in
chip-mounted ~1 cm2 projection display, created by Texas Instruments,
long-term whole-body monitoring, neural recording and archiving
which operated by independently twisting 307,200 individual tiny
mirrors, each measuring 16 microns square, through ±10˚, (Chapter 25), and related data-intensive applications that require
reflecting pulses of colored light onto a screen. 1062,1974 acquisition of information streams from millions or billions of
Wristwatch-sized personal status monitors for regular biomonitoring scattered individual in vivo data-gathering sources.
were being developed by the Defense Advanced Research Projects Many of the inmessaging techniques summarized in Section 7.4.1
Agency (DARPA) in the United States,3301 and in the private sector may also be operated in reverse to achieve outmessaging to the
for sports medicine.3323 physician from in vivo nanodevices.
Basic Capabilities • Communication 207
*Airborne nanorobots traveling at a ∆v ~ 1 m/sec relative velocity will incur a Doppler shift in the received frequency of ν (1 + (∆v / vsound)) ~ (1.003) ν, defining a ± 3 KHz per
MHz band bracketing the intended frequency.
CHAPTER 8
Navigation
8.1 Navigating the Human Body
I
t is difficult to imagine any significant application of medical broken capillary vessels, or virus particles having a specified protein
nanodevices which does not involve navigation, however crude. coat chemistry. The physician need not know the exact number of
Devices intended to monitor somatic states, assemble artificial targets, nor even if any targets are present at all. These forms of
internal structures, remove tumors or foreign matter, combat functional navigation require onboard computation, a resident
infections, or perform repairs, must normally be extremely tissue- or database of relevant parameters and operational details, and a wider
cell-specific. Navigation is also required to execute many control assortment of sensors and control protocols. But they also offer the
protocols (Chapter 12), to locate dedicated energy, communication, or greatest benefit at lowest risk for the patient and thus must be
navigational helper organs, or to stationkeep and coordinate with regarded as the preferred approach once the technology is available.
other nanodevices. Even bloodborne nanorobots intended to operate This Chapter opens with a survey of human somatography
solely at the systemic level—such as nanobiotics or immunocytes (Section 8.2), followed by general discussions of positional (Section
(Chapter 19) and respirocytes (artificial red cells;1400 Chapter 22)— 8.3) and functional (Section 8.4) navigation, cytonavigation (Section
must know if they have been prematurely ejected from the vasculature 8.5), and finally ex vivo navigation (Section 8.6).
so that they may cease functioning or at least modify their activities.
Perhaps the most important challenge of in vivo navigation is to 8.2 Human Somatography
determine how physicians may best direct nanorobots to specific Somatography is, quite simply, the “geography” or map of the
target sites needing treatment within the human body. Two alternative anatomical spaces, as seen from the viewpoint of a microscopic traveler
strategies appear most likely to produce the best clinical results (both in those realms. The human body is a complex and fascinating place
of which will be considered in this Chapter). to visit. The nanomedical theater of operations in adult patients
The first strategy is positional navigation, in which the nanorobot may range in size from an extremely small ~0.005 m3 (Lucia Zarate,
knows its position inside the human body to ~micron accuracy at 5.9 kg, in January 1883 at age 20) to an extremely large ~0.5 m3
all times in some clinic-centered or body-centered coordinate grid (Robert Earl Hughes, 485 kg, in February 1958 at age 32),739 but
system. The nanodevice relies upon dead reckoning, cartotaxis, averages ~0.06 m3 of navigable volume for the standard 70 kg adult
microtransponder network alignment, or triangulation on external male having 15% body fat, medium build and good health.817 (The
beacon signals to establish its position continuously. This method more typical tall but overweight late 20th-century American male
requires some onboard computation, at least a basic set of sensors (6-ft, 220 lbs, 25% body fat) measures ~0.1 m3 in size.) Thus the
(e.g., acoustic), and probably also a good clock (Section 10.1). volume normally available for nanorobot navigation in a single
However, it is hardly foolproof—if the target coordinates are poorly patient is ~1017 microns3.
specified or the beacon signals are misaligned or poorly calibrated, The first fully digitized comprehensive three-dimensional map
the nanorobots may go to the wrong place. of the human body was compiled in the early 1990s as part of the
The second strategy is functional navigation, in which National Library of Medicine’s Visible Human Project.1304 During
nanodevices seek to detect subtle variations in their environment, this effort, a male and female cadaver were frozen in blocks of gel,
comparing diverse sensor readings with the profile of the target tissue
sectioned into thousands of thin slices and digitally scanned in MRI
or cell and congregating wherever this very precisely defined set of
preconditions exists. These preconditions may be thermal, acoustic (magnetic resonance imaging), CT (computerized x-ray tomography)
or barostatic, cytochemical or immunochemical, mechanical or and anatomical modes (optical photography), slice by slice.
topological, or even genetic. The crudest forms of functional naviga- The male data set, released in 1994, consists of axial MRI
tion may be called demarcation, wherein the doctor manually creates images of the head and neck taken at 4 mm intervals and longitudinal
detectable artificial conditions at or near the target site such as dermal sections of the rest of the body also at 4 mm intervals; each MRI
hot spots, injected chemical plumes, or focused ultrasonic beam image is 256 x 256 pixels with a 12-bit grey scale per pixel. The CT
spots of appropriate magnitudes and frequencies. Demarcation data consists of 512 x 512 pixel axial CT scans of the entire body
strategies can be implemented using extremely simple onboard sensors taken at 1 mm intervals, also with a 12-bit grey scale per pixel. The
and control devices, possibly not even requiring a nanorobot computer, axial anatomical images are 2048 x 1216 pixels with a 24-bit color
thus may prove useful early in nanomedical technology development.
More sophisticated forms of functional navigation can be scale per pixel, representing ~60 megabits per image. The anatomical
extraordinarily flexible because targets may be specified without the cross-sections are also at 1 mm intervals and coincide with the CT
physician having to know their exact physical location in the body— axial images. There are 1871 cross-sections for each mode (CT and
e.g., nascent cancer tumors, T cells reactive to specific antigens, anatomy) obtained from the male cadaver, a ~0.112 terabit data set
infected deep-thoracic lymph nodes, bacteria of a particular species, for the anatomical images (~111 million micron3 per voxel).
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
210 Nanomedicine • Volume I
The female data set, released in 1995, has the same characteristics as called venules, which return the blood to the heart (Section 8.2.1.1).
the male set except that the axial anatomical images were obtained The lymphatic system, an additional 3.3 liters of very low-pressure
at 0.33 mm intervals instead of 1.0 mm intervals, resulting in more vasculature (Section 8.2.1.3), returns cell-filtered plasma to the main
than 5,000 anatomical images and a data set of ~0.336 terabits. circulatory system.
Even though this map has a resolution of only 37 million micron3
per voxel, this is still sufficient to resolve all terminal veins and terminal 8.2.1.1 Arteriovenous Macrocirculation
arterial branches in the body and all major gross anatomical features, Topologically, the arteriovenous circulatory system resembles a
and thus provides a good start toward a human somatographic “figure-eight” with a four-chambered heart positioned at the central
atlas. junction. In the top half of the “figure-eight,” oxygen-depleted blood
A complete human somatographic static map to cellular resolution is pumped from the heart to the lungs via the pulmonary artery.
in theory requires ~20 micron increments, a ~100 terabit data set Oxygen-rich blood leaves the lungs and returns to the heart via the
using 8-bit 8000 micron3 voxels assuming a fixed scanning geometry left and right pulmonary veins. In the bottom half of the
and ignoring the indexing tables. Recording all major structural “figure-eight,” oxygen-rich blood received from the lungs is pumped
details in the capillary terminal bed demands ~4 micron resolution, into the aorta for distribution to the tissues, as shown in Figure 8.1.
a ~10,000 terabit data set assuming 8-bit voxels. A 10,000 terabit Oxygen-depleted blood is collected by the venous network (Fig.
data set may be stored on a ~26 bit/nm3 hydrofluorocarbon memory 8.2) and returns to the heart via the vena cava. (In both Figures,
tape (Section 7.2.1.1) in a cubic volume of ~(72 micron)3 within superficial vessels are drawn as solid lines and deep vessels as broken
an in vivo ~(100 micron)3 library nodule. Divided into ~106 indepen- lines.) Most veins 1 mm in diameter or larger are fitted with a series
dent spools, a datum located anywhere on the 3300-kilometer total of one-way valves to prevent backflow (Fig. 8.3). Such valves are
tape length could be accessed in ~10 seconds assuming a read speed most numerous in the lower extremities: the vena cava and the
of ~30 cm/sec (Section 7.2.6). A smaller 100 terabit library nodule mesenteric, pulmonary and portal veins. Arteries have no valves.
requires only ~(16 micron)3 of tape, with ~1000 spools and similar The smaller arteries are heavily anastomosed except across the midline
access times as in the previous example. Topological or functional of the body.
mapping may permit data compression by a factor of 10-100 (e.g., Table 8.1 provides a summary of the ~19,000 kilometers of
Sections 8.2.1.2 and 8.3.2) without increasing access time or seri- human arteriovenous vasculature (mostly capillaries); additional data
ously reducing map utility. for a few selected major vessels is in Table 8.2. Singhal et al828 have
A 1 micron3 storage block that could conveniently be carried carefully surveyed the complete branching structure of the pulmonary
aboard an individual medical nanorobot can hold ~0.01 terabits arterial network, spanning the entire range from principal artery to
(Section 7.2.6), enough memory to contain a three-dimensional final capillary (Table 8.3). These data may provide a useful model
map of the entire human body to ~430 micron resolution or a map for estimating capillary branching systems in other tissues, bearing
of a 1-kg organ to ~100 micron resolution, using 8-bit voxels. The in mind that pulmonary capillaries are generally wider and shorter
required resolution for a given application is very mission-dependent. than capillaries found elsewhere in the body, and that capillary bed
Additionally, two types of map are likely to be of value. The first is geometries are unique to each organ (Section 8.2.1.2). The measured
a precise static map of some generic reference cadaver, as described thickness of the glycocalyx of the endothelium of the systemic
above, that may provide general navigational guidance. The second
is a detailed map of the individual patient, assembled by exploratory or
“surveyor” nanorobots (Chapter 19) prior to the deployment of
therapeutic nanorobots which would be given this information to
allow very specific navigational guidance. Map stability is an
important issue (Section 8.2.1.2; Chapter 19).
The remainder of this Section offers a quick guided tour of the
larger navigable volumes inside the human body, along with some
useful quantitative details. The different regions of the body appear
to have enough structural and chemical dissimilarity to allow a
nanorobot traversing these volumes to determine its position to at
least ~mm accuracy, based solely on simple landmark recognition,
chemonavigational cues, and bifurcation and topological information,
even without resorting to the precision positional systems described
in Section 8.3.
Diameter Length Wall Internal Number Total Total Surface Total Blood
Human Blood Vessel (mm) (mm) Thickness Pressure of Vessels Length (mm) Area (mm2) Volume (mm3)
microspheres reaching the eye were trapped during the first pass.842 hemisphere-capped cylinder during tube passage, the minimum tube
Standard anatomy and physiology textbooks variously report that diameter Dtube is given by
the minimum capillary lumen measures 5-7 microns,834,839 4-9
microns,836 4-8 microns,517 or 4-6 microns841,843 in diameter. There MCA π
are also references to capillaries as narrow as 3 microns for laboratory MCV = D − D3 (m3 ) {Eqn. 8.1}
4 tube 12 tube
rodents and other mammals.834,840
Theoretical calculations841,844 suggest that a cylindrical vessel Experiments using polycarbonate sieves and micropipettes confirm
must be at least 2.7 microns in diameter to allow maximally that a tube diameter of at least 2.3 microns is necessary to avoid
deforming human red cells normally averaging 7.82 microns in plugging.374
diameter 362 to pass. This theoretical minimum assumes a mean cell However, the above theoretical computation assumes mean eryth-
(surface) area (MCA) of ~135 micron2 and a mean cell volume rocyte geometry and ignores the considerable dispersion in volume and
(MCV) of ~94 micron3 for human erythrocytes, and allows for a surface area of individual physiological red cells around the mean value.
maximum surface stretch of 10 micron2 to a total of MCA ~ 145 Specifically, the largest 1% of human red cells have diameter dRBC ~
micron2.* From simple geometry for a red cell compressed into a 9.65 microns, MCA ~ 182 micron2 and MCV ~ 132 micron3, 362
* Different species have red cells differing slightly in diameter, thickness, surface area and volume.840 For example, dogs have 7.2-micron red cells with MCA ~ 123 micron2
and MCV ~ 69 micron3, giving (assuming surface elasticity characteristics similar to the human erythrocyte) a theoretical minimum passable tube diameter of 2.4 microns.
Cats have 5.6-micron red cells with MCA ~ 83 micron2 and MCV ~ 43 micron3, giving Dtube ~ 2.2 microns, a full 0.5 micron less than for human red cells.
Basic Capabilities • Navigation 213
Table 8.3. Branching Structure of the Pulmonary Arterial Network Entering the Lungs828
giving a theoretical minimum passable tube diameter Dtube ~ 3.1 mi- each digit having log2(4) = 2 bits, a 34-bit address vector. This
crons for these cells. The largest cell in a population of 108 cells specification is very compact because the minimum number of bits
(there are a total of ~300,000 of these largest cells in circulation at required to name each of 19 billion capillaries in the body is also
any given time, a not inconsiderable number) has dRBC ~ 16 mi- log2(19 billion vessels) ~ 34 bits. Using run-length coding, we can
crons, MCA ~ 500 micron2, MCV ~ 450 micron3,362 giving Dtube ~ have 417 addresses of length 34 bits, 416 addresses of length 32 bits,
3.7 microns. Thus if human capillaries were as small as 2.3-3.7 mi- and so forth, giving a whole-body minimum of: 34 bits (417) + 32
crons, a significant number of red cells would be unable to navigate bits (416) + ... + 2 bits (41) = 763,549,741,512 bits for a single
passage and would quickly plug the tubes, resulting in angionecrosis. comprehensive bifurcation map.
Experiments have also shown plugging by human leukocytes at tube Assuming some data redundancy (e.g., parity check bits) and an
apertures much below ~5 microns.845,846 Thus the minimum viable allowance for special cases (e.g., arterial anastomoses, shunts, or
human capillary diameter appears to be ~4 microns. arteriovenous fistulas which are direct connections between a small
The average density of capillaries in human tissue is ~600/ artery and a small vein), a complete map of the human vasculature
mm3,832 which implies a mean separation of ~40 microns between
adjacent capillaries averaging ~1 mm in length. Most living tissue
cells lie within ~1-3 cell widths of a capillary. To reach a particular
cell, bloodborne nanorobots may normally travel most of the distance
through the vascular network, then exit the capillary and cross at
most one or two cells to reach the desired target cell. Capillary density
varies considerably in the vascular beds of different organs. For
instance, microvascular density is 2500-3000/mm3 in the brain,
kidneys, liver, and myocardium; 300-400/mm3 in phasic units of
the skeletal musculature; and <100/mm3 in bone, fat, connective
tissue, and in tonic units of the skeletal musculature.832 Blood flow
rate per gram of tissue (Table 8.4) is very roughly proportional to
the relative microvascular density in each organ or tissue. More than
70% of the water of the blood is exchanged with extravascular
water every minute—the walls of smaller capillaries are veritable
sieves with respect to water.2229
What is the size (in bits) of the minimum topological map needed
to reliably navigate the entire ~19,000 kilometers of human blood
vasculature? Map size is driven by the number of bifurcations (decision
junctions; see Section 8.3.4) and capillaries. Taking the pulmonary
arterial tree (Table 8.3) as representative, traveling from the heart to
a final capillary requires passage through approximately 17 forks
with an average of 3.2 branches per fork. In a simple bifurcation
map with 17 forks and at most 4 branches per fork, each capillary Fig. 8.4. Metarterioles, venules, and lymph capillaries (redrawn from
can be assigned a unique topological address using 17 digits with Tortora853).
214 Nanomedicine • Volume I
Cervical portals:
Thoracic duct 4.0 450 500 µm 21.4 1 450 5700 1700
Right lymphatic duct 3.0 14 500 µm 1.7 1 14 100 250
Minor lymphatic trunks: 1.0 10 ~100 µm 0.2 100 1000 800 300
Post-Lymphonodal collecting ducts 0.5 ~3 15-50 µm 0.01 1700 5100 1000 70
Pre-Lymphonodal collecting ducts 0.5 ~3 15-50 µm 4 x 10-5 617,000 1,850,000 363,000 0.2
Precollecting ducts 0.15 ~1 ~5 µm 3 x 10-7 68,000,000 68,000,000 1,200,000 0.02
Lymphatic capillaries 0.02 0.5 1 µm 3 x 10-7 6,800,000,000 3,400,000,000 425,000* 0.03
estimated for hypothetical adult male, weight 70 kg, consistent with references cited in text; * final volume after an assumed 90% fluid reabsorption
Fig. 8.6. Main trunks of the human lymphatic system (redrawn from Tortora853).
wall down to the umbilicus; ~20 nodes in the legs and superficial
buttocks, infraumbilical abdominal wall and perineum; 60-70 nodes
in the head and neck; ~100 nodes in the thorax, including deep
walls and contents; and ~230 nodes in the abdomen and pelvis,
including deep walls and contents.854
There is also the 10 cm3 of lymphoid tissue in the bilobate thymus
gland, and additional lymphoid tissue in the 80-300 cm3 spleen.854
(The spleen slowly enlarges during alimentary digestion and varies
in size with the content of blood and state of nutrition, being large
in well-fed patients and small in starved patients.) About 10% of
the population has accessory spleens; these ~1 cm3 spleniculi may
be numerous and widely scattered in the abdomen.854 Other lymphoid
tissues include the lymph nodules or the lymph follicles in the
Fig. 8.8. Main organs of the human lymphatic system (redrawn from intestines (Section 8.2.3), the subepithelial lymphoid aggregates
Tortora853). including the palatine, lingual, and nasopharyngeal (e.g., adenoids,
tonsils), and the lymphoid tissue in the submucosa of the appendix
and in the bone marrow.
in 17% of the cases, the jugulo-subclavian junction in 34% of the What, exactly, is lymph? Lymph is essentially an alkaline
cases, both veins 8% of the time, and the transverse cervical vein in ultrafiltrate of the blood plasma formed by continual seepage of
2% of the cases where the thoracic duct terminated on the left. In fluid constituents of the blood across the capillary walls and into
21% of the cases, the terminal openings were multiple; in the rest the surrounding interstitial spaces. The lymph fluid has much the
of the cases, the single thoracic duct terminus diameter ranged from same composition as the interstitial fluid. Like blood, lymph consists
2-5 mm.856 of a plasmatic part and a corpuscular part (Table 8.6). Lymph contains
Various lymphatic organs are located along the length of the almost no platelets but has about one-third the fibrinogen and five
lymphatic system (Fig. 8.8). A major function of these organs is the times the prothrombin as in blood serum, hence will thrombose
production of lymphocytes which are added to the lymph passing spontaneously forming a yellowish clot. Lymph has 0.02-0.10% as
through the vessels. Lymphatic tissue is a loose-structured material many red cells as arterial blood, but most have passed near cells and
consisting of a spongelike stroma and free cells in the meshes of the become thoroughly deoxygenated, especially given the ~1 day transit
stroma, and is part of the reticuloendothelial system (RES). Phagocytic time through the lymphatic system for cells. There is still some
cells in the sinuses serve as filters that scavenge particles from the dissolved oxygen in the lymph water, however, roughly the same
lymph and destroy them. Such particles include red blood cells, concentration as in blood plasma (see Appendix B). Glucose may
pathogenic bacteria, and larger dust particles imported by the be present in lymph at slightly higher concentration than in blood
respiratory tract and collected by macrophage cells of the bronchial serum, so lymphoresident nanorobots have access to plenty of
nodes. Lymphborne nanorobots can avoid these traps (Chapter 15); chemical fuel energy (Section 6.3.4). Lymph is slightly less viscous3304
the Reynolds number of lymph flow3303 is typically only ~0.0025. than blood plasma, with specific gravity 0.016-1.023.2223
The most numerous of the lymphatic organs is the lymph node, In a fasting patient, the lymph coming from the intestine is a
designed as a bacterial/particulate filter with channels, sinuses, valves, clear, transparent fluid. After a meal containing fat has been ingested,
and fluid entering via 6-10 afferent lymph vessels (Fig. 8.9). Lymph the intestinal lymph becomes white or milky. This is termed chyle—
nodes vary enormously in their size and structure, probably averag- chyle is just lymph containing a surge (5-15% by volume) of
ing ~4 mm in diameter but occasionally reaching 30-40 mm.857 A emulsified fat which is transported in the form of chylomicrons
normal young adult body contains ~450 lymph nodes distributed measuring 0.5-0.75 microns in diameter.749 In ~65% of all patients,
as follows: ~30 nodes in the arm and superficial thoraco-abdominal the intestinal trunk (which drains lymph from the stomach, intestines,
218 Nanomedicine • Volume I
Concentration
Component of Lymph (gm/cm3)
wall.848 The contractile activity seems to depend on the volume of respiratory airways which have alveoli on their walls. Generation
lymph produced. If this is small, the vessel walls are quiescent, but 23 terminates in alveoli.
slight distension initiates rhythmic contractions at ~0.1-0.2 The respiratory airflow begins in the mouth and nose. In the
Hz838,848,863 and can raise the lymphatic pressure by up to ~5 nose are two nasal cavities (totalling ~160 cm2 in area,)863 one of
mmHg.855 By comparison, the mean interstitial hydrostatic pres- which is illustrated in Figure 8.11. The nasal cavities are divided by
sure is ~1.4 mmHg and the mean intralymphatic pressure is ~0.9 a partition called the nasal septum, from which diverge three winglike
mmHg.526,847,860 projections called the conchae. The endings of the olfactory nerve
The minimum topological map required to reliably navigate the lie in the mucosa in the cilia-free region near the ~1 cm2 olfactory
entire ~3500 kilometers of human lymphatic vasculature should be bulb above the superior concha. The nasal passages are flanked by
roughly comparable to that required for a comprehensive blood cap- four sinuses which may swell up during infection or inflammation,
illary map, or ~1 terabit (Section 8.2.1.2). closing off the air passages and necessitating breathing through the
mouth. Lacrimal ducts drain tears and other secretions from the
8.2.2 Navigational Bronchography eyes into the nose via the nasolacrimal duct, requiring noseblowing
Medical nanorobots may access the human body via the respiratory after crying. The 1 mm human vomeronasal organ, located near
system. The airway begins at the mouth and nose, extends through the base of the nasal septum in adults,1971 transduces pheromonal
the pharynx, larynx, the trachea and bronchial branchings, and ends signals,1972 although apparently this organ is not present, is inactive, or
at the alveoli. The conducting zone from the top of the trachea to is very insensitive in some people.
the beginning of the respiratory bronchioles contains no alveoli, so Air passing through the nasal cavities is warmed to within 1 K of
gas exchange with the blood does not occur there. Gas exchange body temperature by an extensive capillary vasculature, and is
occurs only in the respiratory zone, which extends from the respiratory humidified by nasal mucous glands (e.g., goblet cells which secrete
bronchioles down to the alveolar sacs. mucoid fluid) to within ~1% of full saturation, before the air enters
Weibel864 provided the first quantitative measurements of the the pharynx. Coarse particles are removed from incoming air by
length, diameter, and area of successive segments of the human airway. nose hairs. Smaller particles are removed by turbulent precipitation,
Each branch gives rise to two narrower daughter branches which wherein obstacles in the nasal passages force the airflow to execute
may vary considerably in length. However, the summary in Table many sharp turns which the particles are too heavy to negotiate.
8.7 assumes mean values of length and diameter. Generations 0-16 The particles hit the nasal mucous membrane and become embedded
are the conducting airways, while generations 17-23 constitute the in the mucus. The nasal turbulence mechanism is so effective that
Alveolar duct 20 1.05 x 106 0.45 0.83 271 1600 139 510 0.60 0.17
Alveolar duct 21 2.10 x 106 0.43 0.70 271 3200 224 734 0.32 0.08
Alveolar duct 22 4.19 x 106 0.41 0.59 272 5900 350 1085 0.18 0.04
Alveolar sac 23 8.39 x 106 0.41 0.50 273 12,000 591 1675 0.09 --
Alveoli, 21 per duct -- 300 x106 0.28 0.23 273 -- 3200 4800 -- --
average of five normal human lungs; includes both lungs; air speed and Reynolds number at 1 liter/sec flow.
220 Nanomedicine • Volume I
Fig. 8.12. Lung lobes and the bronchial tree (crude schematic,
redrawn from Guyton863).
Fig. 8.11. Sagittal section through mouth, nasal cavity, pharynx and building up of abdominal pressure as in straining at stool or in
larynx (redrawn from Millard, King, and Showers750). expulsion of the fetus. Coughing involves releasing the air explosively
through the folds.
After passing the larynx, air enters the trachea, a cylindrical tube
almost no nasally-inhaled particles larger than 2-5 microns reach with 16-20 circumferential cartilaginous rings shaped like horseshoes
the lower airway. and embedded in an external fibroelastic membrane (Fig. 8.12).
Most of the surfaces of the nasal airway are covered by a layer of The trachea branches into two main bronchi, one of which enters
ciliated, pseudostratified columnar epithelium cells. Each epithelial each lung. The right bronchus is shorter, wider, and more nearly
surface cell has 25-100 cilia that beat forcefully and continually vertical in direction than the left bronchus; both (and subsequent
toward the pharynx at ~10 Hz.3556,3557 Respiratory cilia are ~0.2 branchings) are supported by complete rings of cartilage to prevent
microns in diameter and ~2-5 microns long (having a ~31 nm apical collapse under high levels of suction. There are more than 20
glycocalyx),3587 with a mean separation between cilia of ~2-5 microns. generations of branchings in the lungs, each resulting in narrower,
The film of particle-carrying nasal mucus 200 microns thick 3167 shorter, and more numerous tubes (Table 8.7). When the bronchi
is moved toward the pharynx by the cilia at a speed of ~1-3 cm/ become smaller than ~1 mm in diameter, they lose their cartilage,
min,863,3167 where it is then swallowed down the esophagus. Mucus and become bronchioles.
velocity increases with luminal depth. In unciliated areas such as The lungs themselves are cone-shaped organs which lie in the
the front of the nose, where temperatures fall below levels the cilia pleural cavities of the thorax. The base of each lung contacts with
can tolerate, the mucous layer creeps along the surface solely through the upper surface of the diaphragm, extending to the level of the
traction from neighboring ciliated areas. Swallowed mucus volume 7th rib anteriorly and the 11th rib posteriorly. The right and left
totals ~0.1 cm3/min. The absolute viscosity of normal mucus is pleural cavities are formed by two serous sacs into which the lungs
typically ~1 kg/m-sec, rising as high as ~500 kg/m-sec in the thick are invaginated. Two layers of pleura are separated by a thin layer of
sputum of cystic fibrosis patients. 1081 Mucus rheology and fluid from ~20-80 microns thick. Pleural fluid is formed on the
mucociliary clearance mechanisms of the respiratory tract have been parietal pleural surface at a rate of 7-11 cm3/hr, with up to 20-25
widely studied,3168 along with the energy dissipation per cilium in the cm3 normally present in the pleural space;2180,3305 glucose is present
periciliary fluid.3170 Airflow contributes little to mucus transport at serum levels (Appendix B) and there are topographic differences
during normal breathing ,3168 except in patients with bronchial hyper- in pleural pressure.3402 The right lung, larger in size than the left, is
secretions,3167 although high-frequency ventilation and coughing may divided into three lobes; the left lung has only two lobes (Fig. 8.12),
make significant contributions.3167-3169 presumably to make room for the heart. The interlobar surfaces are
During inspiration, air passes through the nose or mouth into covered with visceral pleura where the lobes contact one
the pharynx (throat). The posterior wall of the pharynx rests against another and are lubricated with the same thin mucoid pleural fluid
the cervical vertebrae; the lateral wall has openings communicating that lubricates the outer surface of the lungs. The lobes slide against
with the middle ear (auditory or eustachian tube). The pharynx each other in the same way that the entire lungs slide within the
branches into two tubes—the esophagus (through which food passes thoracic cavity. The diaphragm is the principle respiratory muscle.
to the stomach; Section 8.2.3) and the larynx (part of the airways). Contraction of the diaphragm elongates the lungs, forcing them to
The larynx houses the vocal cords, two strong bands of elastic tissue inflate. Other muscles elevate the anterior thoracic wall or compress
(covered by stratified scalelike epithelium) stretched horizontally the abdomen, raising the ribs from an inferiorly slanting position to
across its lumen. The flow of air past the vocal cords causes them to a horizontal position that increases the anteroposterior diameter of
vibrate, producing sounds. The ventricular folds or false vocal cords the chest.
(in mid-glottis) point downward. When closed by the action of Returning to the airflow, bronchiole walls are composed of
sphincter muscles, the folds form an exit valve that permits the smooth muscle and connective tissue. This smooth muscle normally
Basic Capabilities • Navigation 221
Fig. 8.14. Expanded view of the alveolus (redrawn from Greep and
Weiss867).
Total, Average, or Range: ~ 600 ~ 3.5 1800-2600 ~ 6500 16-32 hrs ~ 0.01
estimated for 70 kg adult male.
At rest, ~4 liters/min of air enter and leave the alveoli, while 5.4 tissue volume could be searched, specified by a small number of
liters/min of blood, the entire cardiac output, flows through pulmo- partial addresses. For instance, if 107 nanorobots were tasked to
nary capillaries which total ~2400 kilometers in length and ~150 scan 30 (unnamed) alveoli each, within the contiguous volume, then
cm3 in volume. During heavy exercise, the air flow to the alveoli each nanorobot must store one ~23 bit hardcoded kernel address
can increase to 120-160 liters/min and the blood flow to 25-30 plus one ~5 bit alveolus extension address (total 28 bits/alveolus)
liters/min.866 The volume of air taken in with each breath (resting and one 30-bit cell address for each cancerous cell discovered, a
tidal volume) is ~0.4 liter/breath at a respiration rate of 18/min modest memory requirement. On the other hand, general surveyor
(12-15/min during sleep). Volume flow may rise to ~3.2 liters/breath nanorobots lacking individualized instructions can keep track of
at a respiration rate of up to 62/min during the most strenous the forks they pass and the branches they take as they enter the
exercise.780 The two human lungs hold a combined ~6 liters of gas, lungs, assembling the final address (of any cancer cell they ultimately
of which ~3.7 liters is the maximum inspirational capacity leaving discover) as they go. Upon reaching the terminus of the bronchial
~2.3 liters as residual capacity or dead space. system and encountering another nanorobot already at work, the
Blood pressure in the pulmonary artery is only 15-30 mmHg newcomer moves on to another location, keeping track of its current
systolic and 4-12 mmHg diastolic, compared to 100-150 mmHg address (~28 bits). Once a cancer is detected, treatment nanorobots
systolic and 60-100 mmHg diastolic in the aorta.361 This low-pressure can follow the surveyor’s address to return to the specific cancer cell
system allows pulmonary capillaries to be quite flexible and without requiring a comprehensive map of the rest of the lung. Thus
thin-walled—they distend if higher blood pressures are applied to a treatment protocol can be executed without any overall map of
the pulmonary artery. Pulmonary blood vessels are richly supplied the lung, although the assignment of individual search territories
with nerve fibers but are largely free from neural and chemical may prove more efficient, and multiple connectivities within the
control—although they do respond to hypoxia and to pharmacological bifurcation tree may demand storage of additional bits or require
doses of catecholamines, histamine and serotonin.361 post-survey data compression.
A navigational map of the airways can be surprisingly compact.
Only log2(300 x 106) ~ 28 bits are needed to uniquely name each 8.2.3 Navigational Alimentography
alveolus, requiring 8.4 x 109 bits to store all 300 million addresses. Medical nanorobots may also access the human body via the
A complete bifurcation map of the airways down to the last generation alimentary canal—a ~6 meter long musculomembranous digestive
of respiratory bronchioles (e.g., a lobule map for both lungs) can be tube which begins at the mouth and ends at the anus. With its
stored in just ~107 bits. If numerous positions within each alveolus accessory glands and organs, the alimentary system controls the intake,
must be specified, for example during a scan seeking pre-cancerous mastication, digestion, absorption and elimination of foods.
epithelial cells, the required map could be much larger. However, An approximate quantification of the gastrointestinal system is
C. Phoenix notes that if nanorobots are given individual instructions given in Table 8.8. (Passage times are for normal digestion and exclude
to scan a certain set of cells for cancer, a contiguous (nonrandom) pathological conditions such as constipation or diarrhea.) The general
Basic Capabilities • Navigation 223
beyond which lies the 6-mm-wide ampulla of Vater and the common the 8-10 liters/day of water that flows into it from swallowed saliva,
bile duct, a tube ~3 mm wide and ~60 mm in length that carries ingested water, the acid fluid secreted by the stomach, bile and pan-
various glandular secretions directly into the duodenum. About 10 creatic juice, as well as fluid secreted by the upper small bowel itself.
mm up the ampulla of Vater the pancreatic duct (duct of Wirsung) Food is passed along by muscular contractions in waves known collec-
veers to the left side of the body and runs ~15 mm to the pancreas, tively as peristalsis, with waves progressing arhythmically for dis-
where it continues on for the length of the organ, another ~90 mm. tances varying from 10-100 cm in length, and occasionally over the
In some patients, the narrower accessory pancreatic duct (duct of entire length of the small intestine. Food is also broken up by rhyth-
Santorini, draining the head of the pancreas) runs ~15 mm from mic segmentation contractions within the irregular peristaltic mo-
the pancreas and empties into the duodenum ~25 mm upstream tions, which are ringlike contractions of the circular muscle ranging
from the duodenal papilla. Through the ~2 mm wide pancreatic in frequency from 10-30/minute, with higher rates at the upstream
duct passes ~1000-1500 cm3/day of pancreatic juice.853,1975 This end of the bowel.
juice contains pancreatin, a mixture of the three digestive enzymes The small intestine is a continuous tube with three well-defined
trypsin (which digests protein), lipase (which digests fat), and amylase sections—the duodenum, jejunum, and ileum (Table 8.8). The total
(which digests starch). The specific gravity of the fluid is 1.008, length is commonly reported as ~7 meters, but this measurement is
mean viscosity is 1.61 x 10-3 kg/m-sec (up to 5.8 x 10-3 kg/m-sec in for tissues taken from cadavers which have lost all muscle tone. In
patients with chronic pancreatitis3315), the pH is 7-8, and the glucose the living body, the small intestine is only 3-5 meters in length.863
content is 0.85-1.8 x 10-4 gm/cm3.585 Juice flows on signal from the In the duodenum and jejunum the submucosa elevates into a series
hormone secretin, manufactured by the mucous membrane of the of permanent transverse pleats called circular folds, plicae circulares,
duodenum which sends its message as soon as partially digested or Kerkring’s folds (Fig. 8.20). These ridges do not disappear when
food enters from the stomach. the wall is distended by the passage of food, and may stand up to
Moving ~55 mm up the common bile duct from the ampulla of ~10 mm high in the mucosa. Some folds wrap all the way around
Vater, the nanorobot passes through the sphincter of Boyden and the intestine, while others extend only partly around. Starting a
next encounters the cystic duct, a ~2 mm wide tube ~35 mm in short distance past the pylorus, the circular folds are numerous and
length branching to the right that leads through the spiral valve high in the distal portion of the duodenum and in the proximal
directly to the gallbladder. The branch to the left (of the body) portion of the jejunum, after which they gradually become less
continues as the ~25 mm long common hepatic duct, which then numerous and smaller; by mid-ileum, they fade out completely.
bifurcates to form the left and right hepatic ducts (~2 mm wide) Thus the number and depth of the folds may be used as crude
leading directly to the liver (Section 8.2.5), each duct up to ~50 navigational surface markers of range from the pylorus. The folds
mm in length. Some patients also have a few direct connections increase the local absorptive area by about threefold and further
between the liver and the cystic duct, called the ducts of Luschka.935 enhance absorption by causing the chyme to spiral as it passes
The gallbladder is a 7-10 cm long pear-shaped bag composed of downstream,853 crudely analogous to a spinning bullet passing down
muscle and membrane lodged in a hollow on the underside of the a rifled bore. A nanorobot traversing the folded intestinal surface
right lobe of the liver behind the lower ribs, that serves as the reservoir must travel at least ~3 times farther than another nanorobot pursuing a
for bile that is secreted continuously by the liver. The cystic duct more linear axial course through the luminal (chymous) contents of
carries bile both to and from the gallbladder, depending upon the tube.
whether the sphincter of Oddi is open or closed. The liver secretes The duodenum is the first short part of the small intestine,
800-1000 cm3 of bile each day,853 but the bile duct delivers only arranged in a horseshoe shape enclosing the head of the pancreas.
~500 cm3/day of bile to the duodenum.870 The excess is shunted to The acidic chyme is neutralized following exposure to the alkaline
the gallbladder, which holds up to ~50 cm3 of tenfold bile concentrate pancreatic juices and bile fluid. Hence the pH of the chyme
(more than 90% of the water and salts are reabsorbed from the
excess flow). The gallbladder empties by contraction of the smooth
muscle contained in its walls, when stimulated by the hormone
cholecystokinin, which serves as the signal that bile is needed. This
signal in turn is triggered by the passage of chyme over the duodenal
papilla in the small intestine. Only about 10% of the bile is perma-
nently lost in the feces; 90% is reabsorbed and returned to the liver.
Bile is a bitter yellowish fluid that helps to emulsify and digest
fats to hasten their absorption from the intestines, to activate the
pancreatic enzyme lipase, to stimulate intestinal movements, and to
inhibit fermentation of the bowel contents. The specific gravity of
bile is 0.998-1.062; absolute viscosity ranges from 0.843-2.342 x 10-3
kg/m-sec; and pH averages 7.5 (6.2-8.5) for hepatic bile, 6.0
(5.6-8.0) for gallbladder bile.585 Hepatic bile contains 1.7-5.2 x 10-4
gm/cm3 sugars and 1.2 (0.8-1.7) x 10-3 gm/cm3 cholesterol, while
gallbladder bile contains 8 x 10-4 gm/cm3 sugars and 6.3 (3.5-9.3)
x 10-3 gm/cm3 cholesterol,585 plus 0.3-3% lipids.749 Thus the various
biles are chemonavigationally distinguishable.
The nanorobot resumes its journey down the small intestine.
The small bowel extends from the pylorus of the stomach all the
way to the large intestine and occupies the greater portion of the
abdominal cavity. About 90% of all digestion and absorption
takes place in the small intestine, including up to 6 liters/day of Fig. 8.20. Layers of the small intestine (redrawn from Guyton863).
226 Nanomedicine • Volume I
cecum (~20-30 mm from the ileocecal valve) a small appendage is abdominal contents by means of straining efforts. Peristaltic waves
attached, the vermiform appendix, a twisted and coiled vestigial then appear in the colon. The entire distal colon, from the splenic
tube that also serves no useful purpose but often becomes clogged flexure to the anus, may be emptied at one time. The normal frequency
and infected, causing acute appendicitis (see also Section 1.2.2). of bowel movements is 3-12 per week among the general population.2180
There is almost no digestion in the large intestine. The task of The 100-200 grams of feces excreted daily are 65-75% water,
the colon is to absorb most of the remaining fluid and electrolytes 5-10% fatty material, and 20%-50% bacterial bodies, with a normal
from the chyme. Each day ~2000 cm3 of loose watery material is pH of 7.0-7.5.585,749,2180 Even while fasting, 7-8 grams of feces are
dehydrated and compacted in the ascending colon, and temporarily excreted daily. (Further details are in Chapter 26.) The dark brown
stored in the transverse colon. All but ~100 cm3 of the 500-1500 color of the normal stool is due chiefly to stercobilin and urobilin,
cm3 of the water that enters the colon daily is absorbed, mostly in the reduction products of the action of bacteria on the bile pigment
the cecum and ascending colon.853,2180 bilirubin; the high-molecular-mass fraction most responsible for fecal
Structurally, the colonic tube is shirred into sacculations known viscosity is bacterial peptidoglycan.3308
as haustra, ~16 mm long segments running along the tube axis. Defecation is also accompanied or preceded by the escape of
Each haustrum is defined internally by opposing semilunar folds intestinal gases, or flatus. Normal volume is 500-1500 cm3/day, with
(corresponding to the creases on the outer surface) that act as normal frequency 6-20 per day.2180 Up to ~500 cm3 of flatus is
mechanical baffles to hold the feces steady against lateral accelerations. nitrogen and some oxygen from swallowed air—it takes ~10 minutes
There are mixing movements comprised of haustral contractions of for swallowed air to descend to the colon.873 Flatus contains other
the recesses of the colon, somewhat resembling the segmenting gases such as carbon dioxide, inflammable hydrogen and methane.
contractions of the small bowel. Three or four times a day mass The unpleasant fecal odor is due mainly to skatole and indole,
peristalsis occurs, long-wave contractions that begin at the middle produced by bacterial action in breaking down amino acids, but
of the transverse colon and drive the more solid contents of the hydrogen sulfide and methyl mercaptan (more pronounced on a
transverse colon into the descending colon and sigmoidal colon. high-protein diet) also contribute. All of these chemical substances
Food in the stomach triggers this reflex action. The large intestine is may be quantitatively measured in real time (Section 4.2) by medical
generally quiet between meals except for mild peristalsis at 3-12 nanorobots traversing the alimentary canal.
contractions/minute.855 A simple map of the ~0.65 m2 cylindrical luminal surface of the
The mucous epithelium of the colon has a single layer of columnar gut (Table 8.8) to ~(200 micron)2 villiary resolution requires just
cells, some of which have become specialized as unicellular slime ~16 million pixels or ~130 million bits assuming 8-bit pixels. This
glands (goblet cells); the colon coats feces with a thin layer of data store can be compactly encoded on ~0.005 micron 3 of
mucus to ensure smooth movement. (Amoeba move readily through hydrofluorocarbon memory tape (Section 7.2.1.1) and may be carried
the colonic mucus layer,3316 which has an experimentally-measured aboard a micron-scale nanorobot in a storage device only ~0.01
mean thickness increasing from 107 microns in the ascending micron3 or ~(0.2 micron)3 in volume. A complete map of the ~10
colon to 155 microns in the rectum.3317) The large intestine has no m2 absorptive surface to ~(20 micron)2 cellular resolution (excluding
villi and no circular folds,750 although absorptive cells on the the brush border) requires ~25 billion pixels or ~0.2 terabits assuming
colonic surface have a thin striated border (microvilli).935 Intestinal 8-bit pixels.
glands are present, but they secrete mostly mucus. Lymphoid tissue
is present as scattered solitary nodules but there are no aggregated 8.2.4 Navigational Osteography
nodules. The skeleton is the single largest organ system, representing ~14%
The bacterial population2198 is also of navigational significance. of total mass and ~11% of the navigable volume of the human body.
From the esophagus to the ileocecal valve, the upper tract is relatively The bony skeleton supports and protects the vital organs—the skull
sterile with few live bacteria. That’s because gastric acids whose main protects the brain; the spinal column shields the spinal cord and
purpose is to break down food more rapidly also act as a disinfectant to maintains erect posture; the ribs shelter the heart, lungs, and liver;
prevent the growth of microbes. The human colon, however, contains pelvic bones protect the kidneys and internal sexual organs.
at least 400 species of bacteria,360,3050 with ~15 types of these The total number of bones varies at different ages. At birth, the
accounting for the majority of the intestinal microflora. These bacteria human body contains ~270 bones. This number declines slightly
ferment any remaining carbohydrates and produce surplus vitamins during infancy as a few separate segments join to form single bones.
(e.g., vitamins K and B12) and useful amino acids which are From young childhood through puberty, the bone count increases
absorbed in the colon, so the relationship is quite symbiotic. About as wrist and ankle bones develop. Post-adolescence, the bone count
one-third of the material in the colon is microbial mass, and up to steadily declines again with the gradual union of independent bones.
half of the stool consists of bacteria. The adult skeleton (Fig. 8.22) consists of 206 bones: 28 skull
Having passed through the sigmoidal colon, the traveling bones (8 cranial, 14 facial, and 6 ear ossicles); the horseshoe-shaped
nanorobot finally enters the rectum. The muscular wall of the rectum hyoid bone of the neck (which breaks during hanging, choking the
is stronger than that of the colon, and that of the anal canal is thicker victim to death; see Figure 8.11); 26 vertebrae (7 cervical or neck,
still. The rectum has 3-4 crescent-shaped folds (Houston’s valves) 12 thorax, 5 lumbar or loins, the sacrum which is five fused vertebrae,
that support the weight of the fecal matter and prevent its movement and the coccyx, our vestigial tail, which is four fused vertebrae); 24
toward the anus, where its presence excites a sensation demanding ribs plus the sternum or breastbone; the shoulder girdle (2 clavicles,
discharge. The anus is guarded by two sphincters, internal and the most frequently fractured bone in the body, and 2 scapulae);
external. The internal (involuntary) sphincter is smooth muscle tissue the pelvic girdle (2 fused bones); and 30 bones in each of the four
formed by a thickening of the circular fibers of the muscular coat. extremities (a total of 120). The paired bones include the 12 ribs on
The external (voluntary) sphincter is striated muscle tissue formed either side, 8 wrist bones, 5 hand bones, 14 finger bones, 7 ankle
by a separate muscle encircling the lower end of the rectum. The act bones, 5 foot bones, 14 toe bones, 3 auditory ossicles, and the
of defecation is preceded by a voluntary effort consisting of relaxation parietal, temporal, palatine, lacrimal, nasal, upper jaw, cheek, lower
of the external anal sphincter and usually compression of the nasal concha, collarbone, shoulder blade, hip, arm, outer and inner
228 Nanomedicine • Volume I
8.24. Cross-section of spinal cord (redrawn from Millard, King, and Fig. 8.25. Diagram of diarthrodial joint (redrawn from Millard,
Showers750). King, and Showers750).
traversing the periosteum enter the bone and pass through channels white tracts of nerve fibers descending from the brain or
called Volkmann’s canals to enter and leave the Haversian canals. In ascending to it.
humans, there are few true voids in the bones. Cerebrospinal fluid (CSF) fills the ventricles of the brain and
Bone marrow fills the spaces of spongy bone and the medullary the subarachnoid cavity surrounding the spinal cord. The fluid is
(marrow) cavity of long bones. It is composed of a supporting formed mainly by the choroid plexuses (large, reddish tufted
framework of reticular tissue in which there are blood vessels and organs) in the four ventricles of the brain. The plexuses are rich in
blood cells in various stages of development. A thin membrane called blood vessels and separated from the cavity of the ventricles by only
the endosteum, more delicate than the periosteum but resembling a single layer of secretory cells, thus affording ready access to the
it in structure, lines the medullary cavity. In the adult, there is red fluid by medical nanorobots (Chapter 16). The fluid, once formed
and yellow marrow.750 Red cells and some white cells are formed in in the brain, is later mostly reabsorbed by the arachnoid villi in the
the red marrow; in the newborn all marrow is red, but in the adult brain, but a small amount drifts slowly downstream along the spinal
the red marrow is found in the spongy bone such as the proximal cord and is absorbed by the arachnoid villi through the spinal
epiphyses of long bones and in the sternum, ribs, vertebrae and regions. Among other things, CSF is regarded as “the drainage system
diploe of the cranial bones. Yellow marrow contains many fat cells of the brain,” crudely analogous to urine, and the entire fluid volume is
and is found in the medullary cavity of long bones, producing replaced once every ~30,000 sec.
macrophages and granulated white cells. There is ~3 kg of marrow The human body contains 90-150 cm3 of cerebrospinal fluid,
in the adult body,817 occupying a volume of ~2400 cm3. normally maintained at an average pressure of 11 mmHg (range
Even the relatively low capillary density of <100/mm2 in bone832 5-13 mmHg1712). The fluid is clear and watery, normally containing
implies a total investiture of ~3 x 108 skeletal capillaries and a total 1-10 white cells/mm3 (all mononucleocytes) and similar chemical
luminal surface area of ~8 m2 for the entire vasculature, which would constituents as blood plasma, but with only 0.4% as much protein
require a ~0.16 terabit vascular map at cellular resolution. A full as the plasma; to first approximation, it may be regarded as an
cellular map identifying each individual osteocyte in the entire skeletal almost protein-free filtrate of the blood. The specific gravity of
system requires ~1 terabit. cerebrospinal fluid is 1.007 (1.0062-1.0082); viscosity at 310 K
An interesting navigable volume within the skeletal system is typically ranges from 0.7-1 x 10-3 kg/m-sec;3325 and pH averages
the human spine, which averages 71 cm in length in men and 60 7.4 (7.35-7.70), with ~1% (0.85-1.7%) total solids, 6 x 10-4 gm/
cm in women with remarkably little variation.870 The body of each cm3 glucose, 2.4-5.0 x 10-6 gm/cm3 cholesterol, and no acetylcholine
vertebra has a ring-shaped neural arch, through which passes the or fibrinogen.585 Protein content increases from 1.0 x 10-4 gm/cm3
spinal cord. The spinal cord, measuring ~46 cm long and ~1 cm in in the ventricles of the brain, to 1.5 x 10-4 gm/cm3 in the cisterna of
diameter, descends from the brain and medulla oblongata through the upper spinal column, to a high of 2.5 (2.0-4.0) x 10-4 gm/cm3
the foramen magnum and passes through the hollows of the spinal in the lumbar vertebrae585—a potentially useful chemonavigational
column, giving off 31 pairs of spinal nerves until it reaches the level gradient.
of the disc between the first and second lumbar vertebrae, where Most of the ~150 bone joints in the human body are freely movable
the lower end tapers off to a point called the conus medullaris. The diarthroses (Fig. 8.25). There are ball and socket joints, saddle joints,
cord itself (Fig. 8.24) is composed of H-shaped gray matter in the ~40 hinge joints,870 and pivot joints. In the diarthrodial joint, two
center, extending forward as the anterior nerve roots (motor con- or more bones are united by an encircling band of fibrous tissue called
trol) and backward as the posterior nerve roots (sensory), with solid the articular or fibrous capsule. The articular capsule is lined with
230 Nanomedicine • Volume I
synovial membrane, and the apposed ends of bone are covered by a with acoustic radiators and ~nanosecond clocks (Section 10.1) could
layer of hyaline cartilage, called articular cartilage. The fibrous capsule measure and distinguish the speed of sound in the brain (1550 m/
is reinforced and strengthened by ligament cords woven into it. Joint sec), the kidney (1575 m/sec), and muscle (1600 m/sec) over a grid
cavities sometimes extend into pouches or recesses or communi- distance of ~100 microns (Section 8.3.3). In the human eye, at 20
cating bursae, and the shape of the sac changes with motion, as in MHz, the highest acoustic sound velocities are found in the sclera
the knee joint. (1597 ± 20.3 m/sec); the lens exhibits the highest attenuation in
Synovial fluid, which lubricates and nourishes the joint, is the eye.483
exuded by the synovial membrane and fills the capsule cavity. There Each tissue has a unique spectral transmission signature at optical
may be a total of ~30 cm3 of synovial fluid in all of the human body wavelengths. For example, liver looks distinct from bowel because
of differences both in absorbance and in the way the tissue scatters
joints. Synovial fluid is a colorless, viscid mucin-containing material
light (see Section 4.9.4), making feasible automated discrimination
resembling egg white. The human knee contains ~1.1 cm3 (range
among tissue types.738 Both scattering and absorption measurements
0.13-3.5 cm3) of synovial fluid at an average osmotic pressure of 11
will require at least ~100 micron path lengths (~5 cell widths) for
mmHg (9-13 mmHg). The specific gravity of the fluid is reliable tissue discrimination, requiring a cooperative activity among
1.008-1.015; absolute viscosity is highly variable but averages ~160 several nanorobots using timed test pulses. A ~1 pW radiator power
(4-800) x 10 -3 kg/m-sec; pH is 7.39 (7.29-7.45); with 3.4% budget producing up to ~107 optical photons/sec omnidirectionally
(1.2%-4.8%) total solids, 0.7-1.0 x 10-3 gm/cm3 glucose, 8.5 x 10-3 using a ~1 micron2 emitter transmits up to ~103 photons/sec to a
gm/cm3 mucin, and no fibrinogen.585 ~1 micron2 receiver located ~100 microns away (Section 7.2.3),
There are also ~140 bursae (synovial sacs) in the body, located in which should be adequate for tissue-type discrimination. Tissues
fibrous tissue wherever friction occurs, probably containing at least might also be distinguished based on cell membrane electrical
~20 cm3 of additional synovial fluid. The best-known include the conductivity (Section 4.8.7).
subdeltoid bursa, which lies beneath the shoulder muscle; the Each organ has a unique macroscale chemical signature. For in-
prepatellar bursa, located in front of the kneecap; and the Achilles stance, the anterior lobe of the pituitary gland (the adenohypophy-
bursa, which lies between the heel bone and the Achilles tendon at sis) is particularly rich in endocrine hormones including
the back of the heel. somatotropin (growth hormone), thyroid-stimulating hormone
(TSH), adrenocorticotropic hormone (ACTH), follicle-stimulating
8.2.5 Organography and Histonavigation hormone (FSH) and luteinizing hormone (LH). By contrast, the
Measured by volumes, the typical ~0.06 m3 adult male body posterior lobe of the pituitary gland (the neurohypophysis) is rich
contains ~38% hydrated protein, ~15% fat, ~14% expandable in neuropeptides such as oxytocin and vasopressin.750 Grey matter,
volumes and ~13% fluids. More importantly, ~60% of the volume white matter, and myelin in human brain tissues have distinctive
of the human body is comprised of well-defined and highly specialized lipid compositions.1014
organs (Table 8.9) if skin and blood are included, as is commonplace. In some cases, the local distribution of vitamin concentrations
Earlier Sections have described numerous physical routes through alone might be probative. Table 8.10 gives vitamin concentrations
which all the organs can be accessed by a traveling medical for various tissues,585 which may reflect chemical variations present
nanorobot. Simple maps describing each of these routes can be made in the intracellular fluids, the constituent cells, or both. Thiamine
available to the nanodevice within a modest onboard data storage (B1) occurs both free and phosphorylated,749 with elevated concentra-
budget. tions in the heart, liver, and kidneys, and low amounts in the stomach
In addition to map-reading and precision positional navigation and skin; larger stores of riboflavin (B2) exist in the kidney and liver
to ~3 micron accuracy (Section 8.3.3), with the help of a navigational than elsewhere; niacin (B3) is more prominent in the liver and skeletal
network a nanorobot might verify that it had arrived at its intended muscle; inositol is concentrated most heavily in the brain, kidney,
organ by detecting various asymmetries that exist throughout the and spleen. Cobalamin (B12) is stored primarily in liver, kidney,
human body. As trivial examples, the heart lies mostly on the left lungs, and spleen.752 Vitamin A (retinol) is fat-soluble and is stored
side of the chest while the liver lies mostly on the right.* The larger principally in ester form in the liver but also in the lungs and
right lung has 3 lobes with 10 secondary bronchi segments, while kidneys.749 Water-soluble vitamin C (ascorbic acid) is present in
the left lung has only 2 lobes and 9 secondary bronchi segments. highest concentration in tissues of high metabolic activity, most
The left ventricle of the heart has a muscular wall twice as thick as notably the adrenal and pituitary glands and in the intestinal wall.749
the right ventricle. The right lobe of the liver is much larger than Vitamin D (cholecalciferol) is most concentrated in the skin,752 while
the left lobe, and has a completely different shape. The right ear vitamin E is stored mainly in the heart, lungs, muscles, and fatty
statistically is slightly more sensitive than the left ear,827 undoubtedly tissues,749 and vitamin K is absorbed through the colon and stored
involving small-scale anatomical asymmetries. The left and right in the liver;752 all three are fat-soluble. With enough chemical markers
halves of the face have distinct physiognomies. to choose from, a nanorobot equipped with suitable chemosensors
Aside from such gross anatomical measurements, there are many can make high-probability locational inferences.
other (and more convenient) ways for a nanorobot to determine its Tissues also have unique extracellular matrices (ECM) that can
histological location in the body. For example, in the kidney, the be sampled and identified by traveling nanorobots (Section 9.4.4.2).
tissue pressure (easily measurable by nanosensors) is lower than the For example, 19 different forms of collagen have been identified in
pressure under the tight renal capsule, and tissue pressure is lower various tissues, including 5 fibrillar types, 1 network-forming type,
in the brain than in the surrounding cerebrospinal fluid.363 (See 4 fibril-binding types, 2 short-chain types and 1 long-chain anchoring
also Section 8.4.2.) The speed of sound varies markedly from tissue type.971,1497,1498 Types III and VIII are found only in cardiovas-
to tissue (Table 6.7). For instance, a grid of nanorobots equipped cular tissue, Type VII is found only in the skin, and so forth.521
* Normally the major lobe of the liver is on the right side of the abdomen and the spleen is on the left side, but about one in 10,000 patients is born with situs inversus—
a reversal of the left-right positions of these organs.1127
Basic Capabilities • Navigation 231
Glycosaminoglycans (a component of the glycocalyx and ECM, appears that ECMs contain embedded structures and glycoproteins
usually complexed with proteins to form mucoproteins) are also (e.g., osteonectin, tenascin) unique to each tissue type that should
tissue specific. For instance, chondroitin sulfates are found in cartilage, be recognizable to nanorobots even in the complete absence of cells.
bone, and cornea. Keratin sulfate I is found in the cornea, keratin Intermediate filaments comprising the cytoskeleton inside the cell
sulfate II in loose connective tissue, heparin in mast cells, heparan are also tissue-specific (Section 8.5.3.11).
sulfate in skin fibroblasts and the aortic wall, and hyaluronic acid in Finally, organs may be identified by examining the surface antigens
synovial fluid, vitreous humor, and loose connective tissue.996 It of their constituent cells. This is the most powerful technique. For
Table 8.9. Mass, Volume, and Scale Size of the Organs of the Human Body585,749,817,854,881,1973
Serum 0.01-0.09 x 10-6 0.03-0.04 x 10-6 0.02-0.15 x 10-5 0.09-0.16 x 10-7 0.03-0.07 x 10-4 0.06-0.35 x 10-6
Whole blood 0.03-0.10 x 10-6 0.15-0.60 x 10-6 0.5-0.8 x 10-5 0.07-0.17 x 10-7 -- 0.15-0.45 x 10-6
Mammary gland 0.43 x 10-6 2.4 x 10-6 1.0 x 10-5 0.4 x 10-7 2.7 x 10-4 3.9 x 10-6
Skin 0.52 x 10-6 1.2 x 10-6 0.86 x 10-5 0.22 x 10-7 2.0 x 10-4 3.1 x 10-6
Ileum 0.55 x 10-6 4.2 x 10-6 1.9 x 10-5 0.6 x 10-7 7.5 x 10-4 5.3 x 10-6
Stomach 0.56 x 10-6 5.2 x 10-6 1.9 x 10-5 1.9 x 10-7 7.6 x 10-4 6.1 x 10-6
Ovary 0.61 x 10-6 4.3 x 10-6 1.8 x 10-5 0.25 x 10-7 5.8 x 10-4 3.9 x 10-6
Seminal duct 0.69 x 10-6 1.0 x 10-6 0.92 x 10-5 0.15 x 10-7 <1.0 x 10-4 2.0 x 10-6
Testicle 0.80 x 10-6 2.0 x 10-6 1.6 x 10-5 0.9 x 10-7 16.0 x 10-4 5.0 x 10-6
Colon 1.0 x 10-6 2.1 x 10-6 1.3 x 10-5 0.9 x 10-7 7.8 x 10-4 5.0 x 10-6
Spleen 1.1 x 10-6 3.6 x 10-6 2.3 x 10-5 0.6 x 10-7 10.3 x 10-4 5.4 x 10-6
Skeletal muscle 1.2 x 10-6 2.0 x 10-6 4.7 x 10-5 0.35 x 10-7 4.5 x 10-4 12.0 x 10-6
Smooth muscle 1.2 x 10-6 2.3 x 10-6 3.1 x 10-5 0.6 x 10-7 5.8 x 10-4 6.2 x 10-6
Lung 1.5 x 10-6 1.9 x 10-6 1.8 x 10-5 1.9 x 10-7 4.0 x 10-4 5.0 x 10-6
Adrenal gland 1.6 x 10-6 8.2 x 10-6 2.4 x 10-5 3.5 x 10-7 6.9 x 10-4 8.0 x 10-6
Brain 1.6 x 10-6 2.5 x 10-6 2.0 x 10-5 5.8 x 10-7 15.1 x 10-4 15.0 x 10-6
Liver 2.2 x 10-6 16.0 x 10-6 5.8 x 10-5 7.4 x 10-7 6.6 x 10-4 43.0 x 10-6
Kidney 2.8 x 10-6 20.0 x 10-6 3.7 x 10-5 6.7 x 10-7 12.4 x 10-4 19.0 x 10-6
Heart 3.6 x 10-6 8.3 x 10-6 4.1 x 10-5 1.7 x 10-7 5.0 x 10-4 16.0 x 10-6
instance, T cell receptors may be organ-specific: those comprised of impressions of the esophagus and stomach, while the larger right
γ 2 subchains are found in the spleen, γ 3 in the skin, γ 4 in the lobe bears concave impressions of the duodenum, the transverse
female reproductive organs and the tongue, and γ 5 in the lining of colon, and the kidney.
the intestinal tract.882 Protein components of the matrix, such as Histologically, the liver is comprised of ~250 billion hepatic cells
laminin and fibronectin, bind to specific integrin molecules on cell averaging ~18 microns in size. The human liver contains ~6 different
surfaces; through these 20+ integrins, the ECM transduces signals cell types, but hepatocytes constitute ~80% of the cell population
that regulate intracellular tissue-specific gene activity.971 The plasma of the liver.935 The hepatocyte has 1-3 spherical nuclei (depending
membrane class B scavenger receptor for high-density lipoproteins,
known as SR-BI, is expressed primarily by liver, ovarian, and adrenal
cells.1038 Cell type identification is a major topic that is addressed at
length in Section 8.5.2.2.
Must a bloodborne nanorobot exit the bloodstream and enter
the tissues in order to determine its proximity to the target organ?
Most endothelial cells that coat the blood vessels servicing an organ
or tissue system are likely to display organ-specific antigens on their
luminal surfaces (Section 8.5.2.2). In these cases, organ homing
can be accomplished without exiting the blood vessels, simply by
sampling the antigenic signature of the vessel luminal walls. However,
in some cases it may be necessary for a nanorobot to penetrate the
endothelial layer and directly examine the surfaces of the underlying
tissue cells or the underlying ECM to determine proximity to the
target organ.
Once a nanorobot verifies that it has arrived at the intended
organ, the next major challenge is intraorgan navigation. This may
be accomplished by following standardized maps which may be
customized to the individual patient by prior somatographic surveys
(e.g., Section 8.4.1.4) and supplemented with direct positional and
chemonavigational techniques. A complete somatographic description
of all the organs in the body is beyond the scope of this book, especially
since relevant material is readily available in the well-known Handbook
of Physiology series published by the American Physiological Society,
and in anatomy, 853,854,863,866 histology 867,935,936 and cytol-
ogy531,938,939 textbooks generally. However, it is instructive here to
convey a sense of place and scale by briefly reviewing the internal
structure of the largest gland in the human body, the liver (see position
in Figure 8.16).
The liver is a soft, plastic organ whose surface is pushed in by Fig. 8.26A. Geometric arrangement of hexagonal lobules in the liver
the surrounding organs. Thus the smaller left lobe bears concave (redrawn from Cormack936).
Basic Capabilities • Navigation 233
upon cell volume and position in the structure), each containing a microns wide and number ~0.3 plates/micron2 .936 These openings
nucleolus. These cells are bathed in flowing blood and arranged admit particulate material into the Disse space, for disposal by
into ~1 million roughly hexagonal functional units ~1 mm wide Kupffer cells.
called hepatic lobules (Fig. 8.26A). There are no interlobular septa Kupffer cells are ~15-20 micron stellate macrophagic cells,
(membranes separating the lobules) in the human liver.936 mechanically attached to the sinusoid endothelial cells. They partially
Around each hepatic lobule, liver cells form single-cell thick occlude the sinusoid lumen but have no functional attachments to
trabecular or hepatic plates (Fig. 8.26B). Portal blood from the gas- the endothelial cells or the hepatocytes. Kupffer cells are motile and
trointestinal tract enters the portal vein through the hepatic plate, have the ability to phagocytize (engulf and digest) particles of dirt,
carrying absorbed nutrients into the portal venules. Each portal inert nanodevices (engulf and transport; Chapter 16), worn-out
venule opens directly into large numbers of venous sinusoids (open blood cells, and bacteria. Their customary positioning, predominantly
cavities) formed by liver cells. The hepatic sinusoids form rich at the periportal end of the sinusoids, confirms that they monitor
vascular networks with extensive but irregular anastomoses, making a arriving blood, looking for particles to remove from the flow. There
three-dimensional spongework. Blood filters through the sinusoids are ~25 billion Kupffer cells in the liver,884,886 with a lifepsan of many
and exits via the central vein (Fig. 8.26C), from which it flows into months.
the hepatic venous system and from there into the inferior vena With ~106 hepatic lobules each containing ~250,000 liver cells,
cava. Hepatic arterioles diverging from the hepatic artery supply an a connectivity map listing every hepatocyte requires a 20-bit lobular
additional ~25% of the blood flow through the lobule, enriching address plus an 18-bit cellular address (within the lobule). Thus a
the venous blood with freshly oxygenated red cells.
Bile canaliculi 1-2 microns wide936 lie between adjacent liver
cells, forming networks of polygonal meshes each surrounding an
individual hepatic cell. The canaliculi empty into a bile ductule at
the periphery of the lobule. The ductules, in turn, join other ductules,
producing vessels of increasing diameter, leading eventually to the
wide hepatic duct and the common bile duct beyond.
The lymphatic system of the liver begins in the spaces of Disse,
which lie between the surfaces of the hepatic plates and the endothelial
walls of the venous sinusoids (Fig. 8.27). This perisinusoidal space
contains blood plasma but no red cells or platelets, and is lined with
vast numbers of microvilli projecting from the sinusoidal surface of
the hepatocytes bordering the space.936 The spaces of Disse empty
into small lymphatic vessels that run alongside the portal venules.
The sinusoid endothelial cells are flat and thin, with only their
nuclei protruding slightly into the sinusoid lumen. Their walls are
perforated with large fenestrae (~1 micron openings) numbering
~0.1/micron2. The fenestrations are dynamic structures that undergo
changes in size and number in response to hormones and
cytoskeletal fiber inhibitors.884,885 There are also numerous smaller
pores measuring ~0.1 microns in diameter, mostly organized into groups Fig. 8.27. Expanded view of hepatocyte neighborhood (Kupffer cells
of 10-15 pores called sieve plates (Fig. 8.27). Sieve plates are ~0.7 omitted; modified from Elias883).
234 Nanomedicine • Volume I
simple hepatic lobular map (~1 mm resolution) takes just 20 megabits Dead reckoning is most useful in two special circumstances:
but a complete hepatic cellular map (~18 micron resolution) requires
250 billion 38-bit addresses, for a total map size of ~9.5 terabits. Of 1. hard-frozen tissues presenting immobile and highly anchorable
course, such complete maps may rarely be needed, since most medical surfaces; and
nanorobotic tasks involve operations to be performed on a relatively
2. localized navigation requiring only very short distances to be
small number of cells, or on a serendipitous basis, or can be guided
traversed, such as locomotion between organelles in cyto or where
by chemonavigation (Section 8.4.3).
abundant functional or positional cues allow frequent
recalibration of the estimated current location.
8.3 Positional Navigation
Positional navigation should allow a medical nanorobot to know
its three-dimensional coordinate position to ~micron accuracy at 8.3.2 Cartotaxis
all times. A nanodevice may rely upon dead reckoning, cartotaxis, Another positional navigation technique is simple
microtransponder network alignment, or triangulation on external landmark-centered map-following, or cartotaxis. Consider a
beacon signals, as described below. nanorobot that wishes to crawl to a specific 1 micron2 patch on the
subvilliary mucosal surface of the small intestine. Ignoring the villi
8.3.1 Dead Reckoning and microvilli but including the circular folds, the mucosal surface
Perhaps the simplest but least accurate method of positional of the small intestine is ~1 m2 (Section 8.2.3), at worst requiring a
navigation is dead reckoning—the determination of position by map of ~8 terabits to achieve 1 micron2 resolution using 8-bit pixels.
keeping an account of the distance and direction traveled, without A more compact map might include only the positions, sizes
reference to any exogenous sources of information other than the and shapes each of the ~100 million 50-micron-wide intestinal glands
beginning point. For example, starting from a well-defined initial dotting the surface of the small intestine at least ~100 microns apart.
location, a legged nanorobot counts the exact number of footfalls These dots form a pattern unique to each person that changes slowly
taken in all directions; the measured length of each footfall gives the over time. After defining a two-dimensional intestinocentric coor-
distance traveled. However, anchor points on biological membranes dinate system, two coordinates of log2 (106) ~ 20 bits each can specify
are positionally unstable (Section 9.4.3.1), so a micron-sized bipedal a location to 1-micron accuracy on a 1 m2 surface. Using 20 bits
walker with a 100-nm leg stride that achieves even a very optimistic each for the two surface coordinates, 20 bits each for the major and
1% footpad positional stability (~1 nm) during each leg placement minor elliptical axes framing the gland aperture, and another 920
cycle will find that the accumulated error in its computed position bits to record unique topographic features of each hole, a complete
has reached one body length (~1 micron) after just 1000 strides, or small intestinal gland map requires at most ~1000 bits/gland or
~100 microns (~100 body-lengths) of locomotion. This level of ~0.1 terabits.
accuracy is equivalent to ~one cell-width of error per ~2 mm This data storage requirement may be significantly further
(~20,000 strides) of travel. reduced by recognizing that on its way to its destination, an efficient
Accuracy may be at most 2 orders of magnitude better when ~10 micron3 surface-walking nanorobot need pass over at most
negotiating hard or very firm surfaces such as tooth enamel or bone. 0.002% of the 1 m2 of small intestinal surface recorded on the map
The classical positional variance of a telescoping nanomanipulator described in the previous paragraph, even assuming a
capable of 100 nm of horizontal travel is at best 0.01 nm (Section maximum-length 4-meter whole-intestine traverse, passing at most
9.3.1.4); a device stiffness of ~10 nN/nm gives a limb deflection of a total of 4 m / 100 microns = 40,000 identified glands each requiring
~0.1 nm if ~nN forces are applied, resulting in a measurement error ~1000 bits to describe. Hence the minimum intestinoglandular map
of 0.01%-0.1% at each footfall. Additional measurement errors due required for this longest traverse could in theory contain as few as
to varying strains caused by fluctuating normal bone loads are of ~40 megabits of data for a perfectly navigating nanorobot using a
similar magnitude. For example, strain ~ m g / E A ~ 0.01% for the perfectly compiled and absolutely stable map. As a practical matter,
~2.5-cm diameter human femur, taking a human mass of m ~ 102 to ensure reliability the onboard map conservatively should contain
kg supported by two femurs of total cross-sectional area A ~ 10 complete intermediate annular ring segment recalibration maplets
cm2, with Young’s modulus E ~ 1010 N/m2 for wet compact bone at least ~500 microns in length along the tube axis and spaced
(Table 9.3) and acceleration of gravity g = 9.81 m/sec2. Pressures ~2 cm apart, to be sequentially encountered axially while traveling
exerted during chewing may reach 10-100 atm (Chapter 28), giving a down the tube. Nanorobots use dead reckoning to navigate between
maximum natural strain on tooth enamel of (107 N/m2) / E ~ 0.01%, these guide rings until the ring closest to the destination is
taking E = 7.5 x 1010 N/m2 for enamel (Table 9.3). reached, analogous to the mid-course correction areas employed
Navigational accuracy via dead reckoning may be up to 1-2 by cruise missiles. Having arrived at this nearest ring, the nanorobot
orders of magnitude poorer in other cases, especially during follows a final map swath ~500 microns wide leading directly to the
nanorobot swimming (Section 9.4.2) which requires additional three glands lying closest to the destination patch; the final 1 micron2
corrections for fluid motions relative to surfaces. target patch is reached by interpolation and dead reckoning between
Sequential monitoring of accelerations and rotations alone these last three glands. Reliability and efficiency are enhanced by
produces even less accurate results. Assuming typical environmental using large numbers of intercommunicating nanorobots simultaneously
accelerations of ~0.4 g’s experienced by a 1-micron nanorobot, then (Sections 7.3.2 and 8.3.3). This ~1 gigabit “practical map” contains
data sampling at ~10 KHz to an accuracy of ~4 x 10-5 g per complete descriptions of ~1 million individual intestinal glands and
measurement (Section 4.3.3.2) yields a cumulative error of ~0.4 g may be stored in a ~0.1 micron 3 onboard data spool using
after ~104 measurements, a mere 1 second of travel. Pendular hydrofluorocarbon memory tape (Section 7.2.1.1).
orientation sensors accurate to ~2 milliradian (Section 4.3.4.2) The above scenario describes the ideal case. In actual living systems,
produce ~1 radian of accumulated error after a non-recalibrated biological surfaces are constantly in motion, are coated with slime,
chain of just 500 measurements. and are frequently being remodeled. Some mucosal surfaces may
Basic Capabilities • Navigation 235
replace their entire luminal cell population every ~105 sec (~1 day).* powerplant, comparable to power densities available in mechanical
Thus the precise shapes and features of individual intestinal glands (Section 6.3.2), chemical (Section 6.3.4.5), and electrical (Section
are constantly changing, although their larger structures and the 6.3.5) systems. At ~100 pW/navicyte, total navicyte network system
pore pattern may remain intact for considerably longer periods of power consumption is ~10 watts, well within proposed in vivo
time. Intestinal glands are easily located by moving in the direction of thermogenic limits (Section 6.5.2).
rising concentration of enzyme-loaded intestinal juice, a basic How is the navigational network established? For convenience,
chemonavigational technique (Section 8.4.3), and villiary trunks a navigational Prime Centrum is established on the ventral surface
are available to provide additional cartographic guidance. But of the 10th thoracic vertebra (T-10) at the midsagittal plane of the
cartotaxic nanorobots will achieve the best results by using only the vertebral body (see Figures 8.22 and 8.24), defining a permanent
most recently prepared maps. origin for a body-centered coordinate system. This origin is centrally
located, lying directly posterior to the xiphoid process (Fig. 8.22)
8.3.3 Microtransponder Networks and the liver, directly inferior to the heart and between the two
The archetypal high-resolution (~3-micron) internal navigational lungs. The site is easily accessible by bloodborne nanorobots,
network may be described as a set of ~1011 mobile acoustic tran- well-supplied with oxygen and glucose for power, securely anchorable
sponder nanodevices, or navicytes, uniformly deployed throughout due to the dense bone, and reasonably well-protected from injury;
a ~0.1 m3 human body volume with an average 100-micron spacing. also, movements in the thoracic vertebrae are the most restricted
(Power consumption rises sharply for much larger spacings.) Total because the ribs and costal cartilages resist distortion.
navicyte fleet volume is a relatively unobtrusive ~1 cm3. Navicytes The Prime Centrum is comprised of four “monument” type
emitting omnidirectional ~100 MHz acoustic signal packets using bloodborne navicytes which are injected, or migrate stochastically
r = 1 micron radiators are ~50% energy efficient (Section 7.2.2). using cytoidentification (Section 8.5.2), or are directed to the site
Navigational signal packets are ~1 microsec in duration (conveying by demarcation or other means. These nanorobots congregate around
~100 bits/packet) and repeat at ~1 millisec intervals (~1 KHz), giving a the chosen navigational origin approximately at the vertices of a
duty cycle of fduty ~ 0.1% which leaves plenty of clear air time for square. Each monument navicyte attaches one end of a retractable
positional information inquiries from non-navigational nanorobots, fullerene cable rule to each of its three brethren and crawls backward
communications and sensor traffic, local acoustic microscopy and on an approximately radial course, paying out the slippery cable
the like, and also to allow staggered time slots to avoid noise and and adjusting mutual positions until the two diagonals measure
crosstalk. exactly 141.42 microns center-to-center and the four normals measure
How is a 100 MHz packet signal detected in a 1 nanosec signal exactly 100.00 microns center-to-center, guaranteeing a perfect
processing time? At SNR = 2 (Section 4.5.1), a navicyte acoustic 100-micron square with exact 90.00˚ corners. The four navicytes
sensor must receive at least kT eSNR ~ 30 zJ within a 1 nanosec then secure themselves to the bone beneath the periosteum using
integration, an energy influx rate of ~30 pW at the receiver. To biocompatible permanent anchors, becoming fully sessile, and
produce 30 pW at a 1-micron receiver located 100 microns away, a retract the cable rules. If vertebral curvature radius R ~ 2 cm and
transmitter of equal area must radiate ~300,000 pW of acoustic diagonal navicyte separation S = 141.42 microns, then maximum
output (see Section 4.9.1.5) or ~105 watts/m2 for ~1 nanosec. Thus, anteroposterior geometric deviation due to off-sagittal positioning
each navigational signal packet is prefaced by a triangular pulse ~1 is R(1-sin((π/2)-(S/R))) = 0.5 micron. The square may not be
nanosec in duration. This triangle pulse is used for ranging. precisely aligned with the conventional anatomical coordinate axes.
Because the transmitter is ~50% efficient, each triangle pulse At least 10 independent navicyte monument quartets should be
requires ~600,000 zJ of input energy to the transmitter in order to established as alternate or backup sites on T-10 to satisfy customary
produce an acoustic output energy of 300,000 zJ/pulse at the redundancy requirements (Chapter 13). Additionally, ~104 regional
transmitter surface. Broadcasting ~1000 pulses/sec brings the monuments are established at ~cm intervals at fixed positions on all
required transmitter input power to ~600 million zJ/sec or ~0.6 major skeletal surfaces of the body. Relative positions of regional
pW continuous. Transmitting the non-pulse portions of all packets monuments vary only within well-defined envelopes depending
costs ~60 pW (Section 7.2.2.2). Note that the 1 nanosec triangular upon macroscopic joint rotations and limb flexures, or almost not
ranging pulse has the highest frequency that can be used without at all on inflexible surfaces such as the diaphysis of the long bones.
significant absorption. Given a pulse which deposits a small fixed Mobile navicytes deployed throughout the remaining body
multiple of kT at the receiver, then using the highest frequency volume receive message packets emitted by neighboring devices,
produces the least uncertainty in distance. Very roughly, a pulse which in turn have received packets from their neighbors, ultimately
which is just barely detectable can have its timing localized to ~1 stretching back in an unbroken chain to a regional monument or to
pulse width. the Prime Centrum. Assuming a simple cubical array, each stationary
The triangle pulses make ~9 atm acoustic spikes in water, probably navicyte has two neighbors per directional axis—a total of six
low enough to avoid transient cavitation at this frequency and too neighbors within acoustic communication range (100 microns).
brief for shock wave formation or stable cavitation (Section 6.4.1)— Navicyte positional stability is enhanced by stationkeeping activities to
though it might be a good precaution to vary the time intervals avoid drift (~1 micron/sec for a 1-micron nanorobot due to
between packets to preclude any possibility of unexpected resonances. Brownian motion; Section 3.2.1), and anchorage to nonsignalling
Acoustic torque and related effects (Section 6.4.1) cannot yet be elements of the omnipresent extracellular matrix.
ruled out in this application and should be investigated further. Each navicyte possesses an onboard clock capable of continuous
Each triangular pulse represents an energy discharge event requiring a ∆τ ~ 1 nanosec temporal accuracy between recalibrations or over
momentary power density of ~1012 watts/m3 inside a ~(0.8 micron)3 mission times of 103 sec (Section 10.1). Message packets received
* In the fundus, the cell turnover cycle is ~5 days, while in the body of the stomach the whole cycle takes ~1 day. The time required for complete renewal of intestinal epithelium
is ~2.3 days for the duodenum and ~2.8 days for the ileum.359 At the other extreme is the lens of the eye—one of the few structures containing cells that is preserved without
turnover.531
236 Nanomedicine • Volume I
periodically from each neighbor include data describing the exact have a free surface unbounded by bone. For example, bruised tissue
universal time of packet transmission. Since each recipient has a in which foreign fluids are accumulating will produce a slightly
synchronized clock (Section 10.1.3), the triangle pulse travel time warped coordinate system; sound velocity differentials between, say,
between navicytes (τ ~ 65 nanosec) is known to an accuracy of ~1 blood and interstitial fluid may be as large as 70 m/sec (Table 6.7).
nanosec. The speed of sound vsound ~ 1540 in soft tissue (Table 6.7), Accuracy within each row may be significantly improved by intro-
so the ~1 nanosec temporal uncertainty adds (vsound ∆τ) ~ 1.5 microns ducing active error checking and continuous recalibration. Consider
of uncertainty to the range estimate. the terminal navicytes of two parallel rows A and B. As before, the
The speed of sound varies between 1400-1600 m/sec for most rows lie ~Xrow apart in their common plane. Each terminal navicyte
nonosseous tissues. This speed is reasonably uniform within specific computes that its total length is precisely Lrow, but in fact navicyte B
tissues (Table 6.7) over time, and is essentially frequency-independent is in error by a distance εB along the row. Given the minimum range
over the nanomedically-relevant range. Knowledge of its own approxi- error ∆Xmin, terminal navicyte B can only detect that an error
mate histological location (based on chemical sampling, etc.) allows exists when its range measurement to neighboring terminal navicyte
a navicyte to consult an onboard data table or a previously-compiled A increases from Xrow to Xrow + ∆Xmin, whereupon from simple
low-resolution map (see Chapter 19) to estimate local sound velocity geometry:
to within ~25 m/sec. Also, two navicytes (at least one of which is
mobile) can directly measure the local speed of sound by briefly 1/ 2
conjugating (Section 9.4.4.4), extending a cable rule of known [
ε B = (X row + ∆X min )2 − X 2row ] {Eqn. 8.2}
length between them, then transmitting and timing a test pulse
traveling through the medium. A 100-micron rule length allows For Xrow = 100 microns and ∆Xmin = 3 microns, then εB ~25
local sound velocity to be measured to an average ∆vsound ~ 25 m/sec microns or ~1 cell width. This range error is relatively insensitive to
accuracy using a 1-nanosec clock. A measurement uncertainty of ~25 Xrow; for instance, if Xrow increases to 110 microns then εB only
m/sec in the local speed of sound adds another (∆vsound τ) ~ 1.6 micron rises to ~26 microns.
of positional uncertainty, giving a total of ∆Xmin ~ 3 microns However, row terminus errors (measured in integral units of εB)
uncertainty in each range estimate. Additional small uncertainties are likely to be normally distributed between ± εrow ~ 230 microns
in sound velocity and in acoustic reflection and refraction power in the earlier simplest-case example. The error correction procedure
losses may occur when capillaries or other microvessels cross the involves nearest neighbors collectively polling the nearest nrow ~ 6000
line of sight between two navicytes. rows (a bundle with termini covering ~0.6 cm2 when Xrow = 100
Only four of the six neighbors are absolutely required for positional microns) for their measured εB’s and then computing the mean of
triangulation. The data packet received by a navicyte from its first the distribution, which has an uncertainty of εrow / nrow1/2 ~ 3
neighbor (containing that neighbor’s correct three-dimensional microns = ∆Xmin, matching the uncertainty of a single range measure-
coordinates) narrows the navicyte’s possible position to a spherical ment, the smallest possible error. The estimated mean is used to
surface of radius equal to the computed range, centered on the first produce a correction factor which is applied to the erroneous estimated
neighbor. The data packet received from the second neighbor value of Lrow, yielding a corrected Lrow accurate to ~ ∆Xmin or ~3
defines a second geometric sphere, further narrowing the navicyte’s microns. This corrective process is repeated:
possible position to a circle formed by the intersection of the first
and second spheres. The data packet from the third neighbor adds a a. for each row,
third sphere, reducing the possibilities to two points on the intersection b. for planar cross-sections at ~2 mm increments along the entire
circle, and the signal packet from the fourth neighbor selects one of row length (to eliminate error compression or rarefaction waves),
these two points as the navicyte’s true position. Additional minor not just along the terminal plane, and
corrections may be made for the bending of sound waves crossing
known thermal, pressure, or salinity gradients (Section 6.4.1). c. at regular time intervals (~3 sec) to ensure continuous
What positional accuracy can this system achieve? Consider the recalibration to ~3 microns at all points in each row.
simplest case with many parallel coplanar rows of N navicytes lying Note that parts of the human body frequently may deform up to
~Xrowi apart, each row of total length Lrow ~ Xrowi emanating from ~30% during normal activities, so Xrow is not constant but may
a common tangential surface and extending deep into the tissues. The
vary between 85-115 microns in as little as 0.1-1 sec in working
terminal navicyte of each row estimates its cumulative length as
situations.
Lrow which also contains an unknown range error εrow. The series of
Detailed specification of a complete recalibration protocol 1624
randomly distributed errors in the positions of each navicyte in the
is beyond the scope of this book. One procedure to further improve
row, individually of magnitude ± ∆Xmin, do not cancel to zero but
row-length measurement accuracy is to use the navicyte grid as a
instead constitute a random walk with maximum error excursion from
phonon gain medium by configuring each navicyte as a repeater
the mean of εrow ~ 2 N1/2 ∆Xmin. The longest rows will occur in the
viscera, farthest from any bony surface. Taking Lrow = 15 cm, ∆Xmin station during the calibration cycle, effectively allowing the
= 3 microns and Xrow = 100 microns, then N = Lrow/Xrow = 1500 propagation of row-long pulses thus permitting independent
navicytes per row and εrow ~230 microns. Hence in this simple case, row-length measurements. Multiple measurements can reduce
the minimum accuracy at the terminus of each row is 15 cm ± 230 independent row-length measurement error to arbitrarily low levels.
microns, or ~0.2%. Shorter rows accumulate less error at the Alternatively, J. Soreff suggests treating the entire calibration bundle
terminus—the cumulative error at ~2 mm from the common surface as a coherent amplifier using lower acoustic frequencies to increase
is at worst ~27 microns (~1 cell width). The average error per navicyte range. This enables phase detection to within ~1 nanosec if
in a 15-cm row is only εrow / N ~ 0.2 microns. Even for Lrow = 2 phase-locked detection is used and if a few kT of energy are present
meters (~longest possible transverse path length in the human body), in the time resolution window, allowing navicytes to hear a propagat-
N = 20,000 and εrow = 800 microns. Note that an additional small ing plane wave averaged across an entire bundle. An analysis of
systematic error in position may accrue if there is a systematic change soliton-like systemic effects analogous to intrinsic local modes in
in local sound velocity between recalibrations and if the subject viscera lattices 3036 is beyond the scope of this text.
Basic Capabilities • Navigation 237
The ability to make the corrections described above assumes that the larger-diameter vessel, for nanorobots drifting with the blood
navicytes can distinguish -εB from +εB, an angular spread of ± 14˚ flow in arterioles. In the high velocity aorta (Table 8.2), minimum
for εB ~ 25 microns and X = 100 microns. Since sound crosses the bifurcation detection range increases to ~630 microns in a detection
width of a micron-sized nanorobot in ~1 nanosec, the relative time of ~1 millisec. Transmission of local navicyte coordinates
angular location of a distant acoustic source can be directly measured allows traveling nanorobots to determine which branch of the
by placing two sensors on either side of the nanodevice at precisely bifurcation they are about to enter, or have already entered. (Major
calibrated separations. For angles of acoustic wave incidence θ, organs, lymphatic topology, and other important landmarks can be
measured from the axis joining the two sensors which are separated accurately located by similar methods.)
by a width xsensor on either side of the nanorobot, the wave arrival Bifurcations involving capillaries and other vessels with diameters
times will differ by more than ∆τ ~ 1 nanosec and thus will be less than Xrow may be readily detected by direct acoustic reflection
received as two distinct pulses, rather than one. For incidence angles echolocation from vessel walls (Section 4.8.2). Echoes from red blood
>θ, the wave arrival times at either side cannot be distinguished. cells are relatively weak (though still measurable)3044 in comparison
θ thus defines a permissive angular detection cone of size with those from the solid tissues within the body because the character-
istic impedance of red blood cells is very similar to that of the plasma
π ∆τ v sound in which the cells are suspended.570
θ= − sin −1 {Eqn. 8.3}
2 x sensor
8.3.5 Macrotransponder Networks
For ∆τ = 1 nanosec and vsound = 1540 m/sec, a sensor separation of It has been proposed 888 that a macroscopic acoustic signal source
xsensor = 1.59 microns allows up to θ = 0.25 radian = 14˚ to be could be used by individual medical nanorobots to determine their
distinguished. The uncertainty in vsound of ~25 m/sec imposes a location within the body, much as handheld radio receivers can use
minimum measurement uncertainty of ∆θ ~ 3˚. The permissive satellite transmissions (e.g., the 24-satellite Global Positioning System
detection cone shrinks to θ = 0˚ at xsensor = 1.54 microns. or GPS)1310 to determine their position on Earth’s surface. Such a
Relative navicyte angle can also be computed from the coordinates system might involve externally generated signals from beacons
of neighbors by simple geometry. Using the coordinates of a nearest placed at fixed positions outside the skin, or could employ dedicated
neighbor with range Xrange = Xrow ~ 100 microns and lateral positional internally-installed emitter organs. As described in the
uncertainty Xerror = ∆Xmin ~ 3 microns, then relative navicyte angle microtransponder example (Section 8.3.3), at least four beacon
can only be computed to an accuracy of ∆θ ~ sin-1 (Xerror / Xrange) ~ signals must be detectable simultaneously to allow a fix to be
1.7˚ (~30 milliradians). However, relative angle uncertainty is determined in three-dimensional space. Macrotransponder networks
reduced if the coordinates of more distant neighbors are available to may be useful in some applications, but also have several important
the navicyte. For example, using a neighbor located 15 rows away drawbacks as described below.
(Xrange = 15 Xrow) and again taking the minimum Xerror, then ∆θ ~ 0.1˚ Since in a macrotransponder system the nanorobots determine
(~2 milliradians). Coordinates from a distant-neighbor navicyte with their positions by direct detection of beacon range signals rather
Xrange = Lrow ~ 15 cm with an uncorrected lateral positional uncertainty than by polling their neighbors, accuracy may be solely a function
Xerror = εrow ~ 230 microns would give ∆θ ~ 0.09˚ (~2 milliradians); of the total range measurement uncertainty ∆Xmin. As before (Section
taking Xerror = ∆Xmin = 3 microns in the ideal case, ∆θ ~ 0.001˚ of 8.3.3), given a typical signal path length Xpath ~ 15 cm and a mean
arc (~0.02 milliradian). By comparison, from Eqn. 3.2 Brownian vsound ~ 1540 m/sec, signal travel time (τ ~ 97,400 nanosec) is known
tumbling of a micron-scale nanorobot amounts to ~10-6˚ (~0.02 to an accuracy of ∆τ ~ 1 nanosec if beacon clocks and nanorobot
microradian) in ~1 nanosec, or ~1˚ (~20 milliradians) between ~1 clocks are stable and synchronized, adding (vsound ∆τ) ~ 1.5 microns of
millisec signal packet repeat intervals. range uncertainty.
Each navicyte obtains its own orientation relative to gravity using However, by far the greatest source of uncertainty in a
onboard gravity sensors, which are accurate to within ~2 milliradians macrotransponder system is the variation in the speed of sound along
of verticality, with new measurements available every ~0.1 millisec the randomly chosen linear paths through the human body which
(Section 4.9.2.2) or up to the limits of the communication network the beacon signals must follow. The speed of sound is reasonably
capacity (e.g., recalibration protocols). Regional monuments monitor uniform within specific tissues or local regions, but an arbitrary
and disseminate the local grid’s angular orientation relative to the 15-cm path through the body may plausibly involve sound velocities
gravity field at ~1 millisec intervals, thus fixing each navicyte’s ranging from 630 m/sec for a path entirely through the lungs up to
orientation to the local grid on a virtually continuous basis. Absolute ~4090 m/sec for a path entirely through the densest skull bone (Table
spatial orientation relative to a fixed onboard standard such as a 6.7). This implies a velocity uncertainty range of ∆vsound ~ 3460 m/
nanogyroscope (Section 4.3.4.1) may be determined to 1-100 sec and thus a maximum range uncertainty of ∆vsound τ ~ 33.7 cm—
microradian accuracy during nonrecalibrated deployment lifetimes approximately the anteroposterior thickness of the human body.
of 103-107 sec. Direct gyrostabilization may be possible in some There is also some variation in vsound as a function of temperature
applications (Section 9.4.2.2). (Section 10.5.5) and other factors.
While local (~100 micron range) sound speed may be measured
8.3.4 Vascular Bifurcation Detection on site by one or a small number of nanorobots (Section 8.3.3), the
The ~5 billion navicytes circulating in the 5400 cm3 blood volume net sound speed along an arbitrary ~15 cm path cannot be similarly
can be used to form a dynamic transluminal geometric “virtual lattice” assessed without a comprehensive survey effort. Pathwise uncertainty
(with constantly changing membership) that remains positionally in sound velocity is somewhat reduced by completing a whole-body
stationary near the bifurcation of each blood vessel whose diameter survey of vsound as a function of position, then loading this map into
exceeds Xrow ~ 100 microns. A spatial progression of such rows each nanorobot using the navigational system.* In some cases, stan-
allows the bifurcation break point to be registered at most ~100 dardized maps with modest customization will suffice. A whole-body
microns past the junction and in at most ~20 millisec after leaving vsound map to ~(100 micron)3 resolution, giving ∆vsound ~ 25 m/sec,
* This suggests some interesting open problems requiring further computer science research. For instance, how might individual nanorobots know which section of the map
is relevant for them, before they are able to determine their position?
238 Nanomedicine • Volume I
would require ~1 terabit of onboard storage, a minimum 38 micron3 unamplified, hence maximum data flow rate may be up to ~1000
memory tape volume inside a (~4 micron)3 memory mechanism. times slower than for the microtransponder system. Finally,
Assuming a more reasonable ~1 micron3 tape volume allows a ~0.026 macrobeacons permit only a one-way flow of navigational informa-
terabit velocity map to be stored onboard, providing ~(340 micron) 3 tion, a major limitation.
resolution and giving ∆v sound ~ 84 m/sec.
Unfortunately, a measurement uncertainty of ~84 m/sec in the 8.3.6 Dedicated Navigational Organs
local speed of sound still adds (∆vsound τ) ~ 8 mm of positional By direct analogy to communication organs (Section 7.3.4),
uncertainty to each ~15 cm range measurement, a ~5% error. dedicated macroscopic organs may be implanted in the human body
Shortening the average beacon-nanorobot distance to Xpath ~ 1 cm to facilitate navigation. One important function of such organs
(e.g., by installing ~60,000 internal emitter organs, which may be would be to act as central clearinghouses for systemic information
unduly intrusive) reduces positional uncertainty to ~500 microns, that is normally available only regionally or to individual navicytes.
possibly sufficient in some applications. This information might include updated positions of all regional
Adequately stable surfaces on the skin or even inside the body monuments, orientations of various grid sectors relative to gravity,
may be difficult to find for large macroscopic transmitters, causing or information on macroscopic rotation rates (e.g., compasses,
significant source movement and degrading the positional accuracy gyros) to allow centrifugal and gravitational forces to be distinguished.
of the beacons as system monuments. This problem is partially Highly accurate chronometers could also be maintained in these
overcome by using acceleration compensators (e.g., gimbals and organs (Section 10.1.4) to allow periodic systemwide
gyros to “float” transmitters), thus neutralizing the effects of minor resynchronization.
body motions. However, because of the minimum ~8 mm range Dedicated navigation organs could serve as the “map rooms” of
uncertainty noted above, it will be difficult for beacons to mutually the body, collating and organizing new information as it comes in,
recalibrate their own positions to high accuracy, so there will be maintaining accurate navicyte grid maps, organ maps, vascular maps,
unavoidable unmonitorable monument movements especially during functional maps (Section 8.4), and so forth, possibly in coordination
rapid joint rotations and limb flexures. And macroscopic trans- with dedicated computational organs (Section 10.2.5). A 1 mm3
mitters are physically more responsive to the small random centrifugal navigational library node can contain up to ~10 million terabits of
and gravitational forces normally experienced by the body than are map data, which may be downloaded to nanorobots berthed at
microtransmitters, adding to their moment-by-moment positional docking ports at rates of up to 0.01 terabit/sec drawing ~50 pW
uncertainty. per docking port during the transfer (Section 7.2.6).
By now, the alert reader will be wondering if measurements of Dedicated navigation organs may be employed as direct interfaces
just the angular positions of at least three externally located macro- between internal navigational systems and related macroscopic
scopic acoustic beacons, taken without regard to range measurements, external modalities including operating theaters, clinical equipment,
can suffice for accurate navigation. The answer is that an angles-only various environmental entities, satellite uplinks, radio antennae,
system is quite possible, but unfortunately offers little improvement. transportation vehicles, and the like. They could also serve as emitter
(GPS uses 4 satellites so that inexpensive handheld receivers don’t organs in GPS-like acoustic navigational systems (Section 8.3.5).
need accurate clocks and thus can avoid ranging errors. Orbiting
satellites do have atomic clocks and transit time codes, but the 8.4 Functional Navigation
ground-based receiver need only compare time differences between Functional navigation allows a medical nanorobot to detect and
received signals.) respond to subtle variations in tissue characteristics, often in the
Consider an acoustic sensor pair with xsensor = 1.54 micron, giving absence of precise positional knowledge. Such tissue characteristics
the minimum possible angular measurement error ∆θ ~ 3˚ (Section may include thermal, acoustic or barostatic, cytochemical or
8.3.3). The positional uncertainty ∆x of the nanorobot is then immunochemical, electrical (Section 4.9.3.3) or magnetic, 1256
mechanical or topological variations. A few of the many possibilities
X path sin( ∆θ ) are described below.
∆x ~ {Eqn. 8.4}
1/2
π 1
sin − ∆θ N beacon
2 3 8.4.1 Thermographic Navigation
where Xpath is the average distance between beacon and nanorobot
8.4.1.1 Thermography of the Human Body
and Nbeacon is the number of noncollinear beacons sampled during
The human body presents a complex and temporally varying
each measurement cycle. Assuming an epidermal beacon network
spatial temperature field. The external parts of the body have a lower
with Xpath = 15 cm, ∆x ~ 8 mm for N = 3 beacons; ∆x ~ 400
microns for N = 1000 beacons. mean temperature than the internal parts, with temperature decreasing
Beacon signals will also travel many adjacent pathways with sound along the longitudinal axis of the extremities, producing both axial
speeds that differ only very slightly, producing a multiplicity of and radial temperature gradients. The differing heat production of
received pulses and a smearing effect, further degrading signal quality. individual organs, geometric irregularities, changes in insulation and
Signals suffer refraction over such lengthy courses, causing the beam evaporation, convective heat transport via the blood, and the diurnal
to bend significantly from its original path in unknown amounts. and other periodic variations 3327 add further complexities to the
By contrast, the acoustic energy received from a pulse traversing a thermal map.890
~100 micron path lies close to the sensor detection limit; these signals The homeothermic core of the body is distinguishable from the
are rapidly attenuated by the medium beyond this limit, and thus shell, which most readily responds to environmental fluctuations.
produce no confusing detectable signal at the next navicyte station The core generally consists of the interior of the thorax and abdomen,
located ~200 microns from the transmitter. Another problem with the brain, and part of the skeletal muscles. With moderate changes
macrobeacons is that they must use lower frequencies (~100 KHz; in ambient temperature, the shell normally comprises the outermost
Section 6.4.1) due to the long path lengths their signals must traverse 20%-35% of the human body.894,895 However, during extreme
Basic Capabilities • Navigation 239
standardized tests on young adults found that rectal core temperature tissue, volumes as small as ~1 mm3 may be demarcated in this manner.
fluctuated between 36.83-38.32˚C in males (range 1.49˚C) and Nanorobots of relatively simple design may be injected near the
37.16-38.36˚C (range 1.20˚C) in females,908 with temperatures target or allowed to circulate in the bloodstream, and will detect the
normally reaching their lows near 6 AM local time and their highs outlier temperature data and gather in the vicinity of the target at a
near 6 PM.915 (The timing is keyed to environmental influences statistically determined accumulation rate and number density.
such as light/dark cycles, not personal activity.) The menstrual cycle Outside of controlled environments or during prolonged treatment
also involves a complex long period fluctuation. During this monthly periods, simple demarcation becomes less reliable for several reasons:
cycle, morning core temperature falls from 37.0˚C to 36.7˚C just
before and during menstruation, after which there is an abrupt dip 1. Error in the physical placement of the instrument of demarcation
to ~36˚C at midperiod near ovulation, followed by a return to normal will produce erroneous nanorobot localization, which may
levels for the remaining ~2 weeks. Menstrual-related skin temperature increase the likelihood of treatment error. Such iatrogenic
pattern variations are also observed.3329 mistakes are especially likely during time-critical or emergency
Finally, there are various irregular influences on body temperature. crises, or in situations where the diagnosis is unclear, or in cases
Rectal temperature may rise up to 3.5˚C during the most extreme of self-administered medical care.
exercise,821 or may fall 2˚C after ~1 hour immersion in water at
2. Even when initially correctly placed, the artificial hot or cold
23˚C. Ingesting food elevates skin temperature, and to a lesser
region will diffuse outward from the original spot, enlarging
extent the rectal temperature, for 1-2 hours. Alcohol ingestion raises
the radius of action in imprecisely known directions (due to
skin temperature but lowers core temperature, while nicotine
nonisotropic tissue conductance), again increasing the risk of
ingestion (e.g., smoking) lowers skin temperature in the extremities
iatrogenic effects.
by 2-7˚C. In persons with fever, the temperature may rise from
37.0˚C up to 41.5˚C,916 with daily fluctuations of 2.8-5.0˚C, usually 3. Load error in the human thermoregulatory control system is
peaking in late afternoon. Transient elevations to 44-45˚C have been ~0.2-0.5˚C.865 Any thermal deviation of this magnitude or larger
recorded but are very rare. from local temperatures will provoke a natural counteractive
In view of this measurable spatial and temporal variability, response to restore the local temperature, including capillary
maintaining a high-resolution whole-body thermal map in real-time sphincter action (both vasodilator and vasoconstrictor activity),
is impractical using in vivo nanodevices. Given the availability of increased sweat gland secretions, accelerated counter-current
~microkelvin sensors with ~microsecond measurement cycles (Section exchanges, more rapid heart rate, or local thermogenesis.
4.6.1), sensor technology is not the limiting factor. Map stability is
the main concern. A volumetric map with only ~1 mm3 resolution, 4. Increased susceptibility to spoofing, as when a patient enters a
comparable to the best thermographic images, requires 108 voxels hot shower or bath3331, lies down on snow or on a cold concrete
and 17 bits/voxel for 0.001˚C accuracy. A hand placed on a stove surface, washes his hands and face with hot water, drinks a hot
produces thermal gradients >10˚C/sec in the shell, but periodic or cold beverage, basks in the sun, and so forth. Temperatures
temporal variations are 0.1-40 microkelvins/sec in the core and hot or cold enough to definitively prevent spoofing might damage
0.005-1˚C/sec in the shell during changes in physical exercise levels tissues if maintained for very long. This problem can be avoided
(~3˚C in 10-100 sec), movement between hot and cold environments by employing an oscillating artificial thermal gradient instead
(~10˚C in 10-100 sec), and fevers (~5˚C in ~1000 sec). Thus to of a time-invariant source (especially across layers of highly
maintain a map that reports all changes of 1 millikelvin requires insulating subcutaneous fat), but at the cost of increased
the entire field to be resampled every 0.001˚C / (1˚C/sec) = 1 required overall nanorobot sophistication to detect the oscillating
millisec, generating ~2 terabits/sec. This dataflow possibly could be demarcation. For energy delivered to a target L ~ 1 mm from
accommodated by a dedicated high-capacity fiber network (Section the source in a medium of heat capacity C V and thermal
7.3.1) but would rapidly overwhelm both a mobile acoustic network conductivity Kt, the maximum frequency that may be resolved
and the data storage capacity of individual bloodborne nanorobots. is νthermal ~ Kt / CV L2 ~ 0.15 Hz for aqueous tissue at 37˚C.
Maintaining a hematothermographic map employing General positional information is also available to nanorobots
capillary-volume resolution to millikelvin accuracy generates an even equipped with thermal sensors in the absence of any maps. For
more intractible >1015 bits/sec. instance, assuming the temperature of the external environment has
been measured and disseminated via the communication network
8.4.1.2 Thermal Demarcation (Section 7.3), a nanorobot traveling within a microvolume of blood
Thermographic navigation to a target site is possible without can crudely infer its distance from the epidermis based on the local
the use of any maps. Simple thermal demarcation is a good example blood temperature, especially when passing through the thermal
of this. In a controlled room-temperature clinical setting, the relatively shell of the body surrounding the core. Other cues including velocity
narrow homeostatically-maintained temperature band of 36-38˚C measurements or histonavigational data may allow further refinement
allows easy demarcation of selected target regions by applying thermal of the estimate.
stimuli lying just outside the normal band. Examples might include
hot (T > 38˚C) or cold (T < 36˚C) packs applied to the skin; 8.4.1.3 Low-Resolution Thermographics
diathermic tissue heating using different frequencies to achieve Even simple thermographic maps may have great utility. If the
selective heating at various tissue depths (Section 6.4.2); adaptive deviation from mean temperature to 3 significant figures (~0.01˚C
phased array (APA) heating of small target volumes deep inside the accuracy requiring ~10 bits/measurement) is resampled at ~10 Hz,
body;1518 thermally active catheter probe tips inserted transdermally then 0.1˚C/sec gradients may be detected in each of ~105 voxels
or otherwise, directed to specified internal targets; or multiple (volume ~1 cm3/voxel) using ~105 resident thermographicytes,
intersecting focused infrared, visible photon, or ultrasound beams producing a 107 bit/sec dataflow. A dermal thermographic network
directed to specific convergence volumes for maximum heating divided into 1 cm2 squares requires ~20,000 resident nanorobots
effect. Depending upon the technique employed and the target and produces a ~2 x 10 6 bit/sec whole-network dataflow at
Basic Capabilities • Navigation 241
0.01˚C accuracy (vs. 0.5-1.0˚C accuracy for traditional thermo- Assuming exogenous positional information is available to fixed
grams ).899 In either case, each thermographicyte in the network thermographicytes, a population of these devices can constitute a
(Section 7.3) maintains in its ~1010-bit memory (Section 7.2.6) the permanent monitoring network that can issue alerts and detect:
entire continuously updated network map and can store ~1 hour of
historical data (~7 x 109 bits) for the whole-body thermographic 1. temperature profiles of internal or external lesions located
map or ~1 year of historical data (~3 x 109 bits) taken at its own anywhere in the body;
position.
2. thermal anomalies reflecting the presence of interior hematomas,
Measured skin temperature can be used for macrosensing (Section
lipomas, myomas, edemas and hydromas, new fibrous deposits
4.9). As a simple example, knowledge of average skin temperature
or air pockets, or dental caries;
allows estimation of the environmental wind chill (air temperature
and velocity) and relative wind direction using the theoretical equation 3. slowly growing tumors (e.g., by searching for localized, shallow,
given by Lampietro890 or the experimental data compiled by Mitchell but monotonic thermal gradients in the ~microkelvin/sec range
et al893 over the range of 10-50˚C and wind velocities of 1-5 m/sec, in the historical data);
although the presence of clothing may be a complicating factor.
Thermal patterns appearing on centimeter-resolution volume or 4. unusual skin patterns due to defects in nervous control of the
surface maps may be useful either for macrosensing or for the peripheral circulation;
determination of various medically relevant states. Some examples 5. intestinal surface patterns reflecting identifiable thermal
of measurable patterns include: characteristics of materials passing through the bowels, or
alterations in cell metabolism resulting from food toxins or
1. bimodal thermal variations on the soles of the feet, while the inflammatory reactions; or
patient is standing on a cold concrete floor or a hot asphalt
pavement; 6. alterations in the thermal behavior of individual organs at specific
times of day, under varying workloads, or over long timespans,
2. cooling of the back and seat after settling into a chair whose possibly indicating a change in functionality or general health
surface is initially at room temperature (chair material may be (measurable by taking advantage of the different thermal
inferred from the subsequent temperature warm-up profile);3330 characteristics of body tissues; Table 8.12).
3. warm pattern of a hand placed on the chest while patient hears Mobile nanorobots passing near any thermographicyte can
the national anthem at a sports event; interrogate the device’s thermographic data library and thus may
4. cool vertical lines caused by tears running down cheeks; examine all or part of the current whole-body coarse thermal map.
Similarly, historical and current data can be transmitted to medical
5. asymmetric temperature profile caused by lying on one side or personnel who interrogate the network.
the other, in bed or at the beach;
6. warmth or coolness on palm and thumb of one hand while 8.4.1.4 High-Resolution Thermographics
carrying a hot or cold plate of food, or grasping a cold can of High-resolution maps can be assembled in designated tissue
beer; monitoring volumes, using a network of fixed thermographicytes
whose physical positions are accurately known (Section 8.3.3). If
7. cool knee spots while kneeling on a cold floor; Ltherm = 100 microns is the mean spacing between devices, then for
a maximum transorgan temperature differential ∆T ~ 1˚C for an
8. comparison of facial and scalp temperatures permitting inference
organ with scale size dorgan ~ 10 cm (Table 8.9) the largest endogenously
of hair length and coiffure;
generated temperature differential between neighboring
9. patterns of muscle warmth indicating physical activity involving thermographicytes is ∆T Ltherm / dorgan ~ 10,000 microkelvins; the
specific tendons, limbs or appendages; smallest detectable thermal variation of ~1 microkelvin (Section
4.6.1) corresponds to a fluctuation of ~60 watts/m3 in power density
10. approximate arrangement and density of clothing;3332 within the 0.001 mm3 monitoring volume (the equivalent power
11. increased warmth of the sexual organs, during excitation or output of ~100 mitochondria). Recording a single temperature
tumescence, or of the skin, stomach, and liver, following a meal; measurement to microkelvin accuracy requires at most ~24 bits.
Many useful configurations of such a network are readily conceived.
12. dangerous thermal gradients (e.g., hand placed on stove) As a simple example, consider a monitoring unit consisting of 100
detected in 0.1 sec, faster than the usual ~0.2 sec human thermographicytes reporting at ~1 KHz to one centrally located
response time; and data processing nodule. The thermographicytes transmit a total of
13. specific thermographic dermal patterns that signal the presence 2.4 megabits/sec to the nodule from within their 0.1 mm3 patrol
of a wide variety of medical conditions such as ischemic limbs, volume. A nodule with ~8 micron3 of storage tape can retain up to
Raynaud’s Syndrome, cerebral apoplexy, reflex sympathetic ~1 day’s worth of historical data generated within its monitoring
dystrophy, muscular injuries, abnormal joints, ankylosing unit. Nodule nanocomputers can scan the data for a wide range of
spondylitis (Pott’s disease), spinal root syndrome, osteoarthritis, specified anomalies and thresholds, emitting an appropriate alert
tennis elbow, osteoid osteomas, headaches, breast cancers, or message (containing all relevant details) when one is found. In
melanomas.899 principle, an expanding (warm) tumor could be detected* after
* Tumors which are metabolically less active are harder to detect by this means. Also, measuring heat from tumors located in organs having high metabolic activity (e.g.,
liver, kidney) is even more difficult, especially given the large caloric variations after consuming food or drink, or during normal hormonal responses, and given the relatively
high normal rate of cell division in some organs (e.g., liver, gut) that must be distinguished from abnormal tumor growth.
242 Nanomedicine • Volume I
Table 8.12. Thermophysical Characteristics of Various Body Tissues, Organs, and Other Materials460,567,817-819,1865,2153
Skin
Very warm 2.80 3.77 1000
Normal hand 0.960 3.77 1000
Cool 0.545 3.77 1000
Upper 2 mm 0.376 3.77 1000
Cold hand 0.335 3.77 1000
Subcutaneous fat
High values 0.450 -- 901
Pure fat 0.190 1.96 850
Muscle
Living muscle 0.642 3.94 1050
Excised, fresh 0.545 3.64 1050
Skeletal muscle, living 0.372 -- 1070
Bone
Mineral -- -- 2982
Cortical 2.28 2.70 1790
Average 1.16 2.39 1500
Cancellous 0.582 2.07 1250
Blood
Water at 310 K 0.623 4.19 993.4
Plasma (Hct = 0%) at 310K 0.599 4.05 1025
Whole blood (Hct = 40%) 0.549 3.82 1050
Organs
Heart (excised, near fresh) 0.586 3.94 1060
Liver (excised, near fresh) 0.565 3.78 1050
Kidney (excised, near fresh) 0.544 4.08 1050
Abdomen core 0.544 3.89 1050
Brain (excised, near fresh) 0.528 3.86 1050
Brain (living) 0.805 -- --
Lung (excised, bovine) 0.282 2.24 603
Whole body (average) -- 4.12 1156
growing to a volume of at most Ltherm3, a maximum pathological Patients may also receive thermographicytes installed in a mobile
cell count of ~100. Each monitoring unit consumes at most ~20,000 configuration, with the nanodevices constantly traversing the tissues
pW, including 100 pW/thermographicyte and 10,000 pW in the looking for anomalies, outmessaging only when such anomalies are
nodule for a ~1 micron3 computational facility drawing ~1000 watts/ detected, and accurately fixing their location to within ~3 microns
m3-Hz (Section 6.5.6 (E)) and operating internally at a ~10 MHz at all times by interrogating a separate microtransponder positional
clock speed. For continuous surveillance of an entire organ to navigation network (Section 8.3.3). At the extreme limits of accuracy,
microkelvin accuracy, up to ~16 million monitoring units are nanorobot waste heat may contribute significant error to thermal
required, dissipating at most ~0.3 watts, which must also be taken measurements. A nanorobot generating waste heat Pheat = 100 pW
into account. (The liver, for example, generates ~10 watts meta- produces a ∆T = 10 microkelvin temperature differential over an X
bolically.) = Pheat / Kt ∆T = 16-micron aqueous path; this nanorobot heat is
Basic Capabilities • Navigation 243
dissipated by thermal conduction to below measurable levels in 150-mm-deep focused beams at 5 x 107 watts/m2 to occlude blood
~CV X2 / Kt ~ 2 milliseconds, approximating the ~1 KHz sampling flow or destroy tumors by creating a spot of intense heat so small
time. that there is a boundary of only ~6 cells between destroyed tissues
and completely unharmed tissues, a ~100 micron spatial resolution.1647
8.4.2 Barographic Navigation As in the case of temperature fields, low-resolution and
The internal pressure field of the human body (already briefly high-resolution barographic maps can be compiled and stored by
summarized in Sections 4.9.1, 6.3.3, and 8.2) is as complex as the barographicytes, then used to diagnose a wide variety of medically
temperature field. (Section 9.4.1 discusses the rheology of the relevant states in organs and throughout the body including
circulation.)361 In general, fluid pressures range from 60-150 mmHg tumors, edemas, excess cranial pressure, general hypertension or
in the heart, arteries and arterioles; ~30 mmHg in the capillaries hypotension, swollen lymph glands, muscle spasms and the like.
and 5-20 mmHg in the veins; 4-30 mmHg in the pulmonary Such maps are also useful in macrosensing, as for instance to help
artery; 9-13 mmHg in the cerebrospinal and synovial fluids; ~1.4 determine if the patient is sitting,3330 standing, prone, inverted, falling,
mmHg in the interstitial fluid between cells; and ~0.9 mmHg mean or floating (Section 4.9.2). Blood pressure increases in patients who
pressure in the lymphatics, with arterial pulsations contributing are exercising, eating a meal, or emotive (e.g., angry), and decreases
1.5-2.2 mmHg oscillations with a maximum of ~5 mmHg in the in patients who are relaxing or sleeping. The typical daily readings
lymphatics. (Systolic pressure may reach a maximum of ~230 mmHg in a hypertensive 35-year-old male might be 150-220 mmHg systolic
during the heaviest exercise.) and 90-140 mmHg diastolic.
As in thermographics, simple barographic demarcation provides However, the amplitude and timing of pressure waves in the blood
a ready means for directing medical nanorobots to a desired treatment vessels permit somewhat clearer positional inferences than is possible
location within the body. Simply pressing down on the surface of with thermographics, in part because the heart is such a strong,
the skin creates an anomalous region of elevated tissue pressure; reliable, and stably-positioned acoustic pulse generator.* Functional
tapping, slapping, or palpitating the body’s surface is also detectable by hemobaric mapping thus may provide useful positional information
in vivo nanorobots (e.g., Section 7.4.2.1). Acoustically active cath- regarding vascular range estimates.
eters inserted transdermally can place a sonic beacon signal near For example, Figure 8.29 shows the change in shape and
almost any target location. Highly focused but relatively low power amplitude of the pressure wave with increasing distance downstream
(to reduce reflection echo detection) ultrasonic columnar or planar from the aortic valve (where the left ventricle of the heart initially
beams of, say, three different frequencies can be directed into the discharges into the descending aorta). There are three features of
body on various trajectories and from various sources. The tiny spot interest. First, each successive profile shifts to the right, suggesting
where all three frequencies are audible at precisely equal intensity marks wave propagation. Second, the sharp dicrotic notch in the pressure
the target, providing 1 mm3 localization accuracy at frequencies 1.5 record (marking the closure of the aortic valve) is gradually lost in
MHz. Focused ultrasound surgery (FUS) and high-intensity focused successive profiles, a clear navigational marker of aortic range.
ultrasound (HIFU) may use ~2-second bursts of 1.7-MHz,
Fig. 8.29. Blood pressure profiles recorded at various distances along the aorta (data from dog aorta; distances measured from beginning
of descending aorta; modified from Olson923).
* In 1998, heart sounds originating from multiple sites within the four chambers of the heart, its valves and the great vessels remained difficult to analyze. Despite the close
coincidence of valve closure and high frequency components in the first heart sound (echocardiographic corroboration), the exact mechanism of sound production was poorly
understood.1302 Phonocardiograms (PCGs) are distorted during transmission through the chest wall; cardiac auscultation, traditionally used to detect a wide variety of normal
and pathological heart conditions, was still more art than science.3339-3342
244 Nanomedicine • Volume I
Third, there is a steepening and increasing of amplitude in markedly from one tissue to another (Fig. 8.31). Comparison of
successive profiles, indicating a rise in peak systolic pressure with the measured profile against a library of such profiles will at least
distance from the heart. This counterintuitive increase is a dynamic narrow the possibilities, if not produce a unique tissue identification.
phenomenon of an elastic branching system with tapered tubes— Local hematocrit (the volume fraction of red cells in whole blood,
with steady flow in a rigid tube of similar diameter and taper, or Hct) varies as a function of microvessel diameter (Fig. 8.32).
pressure always decreases in the direction of flow unless there is Simple omnidirectional echolocation (Section 4.8.2) measures the
deceleration.361 Note that the mean pressure averaged over a full average distance to the nearest red blood cell over many samples—e.g.,
heartbeat still decreases with increasing distance from the aortic the mean center-to-center distance between red cells is ~9.8
valve—by ~4 mmHg over the full length of the aorta—while the microns at Hct 10%, ~6.8 microns at Hct 30%. An acoustic test
amplitude of the systolic/diastolic pressure oscillation nearly pulse travels ~1.5 microns in 1 nanosec, hence Hct 10% and Hct
doubles.361 Measurements in dogs show that this peak pressure pulse 12.7% are distinguishable using one round-trip measurement,
amplification process continues until about the third generation of allowing a medical nanorobot to estimate the local microvessel
arterial branchings, after which both the oscillation and the mean diameter to within approximately ± 10 microns. Given the scatter
pressure decrease gradually downstream along the arterial tree.361 in the data, multiple measurements should improve the accuracy of
These pulse profiles can probably be resolved with sufficient accuracy the estimate.
to allow a medical nanorobot equipped with appropriate pressure Maps of mechanical properties such as strain fields in tissues can
sensors to fix its position along all the main trunks of the arterial also provide useful navigational information but will be more difficult
tree to within at least ~1 cm, and perhaps better. for individual nanorobots to employ directly. Magnetic resonance
Pressure and velocity waveforms change in different ways along elastography (MRE) has already been used experimentally to map
the branches of the tree,924 in part due to reflection at bifurcations, the shear modulus field of a porcine kidney using shear wave excitation
which may allow bloodborne nanorobots to distinguish the organ at 200-400 Hz.928 Shear waves with displacements under 100 nm
in which they currently reside. For instance, the waveforms found were readily observed, and it is believed the technique may be useful in
in the renal and iliac arteries are quite distinct.924 mapping other viscoelastic parameters such as attenuation and
Approximate position in the venous tree is readily inferred as dispersion, allowing more detailed tissue characterization.
well. For example, mean pressure in the venules is ~18 mmHg with Elastographic parameters are highly variable in time as well as space.
fluctuations of amplitude ~3 mmHg; by the time bloodborne For example, the viscoelasticity of cervical mucus secretions swings
nanorobots reach the upper vena cava, near the right atrium of the widely over the course of the menstrual cycle, with a major feature
heart, the mean pressure has fallen to ~2.2 mmHg with pressure occurring at mid-period near ovulation time,922 mirroring the
fluctuations of amplitude ~5 mmHg.361 temperature changes (Section 8.4.1.1)
Microvascular position can also be estimated from various local
pressure measurements.929 For instance, Figure 8.30 shows a typical 8.4.3 Chemographic Navigation
pressure-velocity distribution in arteriovenous microvessels 8-60 The human body is a cauldron of chemical complexity. Of
microns in diameter in the cat mesentery. Knowledge of mean local particular interest to us here are those extracellularly occurring
pressure and flow velocity identifies vessel diameter to within ± 5 chemical species reliably associated with specific locations, functions,
microns. Additionally, these pressure distribution profiles differ or processes that might be useful in navigation. As trivial examples,
high concentrations of hormones or neuropeptides are found in the
endocrine glands or in the nerve tissues; lactic acid is produced in
muscles driven anaerobically; uric acid is heavily concentrated in
urine in the bladder (although high blood levels may indicate gout);
capillary lymph is more watery than thoracic lymph, which in turn
is far richer in histaminase than cervical duct lymph (Section 8.2.1.3).
As with thermal and pressure markers, crude chemical demarcation
markers may be employed to direct medical nanorobots to particular
locations. Such markers may include injected chemical plumes, time
release implants, remote-triggered releasers (e.g., pressure-release
multi-chemical-bearing tattoos), and tissue-coded markers (analogous
to radiolabeled iodine concentrating in the thyroid gland, alkali metal
ions seeking out bone, or cancer-cell-targeted light-sensitive drug
molecules in photodynamic therapy)—all of which may establish
useful localized chemical gradients. The principle difficulty for natural
signal molecules is signal persistence, which may be relatively brief
unless continuous broadcast and artificial (nonabsorbable) signal
molecules are employed. Continuous broadcast creates a detection
sphere of maximum radius Rmax around the broadcast emission point
(Section 7.2.1.5). Use of artificial non-biodegradable molecules
maximizes the signal/noise ratio. Diffusion causes small molecules
to drift ~1 cell width in ~1 second, or ~1 mm in ~1000 seconds
(Section 3.2 and Table 3.4); bulk flow microconvection and increased
effective diffusivity due to natural stirring (Section 3.2.2) further
Fig. 8.30. Pressure-velocity distribution in microvasculature (data limit positional precision.
from cat mesentery; each point represents the average value of 3-5 Use of chemical beacons for chemonavigational triangulation is
measurements; modified from Zweifach and Lipowsky925). not efficient over large distances, since the required volume of signal
Basic Capabilities • Navigation 245
Fig. 8.31. Micropressure distribution profile while passing through two different tissues (data from mesentery and skeletal muscle of the
cat; number of measurements in parentheses; central blood pressure (CBP) is average central arterial pressure from all experiments; modified
from Fronek and Zweifach926).
appear under some conditions3068 could be useful for detecting the Chemical tracking is also feasible. For example, a “bacterium
distribution and clustering of mitochondria. moves through the water (or the liquid interior of your body) in a
Detailed chemomapping of individual patients may allow greasy cloud of its own waste products,”2973 due to the excretion of
customization of standardized human chemographic profiles, e.g., metabolic byproducts through transmembrane pores. Such microbial
to identify problem areas. Chemographicytes may assist in the exhaust plumes might plausibly be detectable for distances up to
mapping process at up to ~KHz sampling frequencies (Section ~100-1000 microns downstream, depending upon bacterial emissions,
8.5.2.1; see also Chapter 19). For instance, regions of hypoxia local fluid flow rates and other factors (Section 7.2.1), possibly
develop in all solid tumors where rapidly dividing cells are supplied permitting tracking and interception by medical nanorobots.
by inadequate or poorly developed vasculature. A continuously Interestingly, quorum sensing among bacteria enables some microbes
updated tissue oxygenation map allows recognition of growing hypoxic to eavesdrop on the chemical communications of other species.3236
regions, permitting prompt detection of nascent tumors, myocardial Developing embryos demonstrate a sophisticated “biological
and cerebral ischemia, cardiorespiratory failure, and rheumatoid positioning system” by which each cell determines its location relative
arthritis (e.g., loss of fluids that provide joint oxygenation). Similarly, a to other cells to eventually produce the appropriate tissue, organ, or
whole-body map of the concentration of intracellularly sampled nerve. For example, members of the “Wnt” and “Hedgehog”
telomerase (or associated proteins such as TRF1/TRF2,3051,3052 Ku, families of signaling proteins help cells (in developing limbs and
and tankyrase,3053 or even telomerase mRNA levels) may provide a organs) to distinguish up from down. As another example, neuron
good first-cut toward a whole-body late-stage cancer map,* since migrations within the developing embryo are thought to be guided
85%-90% of all primary tumors display this biochemical marker.3058 by chemical signposts such as the proteins reelin (released near the
Cancer cells also display above-normal concentrations of β1 integrins, destinations of migrating neurons), mDab1 (which may be a docking
survivin, sialidase-sensitive cancer mucins and leptin receptors such protein activated by reelin),949 and the homeodomain proteins
as galectin-3, and below-normal concentrations of β4 integrins. Other DLX-1 and DLX-2. 950 Neuroblast cells that divide in the
examples include GM2 ganglioside, a glycolipid present on the surface subventricular zone of the lateral ventricle in the brain of adult mice
of ~95% of melanoma cells, with the carbohydrate portion of the migrate a distance of ~3-5 mm to the olfactory bulb; these migrating
molecule conveniently jutting out on the extracellular side of the neuroblasts remain organized in chains until they reach the core of
melanoma cell membrane.1403 GM2 and another ganglioside, GD2, the olfactory bulb, after which they separate and migrate radially as
are expressed in several types of cancer cells including small-cell individual cells to more peripheral layers, then halt and differentiate
lung, colon, and gastric cancer, sarcoma, lymphoma, and neuro- into neurons.947 During this process, the neural precursors are not
blastoma.1403 Numerous specific markers of disease (an emerging guided by radial glial or axonal fibers, suggesting chemonavigational
field known as molecular epidemiology)1112 are available for detection guidance here too. Similarly, developing neurons shoot out axons
and mapping by nanorobots. whose tips are steered to their destinations by an array of guidance
Another example is the chemographic mapping of organs. In molecules that are fixed on cell surfaces, or are located within the
the liver, hepatocytes located close to the portal vein (acinal Zone 1; extracellular matrix, or are secreted by the axon’s targets—such as
Figure 8.26A) are bathed in blood that is comparatively rich in oxygen the netrins (a chemoattractant group of proteins) and the
and nutrients, with only minimum exposure to metabolic waste semiphorins such as collapsin (a chemorepellant protein).951,1055
products. In Zone 2, the blood is less fresh and wastes are more There is also a chemical “area code” 1495 that is used for cell localization
plentiful. In Zone 3, which extends to the central vein, the blood during extravasation of leukocytes from blood vessels (Section
has little oxygen or nutrients but the highest concentration of 9.4.4.1). Medical nanorobots can be programmed to follow and to
metabolites.936 Metabolic and exocrine secretory activity creates interpret any such positional chemical signposts normally used by
distinct chemical and thermal gradients, clearly defining each lobule. motile cells.
This allows medical nanorobots to navigate between lobules by simply Chemonavigation may also be aided by the detection of
counting the number of lobules traversed, and to navigate within a isozymes—physically distinct forms displaying the same catalytic
chosen lobule by gradient averaging. Changes in measured gradients activity that may be present in different tissues of the same organism,
may evidence a recent ingestion of alcohol or other toxins, or may in different cell types, or in different subcellular compartments in a
record the progression of hypoxia or cirrhosis which invariably begins human being. Isozymes are common in the sera and tissues of all
in Zone 3.936 vertebrates, insects, plants, and unicellular organisms. They are
Chemical localization to specific organs or tissues appears practical commonly used in clinical diagnosis, as, for instance, to distinguish
(Sections 8.2.5 and 8.5.2.2), as does chemical macrosensing of normal serum and serum from patients with a myocardial infarct or
systemic states. For instance, a rise in serum adrenalin accompanied by with liver disease, using a lactate dehydrogenase (LDH) elec-
surges in lactic acid production or oxygen consumption in the lower tropherogram,996,3343-3348 although more recently the utility of isoen-
extremities might raise the reasonable inference that the patient is zymes in some clinical applications has been questioned.3349,3350
panicky and possibly fleeing from something that may be chasing
him. Measurement of the concentration of thiocyanate in salivary 8.4.4 Microbiotagraphics
secretions can distinguish smokers (~9 x 10-3 gm/cm3) from non- While high-speed nanomedical prophylactic measures against
smokers (~2 x 10-3 gm/cm3).943 Measurement of leptin concentrations pathogens will be readily available (e.g., Section 10.4 and Chapter
(a hormone secreted by fat cells) in the blood allows nanorobots to 19), in some cases the physician may wish to obtain an infection
estimate the total amount of fat currently stored in the body, relative to map before beginning treatment. It may also be useful to prepare
the normal baseline of a given person.3265 maps of particular symbiotic, commensal, or parasitic bacterial species,
* Telomerase is a ribonucleoprotein enzyme found principally in the cell nucleus. Telomerase is present in ciliated protozoa in concentrations of ~0.004-1 enzyme molecule
per telomere;3054,3055 with 92 chromosome-tip telomeres, telomerase-active human cell nuclei may contain only 1-100 copies of the enzyme. About 10% of human cancer cells
maintain their telomeres without telomerase.3056 Additionally, while telomerase is not expressed in most human somatic tissues,3057,3058 certain normal human stem cells and
germline populations are telomerase positive3058-3062 and telomerase has been reported in normal human white blood cells and in some noncancerous liver diseases;3063-3065 stem
cells have low but detectable telomerase activity but continue to exhibit telomere shortening throughout life,3060 hence telomerase expression per se is not oncogenic.3066
Basic Capabilities • Navigation 247
or native mobile cellular elements, in the human body, whether for The single most common native cell in the human body is the
scientific or for diagnostic purposes. red blood cell (RBC), or erythrocyte. The average adult male carries
For example, leukocytes and macrophages are readily recognized ~5.2 x 109 RBCs/cm3 (Appendix B) in his ~5400 cm3 blood volume
(Section 8.5.2.2) and could be statistically sampled to produce a (Table 8.1), giving ~28.1 trillion RBCs. The spleen has an additional
crude whole-body leukographic map. A fleet of 2 trillion mapping ~70 cm3 of noncirculating RBC storage volume, giving another 0.4
nanorobots evenly distributed throughout a 0.1 m3 body volume trillion RBCs for a total of ~28.5 trillion RBCs in the body. Also
gives each nanorobot a patrol volume of 50,000 micron3 (~1 capillary confined to the bloodstream are a median ~2.5 x 108 platelets/cm3,
volume). At 310 K, a 1-micron nanorobot of normal density has an ~7.0 x 106/cm3 leukocytes including neutrophils, eosinophils,
average thermal velocity of ~500 microns/sec (Eqn. 3.3). Assuming basophils, lymphocytes and monocytes (Appendix B), plus
a cross-sectional area of ~1 micron2, in 1 second a motile device another ~0.7 trillion platelets sequestered in a circulation-accessible
traveling at this speed may trace out a nonrepeating zigzag path pool in the spleen,2122 giving ~2.1 trillion platelet cells in the human
~500 microns in length, or ~1% of its patrol volume, even while body and a white cell count of 0.4 trillion in the blood. There are
diffusing an additional radial distance of only ∆X ~ 1 micron (Eqn. also ~0.7 trillion lymphocytes in the lymphatic system (Table 8.5)
3.1). During its zigzag course, the device may collide at least once and ~0.2 trillion macrophages and other reticuloendothelial (mono-
with ~1% of the motile body cells or microbiota present within the nuclear phagocyte) cells throughout the human tissues.743 Thus there
patrol volume. If ~10 collisions are required to ensure a positive are ~31.5 trillion native nontissue cells in the human body. There are
identification of a cellular coat, then ~0.1% of the entire target cell also ~40 trillion foreign single-celled bacteria inhabiting the
population present in the patient’s body may be physically sampled, human colon, assuming ~35% of the ~340 cm3 colorectal contents
positively identified, affirmatively counted, and directly associated are bacteria each averaging ~1.8 microns in diameter.
with a specific map voxel in ~1 sec—a sufficient statistical sample As for tissue cells, a 70 kg adult male reference body includes
for most purposes, even given the likelihood of substantial ~28.8 kg of body cell mass (BCM), defined as the amount of body
double-counting. A whole-body white-cell-count map to ~1 cm3 tissue calculated to contain potassium at a concentration of 120
voxel resolution requires ~106 bits to describe and may be retrieved mEq (millimole)/kg.817 This figure is favored over the LBM (lean
by the physician in 1 sec using an in vivo mobile acoustic com- body mass) because BCM defines the component of body composition
munication network; a ~1 mm3 resolution map (~109 bits) fine that contains the oxygen-containing, potassium-rich,
enough to discover even the smallest macroscale infection site glucose-oxidizing, work-performing tissue and contains all cellular
requires ~100-1000 seconds to outmessage in this manner. A elements concerned with respiration, physical and chemical work,
sequence of readouts at regular intervals provides a clear strategic and mitotic activity.
overview of the developing infection—some bacterial infections Most human cells fall within a size range of 2-120 microns.866
cause a selective increase in neutrophils, while infections with some Platelets are ~2 microns, red cells ~3 microns x ~8 microns, neutro-
protozoa and other parasites cause a selective increase in eosinophils.531 phils ~8-10 microns, lymphocytes ~6-12 microns in size, exocrine
Whole-body vascular (e.g., bloodstream only) surveys of red cells, cells ~10 microns, fibroblasts 10-15 microns, osteocytes ~10-20
white cells, platelets or pathogens will proceed ~10 times faster microns including processes, chondrocytes and liver cells ~20
using a nanorobot fleet of similar number density, owing to the microns, goblet and ciliated cells ~50 microns long and 5-10
reduced search volume, though at the cost of slightly increased microns wide, macrophages at ~20-80 microns, hematopoietic stem
onboard computational complexity needed to compensate for the cells ~30-40 microns, and adipocytes filled with stored lipid are
moving reference frame. typically 70-120 microns in diameter (but may be up to five times
Discussion of possible protein coat marker modifications that larger in very obese people).935-936 Neurons vary enormously in size
bacteria or other pathogens might evolve in a nanomedical and shape, their bodies ranging from 4-120 microns in diameter
technology-rich treatment environment as a defensive tactic is with axonal processes varying between ~0.1-20 microns in diameter
deferred to Chapter 17. and ranging in length from a few microns up to ~1 meter;799 muscle
cells (~30% of all tissue cells) also vary from 10-100 microns in
8.5 Cytonavigation diameter and may run up to ~50 cm in length. However, the
Cytonavigation is the study of navigation in and around the “average” tissue cell, if such a thing may be said to exist, is probably
individual cell. The topic is large and the present work can only ~20 microns in diameter,313 weighing ~10 nanograms.
scratch the surface. After a brief cytometric overview (Section 8.5.1), Since the reference human has a mean density of 1064 kg/m3
the discussion here addresses four important issues—distinguishing excluding bone minerals,817 a BCM of 28.8 kg makes ~0.027 m3 of
whether an encountered cell is self or nonself (Section 8.5.2.1), cells; taking 8000 micron3 per cell gives a total of ~3.4 trillion tissue
determining the exact cell type of an encountered cell (Section cells. Thus the human body contains ~35 trillion native cells, of
8.5.2.2), the significant features and landmarks inside living cells, which only ~10% are tissue cells, plus ~40 trillion foreign (mostly
called cytography (Section 8.5.3), and special considerations involved bacterial) cells in the colon for a grand total of 75 trillion cells. The
in navigating the cellular nucleus, called nucleography (Section number of tissue cells comprising each organ listed in Table 8.9
8.5.4). Issues relating to membrane penetration and cell entry by may be crudely estimated by multiplying tissue volume by the mean
medical nanorobots are largely deferred to Section 9.4.5. tissue cellular number density, or ~125 million cells/cm3.
* Classical HLA tissue typing relied solely upon observations of cytotoxic reactions of human alloantisera with live lymphocytes. By 1998 it was apparent that this approach
fails to distinguish all HLA alleles, and typing based on nucleotide sequences had begun to replace serological methods.1028
Basic Capabilities • Navigation 249
A1 A28 B5 B38 B5102 B65 Cw1 Dw1 Dw14 DR1 DR12 DQ1 DPw1
A2 A29 B7 B39 B5103 B67 Cw2 Dw2 Dw15 DR103 DR13 DQ2 DPw2
A203 A30 B703 B3901 B52 B70 Cw3 Dw3 Dw16 DR2 DR14 DQ3 DPw3
A210 A31 B8 B3902 B53 B71 Cw4 Dw4 Dw17 DR3 DR1403 DQ4 DPw4
A3 A32 B12 B40 B54 B72 Cw5 Dw5 Dw18 DR4 DR1404 DQ5 DPw5
A9 A33 B13 B41 B55 B73 Cw6 Dw6 Dw19 DR5 DR15 DQ6 DPw6
A10 A34 B14 B42 B56 B75 Cw7 Dw7 Dw20 DR6 DR16 DQ7
A11 A36 B15 B44 B57 B76 Cw8 Dw8 Dw21 DR7 DR17 DQ8
A19 A43 B16 B45 B58 B77 Cw9 Dw9 Dw22 DR8 DR18 DQ9
A23 A66 B17 B46 B59 B7801 Cw10 Dw10 Dw23 DR9 DR51
A24 A68 B18 B47 B60 Dw11 Dw24 DR10 DR52
A25 A69 B22 B48 B61 Bw4 Dw12 Dw25 DR11 DR53
A26 A74 B27 B49 B62 Bw6 Dw13 Dw26
B35 B50 B63
B37 B51 B64
MHC Class III genes encode the ~20 proteins that comprise the example, 16% of the human population has HLA-A1 but only 10%
complement system, including Bf, C2, C4A and C4B. These are have HLA-B8.955 As an additional complication, the specificities
functionally related in that they are each involved in the activation of are not strictly independent—given the above probabilities, the com-
the C3 component (Chapter 15). They allow human cell membranes bination A1B8 should occur with a frequency of 1.6%, but the
to be distinguished from nonhuman (e.g., bacterial) membranes, a actual observed frequency is 8.8%. 955 Members of the same
crude form of self identification, but are nonspecific and thus play geneological family are also far more likely to have matching MHC
no role in distinguishing the cells of one patient from those of Class II proteins than randomly selected unrelated individuals. Subject
another. to these provisos, the existence of ~500 million distinct classical
The >3.8 megabase gene locus of the MHC is the most poly- HLA combinations originally seemed to imply that only ~10 people
morphic (having alternative types) in the human genome; the number in a worldwide population of 5 billion people shared exactly the
of observed MHC (HLA) types appears to be near the optimum same self-molecules, making each person literally “one in a billion.”
number based on evolutionary simulation experiments using a cellular However, based on nucleotide sequencing, as of 1998 there were
automaton model of antigen-lymphocyte interactions.958 Table 8.13 estimated to be >1016 known combinations, making each person
summarizes classical serological and modern nucleotide-based HLA quite histocompatibility-unique.
specificities that were recognized as of 1998. (Not shown are several MHC Class I and Class II self-molecules are manufactured in
“public antigens” such as HLA-DRw52 and DRw53 which, like the rough endoplasmic reticulum (Section 8.5.3.5) and are then
MHC Class III proteins, are essentially nonspecific.) The delivered to the plasma membrane (Section 8.5.3.2) for presentation
HLA-uniqueness of an individual patient can only be estimated to the extracellular environment. A typical cell may have
because the specificities do not occur with equal probability. For 15,000-30,000 Class I molecules (~10-20/micron2) at its surface; a
250 Nanomedicine • Volume I
cell expressing Class II proteins may display 50,000-500,000 Class surface ranges from 1-2 x 106 (~10,000-20,000/micron2); in 75%
II molecules (~40-400/micron2) at its surface.439,3453 A nanorobot of Type A individuals, “double-length” A antigens are also present
chemotactic sensor pad (with appropriate reversible binding sites; (~500/micron2). MNSs factor antigens range from ~2700-5400/
Section 4.2.8) measuring 50-300 nm in diameter pressed against a micron2, Rh factor antigens ~100-300/micron2, Lewis factor antigens
cell surface will overlay at least one of each class of self-molecule. ~30/micron2, and so forth. Again assuming a ~(300 nm)2 chemotactic
Vesicle-transported proteins (like MHC proteins) have an estimated sensor pad, from Eqn. 8.5 a nanorobot searching for a particular set
lateral diffusion coefficient in the cell plasma membrane of ~2 x 10-14 of ~30 blood group antigens (Nspec = 30) requires tmeas ~ 0.03 sec to
m2/sec, 531 so an MHC molecule (assumed diameter ~10 nm) make the self/nonself determination for a particular red cell membrane
experiences an effective absolute viscosity of ηantigen ~ 2.3 kg/m-sec it has encountered. A nanorobot seeking to determine the complete
(Eqn. 3.5) and thus migrates across the plasma membrane surface blood group type of the membrane (e.g., in mapping mode) must
under the sensor pad from center to periphery of the sensor pad in in the worst case search all 254 known blood antigen types (Nspec =
20-600 millisec (vs. 0.01-0.5 millisec for phospholipid molecules 254), requiring at most tmeas ~ 2 sec.
in the membrane; Eqn. 3.1), allowing a single binding event and Direct detection of blood group antigens, or of antibodies to
hence a detection in much less than a second. blood group antigens in body fluids, permits at least partial
Consider a chemotactic sensor pad of area Apad overlaying Nantigen self-recognition by bloodborne nanorobots without the need for
antigen molecules, comprising an array of Nsensor chemosensors each any direct cell contact, which may be useful in establishing theater
of area Asensor. If a single detection event requires τ = 3 π ηantigen protocols (Chapter 12). ABH, Lewis, I and P blood group antigens
Rantigen ∆X2 / kT seconds (Eqn. 3.1) where ∆X is the mean antigen are found in blood plasma, and serum IgM-class antibodies associated
migration distance in the cell membrane, then the time needed to with the carbohydrate antigens of the ABO, Lewis, and P blood
measure Nspec specificities assuming a minimum of Nencounter contact group systems are almost universal. Anti-M and anti-N are common,
events to ensure a binding event is tmeas = τ (Nspec Nencounter / Nsensor). anti-Sda is found in 1-2% of normal people, and anti-Vw or anti-Wra
Since Nsensor = Apad / Asensor and ∆X2 = Asensor Nspec / Nantigen, then: is found in ~1% of patients.960 In persons who previously have been
2
3 π ηantigen R antigen N encounter N spec A 2sensor
t meas = (sec)
A pad N antigen kT
{Eqn. 8.5}
Taking Rantigen = 5 nm, Nencounter = 10, Asensor = 100 nm2, Apad =
90,000 nm2, Nantigen = 1, and T = 310 K, then tmeas ~ (3 x 10-5)
Nspec2. A nanorobot searching for a particular set of 7 HLA proteins
(Nspec = 7) thus requires tmeas ~ 0.001 sec to make the self/nonself
determination for a particular cell membrane it has encountered. A
nanorobot seeking to determine the HLA type of the membrane
(e.g., in mapping mode) must in the worst case search all (266 +
314 =) 580 HLA protein types (Nspec = 580), requiring at most tmeas
~ 10 sec.
The principal exceptions to the MHC system are the red blood
cells, the most numerous native cells in the human body (Section
8.5.1). Red cells do not express HLA proteins. Rather, the erythrocyte
surface expresses a complex set of at least 22 blood group systems
and 7 antigen collections, as listed in Table 8.14, plus 47 additional
high-prevalence (public) and low-prevalence (private) antigens not
associated with known systems or collections, also grouped into
numbered series (not shown in the table).957 Some of these antigen
systems are carbohydrates, like the familiar ABO system, which is
coded by genes located on chromosome 9; others are nonglycosylated
proteins, glycoproteins or glycosphingolipids. Each system or
collection is expressed on every erythrocyte surface, so an exhaustive
assay of all 30+ antigen systems allows at least ~1019 different
combinations to be distinguished. Most combinations are extremely
rare, so the practical net specificity of the entire blood group set is
considerably less in the human population, though probably still
much higher than the HLA system.
ABO is the best-known blood group system. Erythrocytes are
typed as A, B, AB, or O, the latter indicating a lack of expression of
either A or B. The H antigen is the precursor of A and B (Fig. 8.35)
and is found on all red cell surfaces (up to ~1.7 x 106 antigens/RBC, or
~18,000/micron2) except those of patients with the rare Oh Bombay
or H-null phenotype. Because H is a precursor of A and B, type O
erythrocytes have more H antigen than A or B erythrocytes, which in
turn have more H antigen than AB erythrocytes (which express both Fig. 8.35. Structure of ABO blood system red cell surface carbohydrate
A and B antigens). The number of A and B antigens on the red cell antigens (modified from Cunningham959).
Basic Capabilities • Navigation 251
Table 8.14. Blood Group Systems and Antigen Collections Recognized in 1997957
Table 8.14. Blood Group Systems and Antigen Collections Recognized in 1997957 (cont’d)
Antigen collections:
Indian 2
Cost 2
Ii 2 I I adult(+I-i) common I adult: 1-5 x 103
i Iint(+I-i) rare
i cord (-I+i) common
i adult(-I+i) <0.01%
Er 2
(P,Pk,LKE) 3
(Lewis-like: Lec, Led) 2
Wright 2
Low-prevalence (private) 36
High prevalence (public) 11
Total Number of Antigens = 254
Total Number of Combinations > 1.84 x 1019
pregnant or transfused, 0.16-0.56% have anti-D (Rh group) and of cell types Ncell ~ Ngene1/2 = 370 cell types for humans with Ngene
0.14-0.60% have anti-E and anti-C (Rh system), anti-K and anti-Fya, ~ 105 genes).1266,766
and several other antibodies in serum.960 Body secretions contain Medical nanorobots can probably distinguish all of these cell
ABH, I and Lewis antigen but no P system antigens; Sda antigen is types by surface chemical assay using chemosensor pads (Section
found in most body secretions, with the greatest concentration in 4.2.8). Antigenic specificities exist for species (xenotype), organ,
the urine.960 tissue or cell type for almost all cells—possibly involving as many as
Other partial exceptions to the MHC system are the ~10 4 distinct antigens. A comprehensive analysis of the
keratinocytes, smooth muscle cells, and fibroblasts, which do not cytoimmunography of all cell types is beyond the scope of this book,
constitutively express HLA Class II molecules.967 As a result, foreign but a few examples of cell type-specific antigenic markers can be
fibroblasts cannot induce the generation of required helper T cells given to illustrate the tremendous power of this approach.
and thus stimulate no rejection response when transplanted between In the case of red blood cells, antigens in the Rh, Kell, Duffy,
hosts. and Kidd blood group systems are found exclusively on the plasma
membranes of erythrocytes and have not been detected on platelets,
8.5.2.2 Identification of Cell Type lymphocytes, granulocytes, in plasma, or in other body secretions
How many different cell types are there in an adult human body? such as saliva, milk, or amniotic fluid.960 Thus detection of any
The usual estimate based on histological studies is that there are member of this four-antigen set establishes a unique marker for red
~200 distinct kinds of cells that show alternate structures and cell identification. MNSs and Lutheran antigens are also limited to
functions.312,531,866 These represent discrete categories of cell types erythrocytes with two exceptions: GPA glycoprotein (MN activity)
of markedly different character, not arbitrary subdivisions along a also found on renal capillary endothelium,961 and Lub-like glyco-
morphological continuum. Traditional classification is based on protein which appears on kidney endothelial cells and liver hepa-
microscopic shape and structure, and on crude chemical nature (e.g., tocytes.962 In contrast, ABH antigens are found on many non-RBC
affinity for various stains), but newer immunological techniques tissue cells such as kidney and salivary glands.955 In young embryos
have revealed, for instance, that there are more than 10 distinct
ABH can be found on all endothelial and epithelial cells except
types of lymphocytes. Pharmacological and physiological tests have
those of the central nervous system.963 ABH, Lewis, I and P blood
revealed many different varieties of smooth muscle cells—for
group antigens are found on platelets and lymphocytes, at least in
example, uterine wall smooth muscle cells are highly sensitive to
estrogen and (in late pregnancy) oxytocin, while gut wall smooth part due to adsorption from the plasma onto the cell membrane.
muscle cells are not. Appendix C presents a catalog of the cells of Granulocytes have I antigen but no ABH.960
the human body, slightly modified from an original compilation by Platelets also express platelet-specific alloantigens on their plasma
Alberts et al.531 The catalog is organized by cellular function and membranes, in addition to the HLA antigens they already share
omits subdivisions of smooth muscle cells, neuron classes in the with body tissue cells. Currently there are five recognized human
CNS, various related connective tissue and fibroblast types, and platelet alloantigen (HPA) systems that have been defined at the
intermediate stages of maturing cells such as keratinocytes (only the molecular level (Table 8.15). The phenotype frequencies given are
stem cell and differentiated cell types are given). Otherwise, the for the Caucasian population; frequencies in African and Asian
catalog is said to represent an exhaustive listing of the ~219 cell populations may vary substantially. For instance, HPA-1b is
varieties found in the adult human phenotype. (Complexity theory expressed on the platelets of 28% of Caucasians but only 4% of
and phylogenetic comparisons suggest that the maximum number the Japanese population.964 A medical nanorobot that detects a
Basic Capabilities • Navigation 253
The cadherin molecular family of 723-748-residue transmembrane structures.972,973 Distinct CD44 cell surface molecules have been
proteins provides yet another avenue of cell-cell adhesion that is found in lymphocytes, macrophages, fibroblasts, epithelial cells, and
cell-specific.977 Cadherins are linked to the cytoskeleton. The classical keratinocytes. CD44 expression in the nervous system is restricted
cadherins include E- (epithelial), N- (neural or A-CAM), and to the white matter (including astrocytes and glial cells) in healthy
P- (placental) cadherin, but in 1998 at least 12 different members young people, but appears in gray matter accompanying age or
of the family were known.980 They are concentrated (though not disease.972 A few tissues are CD44 negative, including liver hepa-
exclusively found) at cell-cell junctions on the cell surface and tocytes, kidney tubular epithelium, cardiac muscle, the testes, and
appear to be crucial for maintaining multicellular architecture. Cells portions of the skin.972
adhere preferentially to other cells that express the identical cadherin The selectin family of ~50 kilodalton cell adhesion receptor glyco-
type. Liver hepatocytes express only E-; mesenchymal lung cells, protein molecules976,978 can recognize diverse cell-surface antigen
optic axons and neuroepithelial cells express only N-; epithelial lung carbohydrates and help localize leukocytes to regions of inflammation
cells express both E- and P-cadherins. Members of the cadherin (leukocyte trafficking). Selectins are not attached to the cytoskeleton.980
family also are distributed in different spatiotemporal patterns in Leukocytes display L-selectin, platelets display P-selectin, and
embryos, with the expression of cadherin types changing dynamically endothelial cells display E-selectin (as well as L and P) receptors.
as the cells differentiate.977 Cell-specific molecules recognized by selectins include tumor
Carbohydrates are crucial in cell recognition. All cells have a mucin oligosaccharides (recognized by L, P, and E), brain glycolipids
thin sugar coating (the glycocalyx; Section 8.5.3.2) consisting of (P and L), neutrophil glycoproteins (E and P), leukocyte
glycoproteins and glycolipids, of which ~3000 different motifs had sialoglycoproteins (E and P), and endothelial proteoglycans (P and
been identified by 1998. The repertoire of carbohydrate cell surface L).976 The related MEL-14 glycoprotein homing receptor family
structures changes characteristically as the cell develops, differentiates, allows lymphocyte homing to specific lymphatic tissues coded with
or sickens. For example415: “vascular addressin”—cell-specific surface antigens found on cells
in the intestinal Peyer’s patches, the mesenteric lymph nodes,
1. The array of carbohydrates on cancer cells is strikingly different lung-associated lymph nodes, synovial cells and lactating breast
from that on normal cells. endothelium. Homing receptors also allow some lymphocytes to
distinguish between colon and jejunum.937,974 Selectin-related
2. A unique trisaccharide (SSEA-1 or Lex) appears on the surfaces
interactions, along with chemoattractant receptors and with
of cells of the developing embryo exactly at the 8- to 16-cell
integrin-Ig, regulate leukocyte extravasation (Section 9.4.4.1) in
stage when the embryo compacts from a group of loose cells
series, establishing a three-digit “area code” for cell localization in
into a smooth ball.
the body.1495
3. Bacterial pathogens often use cell-specific sugars981 to guide them Viral capsid proteins are readily recognized, permitting identifica-
to their preferred targets—E. coli are abundant in tissues tion of many virus species.3371-3375 Enveloped viruses, which have
surrounding the ureters leading from kidneys to bladder but acquired a lipid membrane coating borrowed from the host cell upon
are rarely found in the upper respiratory tract; group A strep- release,1969,3375 will be more difficult to detect by simple surface
tococci, which colonize only the upper respiratory tract and skin, marker sensing. A lipid-penetrating sensor or a host-cell “decoy”
rarely cause urinary tract infections; the gonorrhea organism sensor (activating membrane fusion protein release (Section 9.4.5.4)
Neisseria gonorrhoeae adheres only to cells of the genital and oral by the virus, thus revealing its true identity) may be more useful.
epithelia but not to cells of other organs.415 These bacterial Finally, cells may be typed according to their indigenous trans-
carbohydrate specificities (e.g., carbohydrate-specific bacterial membrane cytoskeleton-related proteins. For example, erythrocyte
adhesins, lectins, and glycoconjugates) have been at least partially membranes contain glycophorin C (~25 kilodaltons, ~3000 molecules/
catalogued.981,3356-3370 and molecular dynamics studies have micron2) and band 3 ion exchanger (90-100 kilodaltons, ~10,000
begun.3353-3355 molecules/micron2);980,3655 platelet membranes incorporate the GP
Ib-IX glycoprotein complex (186 kilodaltons); cell membrane
Carbohydrate motifs are in theory more combinatorically
extensions in neutrophils require the transmembrane protein
diverse than nucleotide- or protein-based structures. While nucleotides
ponticulin (17 kilodaltons); and striated muscle cell membranes
and amino acids can interconnect in only one way, the monosaccharide
contain a specific laminin-binding glycoprotein (156 kilodaltons)
units in oligosaccharides and polysaccharides can attach at multiple
at the outermost part of the transmembrane dystrophin-glycoprotein
points. Thus two amino acids can make only two distinct dipeptides,
complex.980 There are also a variety of carbohydrate-binding proteins
but two identical monosaccharides can bond to form 11 different
disaccharides because each monosaccharide has 6 carbons, giving (lectins) that appear frequently on cell surfaces, and can distinguish
each unit 6 different attachment points for a total of 6 + 5 = 11 different monosaccharides and oligosaccharides.415 Cell-specific
possible combinations. Four different nucleotides can make only lectins include the galactose (asialoglycoprotein)-binding and
24 distinct tetranucleotides, but four different monosaccharides can fucose-binding lectins of hepatocytes, the mannosyl-6-phosphate (M6P)
make 35,560 unique tetrasaccharides, including many with branching lectin of fibroblasts, the mannosyl-N-acetylglucosamine-binding
structures.415 A single hexasaccharide can make ~1012 distinct lectin of alveolar macrophages, the galabiose-binding lectins of
structures, vs. only 6.4 x 107 structures for a hexapeptide; a 9-mer uroepithelial cells, and several galactose-binding lectins in heart, brain
carbohydrate has a mole of isomers.3122 and lung.415,970,981,3361
The coded sugar coating of red cells has already been described Each cell expresses a different set of genes from the genome, and
(Fig. 8.35). As another example, the CD44 family of transmem- each gene normally represents a different protein (although in some
brane glycoproteins are 80-95 kilodalton cell adhesion receptors cases alternate splicing can generate several proteins from the same
that mediate ECM binding, cell migration and lymphocyte hom- gene; Chapter 20). Thus it seems plausible to conclude that each
ing. CD44 antigen shows a wide variety of cell-specific and different cell type uses a unique constellation of proteins in its
tissue-specific glycosylation patterns, with each cell type decorating construction which can be detected as a set by nanorobot
the CD44 core protein with its own unique array of carbohydrate chemosensors, thus unambiguously identifying the cell type.
Basic Capabilities • Navigation 255
(Of course, possibly up to ~50-70% of the proteins in different 8.5.3.1 Overall Cellular Structure
cells may be the same, serving common “housekeeping” functions.) As recently as the late 1970s, the cell was often incorrectly
If there are ~400 cell types (including all varieties of smooth muscle described as a water-filled membranous sac enclosing a loosely
cells, neuron cells, and other cytochemically distinct cell subcategories structured population of discrete organelles. In reality, the interior
not fully enumerated in Appendix C), then every cell type in the of a cell is extremely compact, only a few times more open than a
catalog may be uniquely identified using as few as ~log2(400) ~ 9 hydrated protein crystal.941 The cell interior is crisscrossed by many
binary antigenic markers. Given that Nature has employed ~580 tens of thousands of cytoskeletal filaments of various gauges, attaching
markers among the HLA specificities and ~254 markers in the blood organelles to the nucleus, the plasma membrane, the ECM, and to
group systems to distinguish self from nonself, it is clear that biological each other.942
systems may employ considerable multifunctionality and redundancy. Cells also have various shapes. Most cells are surrounded by and
By 1998 a complete catalog of all cell-specific antigens had not yet are anchored to neighboring cells. Such immobilized cells usually
been compiled. However, the completion of sequencing of ~90% assume a polyhedral shape. Specialized cells adopt shapes related to
of the human genome by the spring of 20003186 (with the complete the specific functions they perform. A dramatic example is the nerve
version finished by 2002-20033186,3187), and foreseeable advances cell, which has one or more cylindrical processes extending from
in DNA chip technology (used to sample gene expression patterns), the cell like the branches of a tree, which processes allow the cell to
should allow the rapid determination of unique sets of cell-specific receive and to transmit electrical signals.
antigens by circa 2002-2005. From the nanomedical perspective, the cell (Fig. 8.36) may be
In the worst case, 9 unique antigenic markers would be required regarded as a large machine constructed of many smaller
for each of at most ~400 cell types, giving a maximum of 3600 machines.182 These smaller machines are the organelles. Organelles
antigenic markers needed to positively identify all cell types. From are typically 0.5-3 microns in diameter, roughly the same size as the
Eqn. 8.5, a ~(300 nm)2 chemotactic pad with Nspec = 3600 implies largest bloodborne medical nanorobots. Table 8.17 is a very
a maximum cell typing measurement time tmeas ~ 400 sec in mapping approximate quantification of the known classes of cellular organelles
mode. If a more plausible working set of ~300 key antigenic markers and other major cellular components. Cytoskeletal number densities
will suffice, then tmeas ~ 3 sec in mapping mode. On the other hand, are crude but self-consistent estimates. Actual data may differ widely
a nanorobot searching for a particular set of Nspec = 9 binary antigenic from the values given in the table depending upon:
markers (e.g., seeking only liver cells, rejecting all nonliver cells)
requires just tmeas ~ 0.002 sec to make the cell-type determination. 1. size, age, and type of cell;
2. global and local respiration, nutrition and energy demand;
8.5.3 Cytography
Cytography is concerned with the “geography” of the cell and 3. tissue and organ location;
directing navigation through the intracellular spaces. Discussion of 4. environmental factors such as temperature, pressure, salinity,
the nucleus, the largest and most important cellular organelle, is ECM activity, and extracytosolic toxicology; and
deferred to Section 8.5.4. Methods of cell entry are described in
Section 9.4.5. 5. cellular secretory and mitotic status.
Organelles represent the principal metabolic and structural machinery
of the cell. Each organelle type or cellular component is engineered
to carry out specific functions while maintaining a specific structure, as
described briefly below.
The small size of most organelles makes intra-organelle locomotion
by whole nanorobots difficult or impossible, with the possible
exception of the nucleus (Sections 8.5.4 and 9.4.6). This does not
Fig. 8.36. Schematic cutaway view of a typical human cell (redrawn Fig. 8.37. Fluid mosaic model of the lipid bilayer membrane, with
from Guyton863). embedded proteins (redrawn from Murray et al996).
256 Nanomedicine • Volume I
Table 8.17. Approximate Quantification of the Components of a Typical 20-µm Human Tissue Cell531,997
Typical Typical Typical Total Item Total Item Total Item Total Item
Cellular Component Typical Length or Surface Typical Number Volume Volume Surface Surface
or Organelle Diameter Thickness Area Volume per Cell in Cell as a % Area in Cell Area as a %
Glycocalyx
(external to cell) ~20µm 10-50nm 2400µm2 12-120µm3 1 12-120µm3 2400µm2 0.5%
Plasma membrane
(~900 kg/m3) 20µm 6-10nm 2400µm2 14-24µm3 1 ~20µm3 0.3% 2400µm2 0.5%
Ribosomes 25nm 15-30nm 0.002µm2 8000nm3 ~107 80µm3 1.0% 20,000µm2 4.3%
Rough endoplasmic
reticulum ~µm -- -- 1120µm3 1 1120µm3 14.0% --
Cisternae -- -- -- 720µm3 -- 720µm3 --
Membrane -- 5-6nm 70,000µm2 400µm3 -- 400µm3 70,000µm2 14.9%
Smooth endoplasmic
reticulum ~µm -- -- 420µm3 1 420µm3 5.3% --
Cisternae -- -- -- 240µm3 -- 240µm3 --
Membrane -- 5-6nm 32,000µm2 180µm3 -- 180µm3 32,000µm2 6.8%
Golgi complex
(~1090 kg/m3) ~µm -- -- 410-510µm 3
1-300 stks 450µm 3
5.6% --
Cisternae -- -- -- 300-400µm3 -- 350µm3 --
Membrane -- avg. 8nm 14,000µm2 110µm3 -- 110µm3 14,000µm2 3.0%
Golgi vesicles
(~1120 kg/m3) 30-80nm -- 0.008µm2 65,000nm3 ~200,000 13µm3 0.2% 1400µm2 0.3%
Secretory vesicles
(~1120 kg/m3) 0.1-1µm -- 0.13µm2 0.004µm3 ~50,000 210µm3 2.6% 6000µm2 1.3%
Glycogen granules
(1560 kg/m3) 10-40nm -- 0.002µm 2
10,000nm 3
~100,000 1µm3
0.01% 200µm 2
0.04%
Lipid droplets
(850 kg/m3) 0.2-5µm -- ~1µm2 0.1µm3 ~100? 10µm3 0.1% 100µm2 0.02%
Vaults 55nm 30nm 0.003µm2 50,000nm3 ~3000 0.16µm3 0.002% 10µm2 0.002%
Lysosomes
(1120 kg/m3) 0.5-1µm -- -- 0.31µm3 ~300 ~90µm3 1.1% --
Body -- -- -- 0.30µm3 -- ~90µm3 --
Membrane -- 5-6nm 2.2µm2 0.01µm3 -- 0.017µm3 600µm2 0.1%
Proteasomes ~11nm ~36nm 0.002µm2 3400nm3 ~107 ~20µm3 0.2% 8000µm2 1.7%
Peroxisomes
(1250 kg/m3) 0.5-1µm -- -- 0.31µm3 ~300 ~90µm3 1.1% --
Body -- -- -- 0.30µm3 -- ~90µm3 --
Membrane -- 5-6nm 2.2µm2 0.01µm3 -- 0.017µm3 600µm2 0.1%
Mitochondria
(1190 kg/m3) 0.5-1µm 2-3µm 6.3µm2 ~1µm3 300-3000 1000µm3 12.5% --
Outer membrane 5-6nm 6.3µm2 0.035µm3 -- -- 6000µm2 1.3%
Inner membrane 5-6nm 30µm2 0.17µm3 -- -- (30,000µm2)
preclude insertion of specialized sensory tools or small manipulatory to ~1 cholesterol molecule for each phospholipid molecule. The
devices into organelle interiors. precise lipid composition of plasma membranes varies from one cell
type to another, and also varies among the membranes of organelles
8.5.3.2 Cell Membrane within each cell type (Table 8.18). Medical nanorobots equipped
The cell and most organelles are individually surrounded by their with suitable chemosensors may access this information, both for
own thin envelope. The envelope surrounding the entire cell is called cell type identification during extracellular navigation and for
the plasma membrane.1968 According to the fluid mosaic model,1189 organelle type identification during intracellular navigation.
all membranes are composed of a double layer of lipid molecules, There are ~5 x 106 lipid molecules in a 1 micron2 area of lipid
called the lipid bilayer, in which proteins are embedded (Fig. 8.37). bilayer531 or ~2.5 bilayer lipid pairs/nm2 of cell membrane surface.
The lipid bilayer acts as a barrier to the diffusion of polar solutes, Thus the plasma membrane of a typical 20-micron human tissue cell
whereas the embedded proteins provide the pathways for contains ~10 billion lipid molecules. Phospholipids are not
covalently bound to each other, so each lipid molecule is free to
1. the selective transfer of certain molecular substances through
move independently, resulting in considerable random lateral
the lipid barrier, and
movement parallel to the bilayer surfaces. The long fatty acid chains
2. the mechanical transfer of information from the ECM into the each include one unsaturated bond, producing a kink in the
interior of the cell. otherwise straight chain that prevents close packing (and solidification).
The chains also wiggle back and forth, so the lipid bilayer has fluidlike
The plasma membrane actually represents only a tiny fraction of characteristics much like a layer of oil on a water surface. Movement of
the total membrane surface in the cell. For example, the combined hydrophilic head groups through the hydrophobic interior of the
membrane surface area of the endoplasmic reticulum (Section membrane is thermodynamically unfavorable. Such flip-flopping,
8.5.3.5) is 44 times larger than the plasma membrane surface area or transverse diffusion, does occur in membrane lipids but is relatively
for a typical human cell (Table 8.17). slow. For instance, a typical phospholipid molecule undergoes trans-
Lipid bilayer plasma membranes are 6-10 nm thick. The major verse diffusion (one flip flop between monolayers) once every
membrane lipids are phospholipids, fatty acid chains in the range several hours in a lipid bilayer. By contrast, lateral diffusion of
of 16-18 carbons long; chains with fewer than 12 carbons cannot phospholipids (movement within each monolayer) is so rapid that
form a stable bilayer.939 Phospholipid chains are amphipathic a lipid molecule can move 10 microns (the equivalent of ~12% of
molecules—one end, the head, has a negatively-charged (polar) cell circumference) in a few seconds.939 (But see Section 9.4.3.3
region, while the remainder of the molecule, the tail, consists of
regarding the membrane-skeleton fence model.)
two (nonpolar) long fatty acid chains. The phospholipids in cell
Membrane proteins are embedded in the lipid bilayer plasma
membranes self-organize into a bimolecular layer, with the nonpolar
membrane. Indeed, it has been said that the lipid bilayer serves as a
fatty acid chains in the middle. The polar regions are oriented
toward the membrane surfaces due to their attraction to the polar “solvent” for membrane proteins.531 The plasma membrane contains
water molecules in the extracellular and cytosolic fluids (Fig. 8.37). roughly equal masses of lipid and protein (Table 8.18). However,
The plasma membrane also contains other lipids (Table 8.18). the mass of an individual protein molecule is much larger than the
For example, cholesterol, a steroid lipid, acts as a “mortar” that fills mass of any lipid molecule, so there are 10-100 times more lipid
in small gaps in the phospholipid structure, thus improving membrane molecules than protein molecules.997 The plasma membrane of a
impermeability to small water-soluble molecules like glucose by a typical 20-micron human tissue cell contains ~0.1 billion protein
factor of ten. Cholesterol also acts as a membrane antifreeze agent, molecules.
decreasing bilayer fluidity at higher temperatures (e.g., raising lipid There are two classes of membrane proteins: Integral (intrinsic)
bilayer “melting point”) and preventing hydrocarbon chains of membrane proteins and peripheral (extrinsic) membrane proteins.
phospholipids from aggregating at lower temperatures (e.g., lowering Integral membrane proteins are closely associated with membrane
membrane “freezing point”). Plasma membranes may contain up lipids and cannot be extracted from the membrane without disrupting
Lipid Class:
Cholesterol 17% 23% 22% 3% 6% 0%
Phospholipids
Phosphatidylethanolamine 7% 18% 15% 35% 17% 70%
Phosphatidylserine 4% 7% 9% 2% 5% trace
Phosphatidylcholine 24% 17% 10% 39% 40% 0%
Sphingomyelin 19% 18% 8% 0% 5% 0%
Glycolipids 7% 3% 28% trace trace 0%
Other lipids 22% 13% 8% 21% 27% 30%
258 Nanomedicine • Volume I
the lipid bilayer. Like phospholipids, integral proteins are The plasma membrane also contains small amounts of carbo-
amphipathic. Polar amino acid side chains lie in one region of the hydrate. This carbohydrate is covalently linked to some of the
molecule and nonpolar side chains are in a separate region. Thus membrane lipids and proteins. Carbohydrate portions of the
integral proteins vertically align with the amphipathic lipids in the membrane glycoproteins (e.g., Section 8.5.2) are always located at
plasma membrane—protein polar regions position themselves at the extracellular surface, forming the glycocalyx (together with
the surfaces in association with polar water molecules, while the collagen proteins and glycosaminoglycans, aka “mucopolysaccharides”).
protein nonpolar regions are attracted to the interior in association The red cell membrane, for instance, contains 52% protein, 40%
with the nonpolar fatty acid chains at the center of the lipid bilayer lipid, and 8% carbohydrate by weight.939 A small proportion of
membrane (Fig. 8.37; see also Figures 8.33 and 8.34). Many membrane carbohydrate is glycolipids, but most is in the form of
integral proteins can move laterally in the membrane; others are glycoproteins. The sugar units are usually short oligosaccharide
immobilized by links to a network of peripheral proteins located chains attached to serine, threonine, or asparagine side chains.
near the cytoplasmic surface of the membrane. How fast do embedded The glycocalyx, or fuzzy coat, lies exterior to the plasma membrane.
proteins laterally diffuse? If a single hybrid cell is created by fusing In most cell types, the glycocalyx is 10-100 nm thick consisting of
two cells having radiochemically-tagged membrane protein molecules, tangled strands of up to ~10,000-atom glycoproteins each measuring
~1 hour is needed for the two populations of transmembrane protein 5-8 nm thick and up to 100-200 nm in length. 531,998 The
molecules to become thoroughly randomly intermixed.939 experimentally-measured thickness of the glycocalyx of various cells
Most integral proteins are transmembrane proteins with polar ranges from ~6 nm for human blood-group A erythrocytes,3163 to
regions at each end and a nonpolar region in the middle, spanning 13 nm in Eimeria microgametes,3588 20-30 nm for chick fibroblasts,3589
the entire membrane. These polar regions may extend up to 10-20 30-60 nm for human bladder cells,3590 40-70 nm for human lympho-
nm beyond the surface of the lipid bilayer, forming channels through cytes,3591 ~50 nm for human myocardial cells,3592 56 nm for frog
which water, ions, or chemical signals can pass into the cell (Section mesenteric microvessels,3593 >70 nm for rat vasculature,3594 ~81 nm
3.3.3). A few integral proteins do not cross the entire membrane for rabbit endothelial cells of the systemic arteries (e.g. carotid),3164
and are found only in the outer or inner layer, performing functions and 90 nm for human cochlear hair cells.3595 The most prominent
localized to only one membrane surface. These proteins are also glycocali are found in intestinal epithelial cells, where the fuzzy coat
amphipathic and oriented parallel to the lipid molecules. Some are may reach 150 nm in thickness and consists primarily of oligosac-
anchored to the membrane by covalent bonds with phospholipids. charide chains 1.2-2.5 nm in diameter.939 (There is one report of
For example, in the red blood cell membrane, glycophorin spans rat venule endothelial cells with glycocali up to 870 nm thick,3594
the entire membrane, all glycolipids and most of the phosphati- and a few macroscopic parasites such as the fork-tailed cercariae of
dylcholine are in the outer monolayer, and the majority of the the blood fluke Schistosoma mansomi have glycocali 500-2000 nm
phosphatidylethanolamine and phosphatidylserine molecules are thick.3596)
in the inner monolayer where most of the proteins reside. (Cholesterol The glycoproteins of the glycocalyx provide a set of highly specific
is distributed about equally between the two layers.) The number biological markers that are readily recognizable by suitably equipped
of different integral proteins in a membrane ranges from 6-8 in the medical nanorobots. These markers assist normal cellular interactions
sarcoplasmic reticulum to over 100 in the plasma membrane by allowing blood group recognition, bacterial and toxin binding
(including enzymes, transport and structural proteins, antigens and sites, egg recognition by sperm, immune responses, guidance of
receptors), many of which are present in only a few copies per cell, embryonic development, and cellular lifespan determination (e.g.
although the 135 micron2 red cell surface has ~1 x 106 copies of the the red cell coat thins with age which may serve as an RBC removal
glycophorin A molecule and ~1 x 105 copies of glycophorin B.1091 signal for phagocytes and in the liver).940
Peripheral membrane proteins are bound to the hydrophilic The cell’s surface is also strewn with numerous pits and
regions of integral membrane proteins or to the hydrophilic heads indentations. For example, one class of these is the “coated pits”
of membrane lipids by weak electrostatic forces.939 Most peripheral whose inner surfaces are covered by a dense layer of the protein
proteins are located near the cytoplasmic surface of the plasma clathrin, important in receptor-mediated endocytosis wherein proteins
membrane rather than on the extracellular surface and mediate such and other large molecules are imported into the cytoplasm (Section
properties as cell shape and motility. Peripheral proteins are not 8.5.3.7). Another class of membrane indentation is the ~50 nm
amphipathic and do not associate with the hydrophobic regions of caveolae (“tiny caves”) that serve to draw substances such as vitamins
the lipids in the membrane interior. and signal transduction molecules into the cell’s interior.1137,3376-3379
Both lipid and protein components of the plasma membrane are Caveolae are coated with a unique membrane marker protein called
continually removed and replaced. Turnover allows the cell to caveolin, making them easy for nanorobots to identify.
continuously change out damaged components. This is a highly
selective process, since the rate of turnover varies for different proteins 8.5.3.3 Cytosol
and lipids. For instance, the half-life of some phospholipids in In traditional cell biology, the “cytoplasm” is the filling substance
membranes is ~10,000 sec;939 the “off-rate” (half-life) for cholesterol in the large space enclosed by the plasma membrane and surrounding
from a lipid bilayer (e.g., the red cell surface) into the cytoplasm is the cell nucleus. It includes all non-nuclear cell organelles plus all
~7200 sec at 310 K.1113 Protein turnover half-lives may range from fluid surrounding these organelles. Every point inside the cell,
several minutes to several years, but the “typical” protein has a turnover except the nucleus, is considered part of the cytoplasm. The “cytosol” is
half-life of ~200,000 sec531,939 or ~2 days. Protein replacement is the liquid that fills all of the cytoplasmic region, except for fluids
carried out by protease enzymes located in the cytoplasm and in filling the interior of the cell organelles. Finally, the term “intracellular
lysosomes. Replacement rates also depend upon cell type. For fluid” refers to all of the fluid inside a cell—the cytosol plus the
example, the plasma membrane surface of the macrophage has an fluid inside each organelle, including the nucleus. Internal hydrostatic
unusually fast mean turnover time, ~1800 sec, vs. ~5400 sec for pressure in the cytosol ranges from ~23 N/m2 in the human erythro-
fibroblasts.996 cyte cell1452 up to ~1.6 x 105 N/m2 in Amoeba proteus.1453
Basic Capabilities • Navigation 259
of the GC, vesicles bud off the tips of the saccules continuously distinctive feature of vesicles involved in a variety of intracellular
and exit the complex, transported on cytoskeletal elements transport processes. Besides bringing secretory proteins from the
through an interaction with motor proteins. This is known as the ER to the GC, clathrin-coated vesicles also transport membrane
“cisternal maturation model.”2347,3443-3445 Within the Golgi, net proteins from the GC to lysosomes (Section 8.5.3.8), to the plasma
membrane flow can be quite rapid. In certain mucus-secreting cells membrane (Section 8.5.3.2), and to other cellular destinations. In
of the intestinal mucosa, it takes only ~2000 sec for membrane each case the clathrin coat forms a basket or cage around the vesicle,
components to move from the forming face of a Golgi stack to the and transport involves cytoskeletal elements. Clathrins are cell specific—
maturing face.939 Vesicles exhibiting COPI (coat protein I) apparently for example, neuron clathrins have 12 pentagons and 20 hexagons,
transport some proteins backwards, both within the Golgi stack liver clathrins have 30 hexagons, and fibroblast clathrins have 60
and also from the Golgi to the ER.2347 One study counted ~400 hexagons and thus may be distinguished by medical nanorobots. In
individual vesicles in transit within ~0.2 microns of a ~4 micron3 cultured cells, assembly of a free clathrin-coated vesicle takes ~1
region containing 2 stacks of 7 cisternae.3440 minute, and >300-1000/min can be formed.3448,3449
The two faces of a Golgi stack are biochemically distinct. Specific Cellular products are concentrated and packaged before being
enzymes and receptor proteins are concentrated in the cisterna on discharged to the outside of the cell, a process known as exocytosis.
the “cis” face of the stack (the “receiving” end), while other proteins Concentration occurs as structures called condensing vacuoles located
are localized mainly in the cisterna on the “trans” face (the “shipping” on the periphery of the Golgi complex fill with concentrated protein,
end). For example, the receptor protein for the carbohydrate then fuse with one another to form larger secretory granules and
mannose-6-phosphate (M6P) is present only in the forming cisterna of vesicles. Outbound vesicles are given unique membrane compositions,
the Golgi stack, thus allowing the stack to recognize these proteins including high-specificity targeting molecules that can bind only to
and target them to the lysosomes.939 A 28,000-dalton protein called receptor molecules located on the appropriate surface of the target
GS28 acts as one of the targeting receptors involved in the recognition acceptor compartments. A well-known example is the synaptic vesicle
of ER-derived vesicles that are destined for fusion with the cis-Golgi targeting protein synaptobrevin (VAMP 1 and 2) which binds only
membrane.1033 By 1998, more than two dozen different members to the neuron-specific plasma membrane proteins syntaxin 1A and
of the small G protein superfamily (including the Rab and Arf protein 1B, thus ensuring proper vesicle docking and fusion at the neuron
families) had been implicated in the regulation of intracellular cell plasma membrane.1079 In general, the fusion of two distinct
vesicular trafficking and membrane recognition. The Golgi complex lipid bilayers is energetically unfavorable in the absence of these
also contains substantial amounts of cholesterol and sphingolipids, specialized targeting proteins.
making a rising gradient from cis to trans.1117 Various Golgi com- In some cells, the complementary process of endocytosis is also
partments are defined by the presence of particular enzymes (e.g., important.3452 In endocytosis, the cell ingests extracellular materials by
glycosidases, glycosyltransferases, and others involved in protein invaginating the plasma membrane, then budding off vesicles,
modification or sphingolipid synthesis) that are localized to one or vacuoles (phagocytic, pinocytotic, etc.), or “endosomes” to the interior
more compartments, often in a graded manner.1118,1119 While all of the cell from these sites. Endocytosis and exocytosis produce
cisternae are fenestrated and display coated buds, the trans-most opposite membrane flows, the former reducing plasma membrane
cisterna produces exclusively clathrin-coated buds, whereas the others mass and the latter increasing it via fusion. The net membrane flow
display only nonclathrin coated buds.3440 Such distinctions will can be rather large in cells that carry out both processes actively. For
allow in cyto medical nanorobots with suitable transmembrane instance, in cultured macrophages an amount of membrane equivalent
chemical sensor tools to readily establish Golgi stack configuration, to the entire surface area of the cell is replaced in ~1800 sec, and
polarity, and physical extent. macrophages may ingest ~25% of their volume per hour.996
The Golgi stack has other easily detectable asymmetries. Since Storage granules are also important in the cell. For example,
the GC mediates the flow of secretory proteins from the ER to the glycogen is the storage polysaccharide of the animal body, also known
cell exterior, the GC displays spatially variant protein and lipid as animal starch. It is a polymer of glucose. In many cells, large
compositional gradients along the Golgi polarity axis. Specifically, individual molecules of polymerized glucose measuring 10-40 nm
the saccule membranes at the forming face resemble those of the in diameter appear as granules. The enzymes needed to carry out
ER in morphology and composition—~5-6 nm thick membranes the synthesis and degradation of glycogen (including the synthetic
defining a relatively narrow ~30-80 nm cisternal space, with ~20% enzyme glycogen synthase and the degradative enzyme glycogen
phosphatidylcholine in the membrane. At the maturing pole, the phosphorylase) are bound to the surface of these glycogen granules
saccule membranes more closely resemble the plasma membrane, in a ~5 nm-thick shell. These granules constitute up to 4-6% by
~10 nm thick, with a much wider cisternal space (>100 nm) and with weight of liver cells (~5 million granules), up to 0.7-1% of muscle
~10% phosphatidylcholine in the membrane. (Variable membrane cells, with lesser amounts in other cells (typically <105 granules)
thickness is part of the control mechanism for spatially anisotropic and only very small amounts in the brain, and are absent in some
budding).1113 Another asymmetry: Swarms of ~50 nm diameter cells.
membrane-bound vesicles always cluster on the side of the Golgi Another storage vesicle found floating in the cytoplasm is the
stack abutting the ER and along the circumference of a stack near lipid droplet containing triglyceride, the main storage form of fatty
the dilated rims of each cisterna. acids in cells. In many cells, these insoluble triglycerides coalesce in
the cytosol to form large, anhydrous droplets from 0.2-5 microns
8.5.3.7 Vesicles, Granules, and Vaults in diameter. In adipocytes, the cells specialized for fat storage, these
For most membranes, such as those of the Golgi complex and droplets can be as large as 80 microns, occupying virtually the
lysosomes, the transfer of manufactured lipid and protein from the entire cytosol and constituting up to ~99% of the cell’s organic
rough ER occurs by means of 30-80 nm transport vesicles that pinch matter.938
off from the rough ER and fuse with the target membranes. Some Other intracellular storage vessels include melanin pigment
of these vesicles are coated with a bristlelike polyhedral lattice of granules found in certain cells of the skin and hairs; zymogen
clathrin subunits.3450,3451 Clathrin, a 180,000-dalton protein, is a (enzyme-containing) granules synthesized in pancreatic cells, then
262 Nanomedicine • Volume I
transported into the small intestine; inflammatory toxins stored as has a unique 5-6 nm three-layered membrane938 with a special
intracellular granules in eosinophil leukocytes; ferritin molecules transmembrane transport protein that uses ATP to pump H+ into
containing cellular iron stores (each ~610-690 kilodalton molecule the organelle lumen, thereby maintaining the internal pH at 5. The
is comprised of 24 subunits of 18,500 daltons each, which surround lysosomal membrane also has special docking marker acceptor
in an 8-nm-diameter-cavity micellar form some 3000-4500 ferric proteins that mark a lysosome as a target for fusion with specific
atoms);996,3380 and water vacuoles, mucus vesicles, and crystals of transport vesicles in the cell. Soluble products of digestion can cross
various types. The smallest observed effective hydrodynamic the membrane, exit the organelle, and enter the cytosol for recycling
radius of sonicated phospholipid vesicles is ~10.25 nm independent of into the cellular metabolism. Indigestible material slowly accumulates
hydrocarbon chain length for synthetic even-numbered 12-18 in the cytoplasm as lipofuscin pigment granules and other residual
carbon-chain phosphatidylcholines, and ~10.7 nm for egg-yolk bodies. Lysosomes are present in most cells except red cells.
phosphatidylcholine vesicles.2949 Although it is normally quite stable, the lysosome membrane
Finally, a related cell component is the vault, numbering in the can become more fragile when the cell is injured or deprived of
thousands in human cells.3381 Vaults are barrel-shaped particles oxygen or when excessive amounts of vitamin A are present. Lysosomes
measuring ~55 nm x 30 nm, assembled from 96 copies of MVP were once called “suicide sacs” because lysosomal rupture can result
(major vault protein) plus some integral RNA. Vaults look like pairs of in self-digestion of the cell, a process known as autolysis. However,
unfolding flowers, each half having 8 petals attached to a central it is now known that lysosomes are part of the normal cellular
ring with a small hook. Vaults were first discovered in the mid-1980s digestion apparatus relating the process of endocytosis to the processes
and their exact function was not yet known in 1998. However, their of intracellular synthesis, storage, and transport,938 and structural
structure suggested an ability to open and close as a natural part of deterioration of lysosomes does not occur rapidly in ischemic or
their function in the cell,1410 and their size and shape would be an post-mortem cells.2019,2020 Most of the digestive enzymes require
almost perfect match to dock at the nuclear pore complex3382 (Section the low pH of the lysosomal or peroxisomal vesicles for activation
8.5.4.2), which suggested to some investigators that vaults might (just as some proteases require the low pH of the stomach).
serve to ferry mRNA around the cell.1001,3381 In addition to the lysosomal degradation system, there is also a
In 1998, the chemical content of individual vesicles was analyzed large number of small cytosolic proteasomes (each having a
regularly using a combination of optical trapping, capillary electro- 700,000-dalton 20S core complex ~11 nm in diameter). This serves
phoresis separation, and laser-induced fluorescence detection.1263 as an extra-lysosomal ATP-driven system for selectively degrading
endogenous ubiquitinated proteins in virtually all human
8.5.3.8 Lysosomes and Proteasomes cells1087,1088,3383 (Chapter 13). Indeed, the ~2 megadalton 26S
Lysosomes are Golgi-budded organelles that contain ~40 digestive proteasome complex (containing 30-40 different proteins) appears
enzymes531 capable of degrading all major classes of biological macro- to be the major protease of the nuclear and cytoplasmic compartments
molecules — including at least 5 phosphatases, 4 proteases, 2 of the eukaryotic cell—proteasomal degradation controls the lifetime
nucleases, 6 lipases, 12 glycosidases, and an arylsulfatase.939 These of most cellular proteins, including many regulatory proteins, and
enzymes are needed both to degrade materials brought into the cell generates peptide antigens for presentation by MHC Class I molecules
from the outside and to degrade internal cellular structures that are to CD8+ cytotoxic T cells.2915 Proteasomes are ubiquitous and very
damaged or are no longer needed. Lysosomal enzymes are acid abundant, comprising up to 1% of total cellular protein.1087,2916,2917
hydrolases stored inside the lysosome as small granules 5-8 nm in The entire 26S complex is 30-44 nm in length.
diameter—protein aggregates of the hydrolytic enzymes with a pH
optimum around 5, representing over 60% of organelle mass.531 8.5.3.9 Peroxisomes
The lysosomes can release these enzymes after fusion with endosomes Peroxisomes (also called microbodies)1000 are rough ER-budded
containing foreign matter, or to digest dead portions of the cell or organelles typically 0.1-1 microns in diameter.531 Peroxisomes
malfunctioning organelles, or to destroy abnormal substances such occur in most cells, but are most prominent in liver and kidney cells
as bacteria that enter the cell. An unusual oligosaccharide containing which are active in detoxification. The organelle destroys cytotoxic
mannose-6-phosphate (M6P) serves as a recognition marker or chemicals such as hydrogen peroxide, methanol, ethanol, formate,
address that targets all such enzymatic proteins to the lysosomes, formaldehyde, nitrites and phenols, as well as D-amino acids which
and sorting nexins are proteins containing lysosomal targeting codes are not found in proteins and are not recognized by enzymes
using either tyrosine- or di-leucine-based motifs.1032 These membrane involved in the degradation of the more common L-amino acids.
markers are readily detectable by nanorobots suitably equipped with Peroxisomes also catalyze 25-50% of all fatty acid breakdown in
transmembrane sensory tools, although it is important not to cells (the remainder occurs in the mitochondria). The organelle is a
destroy the membrane integrity or to allow leaks (Section 9.4.5.5) concentrated source of three oxidative enzymes found in liver cells—
which may alter fluid pH, during any probing. Since intralysosomal D-amino acid oxidase, urate oxidase (usually present in a distinctive
pH is different from the rest of the cell, chemosensors intended to crystalline core), and catalase (which is up to 40% of total peroxisomal
probe the lysosomal interior may require a different design (or different protein and most of the catalase present in a cell).
detection parameters) than cytosolic chemosensors. In general, Peroxisomes may also protect cells from toxic oxygen levels,3069-3072
nanorobots can exploit the same biochemical markers that the cell since peroxisomal O2 consumption is directly proportional to cellular
normally uses to transport organelles to specific locations within oxygen concentration,939 unlike mitochondrial respiration. In case
the cell. Organelle surface chemosensing is most valuable for naviga- of excessive O2 levels, peroxisomal respiration is greatly stimulated,
tion and identification, while chemosensing of the organelle interior is reducing the intracellular oxygen tension.
also important for diagnosis and treatment (Chapter 21).
Lysosomes are spherical or nearly spherical organelles, typically 8.5.3.10 Mitochondria
0.5-1 microns (range 50 nm—3 microns) in diameter. They vary Mitochondria are the principal chemical energy transducers of
greatly in appearance and content according to cell type and also in the eukaryotic cell under aerobic conditions.3384 Except for the 10
relation to the physiological state of a particular cell. The lysosome reactions of the glycolytic pathway, all of the ATP-generating capacity
Basic Capabilities • Navigation 263
of eukaryotes lies within the mitochondria. Mitochondria are scattered to all molecules of mass <10,000 daltons (which includes all
throughout the cytoplasm in virtually all aerobic cells, with numbers metabolites pertinent to mitochondrial function). Since mitochondria
ranging from ~300/cell for relatively inactive cells like lymphocytes do not grow by fusion with vesicles synthesized elsewhere in the
up to 2000-3000/cell for very active cells such as liver, kidney cell, transfer of phospholipids from the endoplasmic reticulum to
tubule and cardiac muscle cells (where mitochondria may occupy the mitochondrion requires special phospholipid transfer proteins
up to 20% of total cell volume).531 Mitochondria are often clustered in the outer membrane (e.g., glycerolphosphate acyltransferase and
within the cell in regions of intense metabolic (hence ATP) demand. monoacyl glycerolphosphate acyltransferase) that can recognize a
For instance, in muscle cells the mitochondria are organized in rows specific kind of phospholipid, remove it from a vesicle membrane
between adjacent contractive myofibrils in order to minimize the and add it to the mitochondrial membrane. Special enzymes such
required diffusion distance for ATP molecules that are powering as monoamine oxidase, acyl-CoA synthetase, and phospholipase A2
the activity. Similar localization appears in sperm tail flagella, in are also present.996 The first 32 N-terminal amino acids of cyto-
cilia, and at the base of kidney tubule cells where exchange with the chrome c1 constitute a fixed “leader sequence” that is recognized as
blood is most rapid. Except for plant chloroplasts, mitochondria a matrix targeting signal and allows the tagged molecule admission
are unique among organelles in having their own DNA genomes, through the outer membrane.997 Thus, as with other organelles, the
ribosomes and tRNAs that are quite different from those found in outer coat of the mitochondrion should be immediately and uniquely
the cytoplasm. recognizable by in cyto nanorobots equipped with suitable
After the nucleus, the mitochondrion is the largest organelle in chemosensors (Section 4.2).
most animal cells. The typical time-averaged dimensions are roughly The intermembrane space also contains numerous unique proteins,
cylindrical, with a 0.5-1.0 micron diameter and a ~3 micron length as for example the essential multispanning carrier (chaperone) proteins
(and rarely, up to 10 microns)939—about the size of a bacterium or Tim10p and Tim12p.1142
modest-sized medical nanodevice. Mitochondria are usually depicted The 5-6 nm thick inner membrane is highly convoluted, forming a
as tiny kidney-bean- or sausage-shaped organelles, but in living cells series of ~30 infoldings (each fold ~100 nm wide) known as cristae,
they squirm, flex, elongate, and change shape almost continuously which extend into the inner compartment or matrix, roughly
(Fig. 8.40) in part due to cytoskeletal interactions. Mitochondria quintupling the active surface area of the outer membrane (Fig.
may be shuttled around a cell at up to ~10 microns/sec via dynein 8.41). The inner membrane is rich in cardiolipin, a phospholipid
motors453 riding on microtubules (Section 8.5.3.11), bulging the that accounts for 10% of the membrane lipid content and renders
plasma membrane as they travel.1249 it unusually impermeable to most solutes. The inner membrane also
Mitochondria have four functional compartments: outer membrane, contains a variety of special transport proteins that make it selec-
intermembrane space, inner membrane, and the matrix. The outer tively permeable to those particular small molecules that are me-
surface is a smooth, featureless, 5-6 nm thick membrane938 embedded tabolized by mitochondrial enzymes concentrated in the matrix
with many copies of a transport protein that forms large aqueous space,531 such as the integral membrane proteins Tim17, Tim 23,
channels through the lipid bilayer, so the membrane is permeable and Tim22p.1142 All of these membrane-specific proteins are readily
detectable by nanorobots that are extending manipulators tipped
with appropriately configured chemical sensors through the inter-
membrane space (Section 9.4.5).
The inner membrane is the locale of electron transport and ATP
synthesis. A single mitochondrion has ~10,000 large protein F1 (ATP
synthase) complexes embedded in its inner membrane, randomly
distributed and typically measuring ~10-20 nm in diameter.939 These
integral proteins freely diffuse laterally within the inner membrane.
Mobility is high—protein complexes collected at one end of a
membrane by externally imposed electrophoretic forces return to a
random distribution in just a few seconds.939
The prominence of cristae is correlated with the relative metabolic
activity of the cell or tissue. Heart, kidney, and muscle cells have
high respiratory activity levels, and their mitochondria have correspond-
ingly large numbers of prominent cristae.531 The number of cristae
is three times greater in the mitochondria of cardiac muscle cells
than in hepatic mitochondria, reflecting the greater demand for ATP
in heart tissue. The cristae of mitochondria in different cell types
are not only different in number and deepness, but also in basic
morphology (Fig. 8.42).531,3385-3388
The interior of the mitochondrion is filled with a semifluid
gel-like matrix that contains a concentrated mixture of hundreds of
different enzymes related to aerobic cellular respiration and oxidation,
plus several identical copies of the mitochondrial DNA genome,
special mitochondrial ribosomes, tRNAs, and various enzymes
required to express the mitochondrial genes. The mitochondrial
genome3073 consists of a circular DNA molecule of ~11 million
daltons, coding for about a dozen polypeptides. It has 16,569 base
Fig. 8.40. Mitochondrial shape changes in living cells (redrawn from pairs and a contour length of ~5 microns. Mitochondria are
Alberts et al531). self-replicating organelles (with the help of cell-supplied proteins
264 Nanomedicine • Volume I
and lipids). When cellular requirements for ATP increase, mitochon- water may be bound to the filaments and tubules of the cytoskeleton.939
dria pinch in half (a process called fission) to increase their number, The most radical example of cytoskeletal dynamics may be the
then both halves regrow to the former full size.940 complete remodeling of the cellular microtubular array during
Mitochondria also are sometimes found as extended reticular replication—from a network radiating throughout the cell in
networks3177-3179 which are extremely dynamic in growing cells (such interphase to the compact bipolar mitotic spindle during mitosis.
as mammalian fibroblasts), with tubular sections dividing in half, There are five recognized classes of filaments, grouped according to
branching, and fusing to create a fluid tubular web.3179,3180 their diameter and by the types of protein they contain. In order of
size, starting with the thinnest, they are
8.5.3.11 Cytoskeleton
In addition to the membrane-enclosed organelles described above, 1. superfine filaments,
the cytoplasm of most cells is packed with filaments of various sizes
2. microfilaments,
collectively called the cytoskeleton. Much as the bony skeleton
occupies ~11% of the human body volume (Section 8.2.4), the 3. intermediate filaments,
cytoskeleton likewise occupies ~11% of cell volume (Table 8.17).
This elaborate three-dimensional webbing of filaments and tubules 4. muscle thick filaments, and
forms a highly structured yet dynamic matrix that extends throughout 5. microtubules.
the cytoplasm, stretching from the nuclear envelope to the plasma
membrane. The cytoskeleton helps to establish and maintain shape Microfilaments and microtubules can be rapidly assembled and
and plays important roles in cell movement, cell division, metabolism disassembled, allowing a cell to modify its cytoskeletal framework
and growth,1426-1429 and even gene expression by accepting mechanical according to changing requirements. The other filament types, once
signals (e.g., through membrane proteins such as the integrins) assembled, are less readily disassembled.
originating in the extracellular matrix and transducing them into
the nucleus.942 Cellular shape appears to be maintained by an A. Superfine Filaments — Superfine filaments are short segments
architecture known as tensional integrity or “tensegrity”—a system measuring 2-4 nm in diameter and up to 100 nm in length. Superfine
that achieves mechanical stability because of the way compressive filaments such as plectin1194,3389 serve to interconnect other filaments
and tensional forces are distributed and balanced within the
and microtubules, stabilize the nucleus,3391 regulate actin dynamics,3392
cell.1020,1021 Forcing cells to adopt different shapes causes the cells
to switch between different active genetic programs.718,1425 and also provide the means by which the membranes of organelles
The cytoskeleton also serves as a framework for positioning, may be attached to stable or moving elements of the cytoskel-
anchoring, and actively moving organelles and vesicles within the eton.938,3389,3390
cytoplasm, for muscle contraction and the beating of cilia (Section
9.3.1.1) and flagella (Section 6.3.4.2), and for chromosomal B. Microfilaments — Microfilaments are the smallest of the
movements. It has been estimated that up to 80% of unbound major cytoskeletal components, measuring 5-7 nm in diameter and
cytoplasmic proteins are not freely diffusible but are associated in up to several microns in length. They are F-actin polymers of the
some way with the cytoskeleton, and up to 20-40% of cytoplasmic contractile monomer protein G-actin, a single polypeptide consisting
Fig. 8.41. Mitochondrial structure (redrawn from Vander, Sherman, Fig. 8.42. Morphologically distinct mitochondrial cristae (from rat
and Luciano,866 and from Becker and Deamer939). tissues; redrawn from Alberts et al531).
Basic Capabilities • Navigation 265
The known classes of IF protein (based on biochemical and Microtubules define and maintain the overall shape and
immunological criteria) include the keratins of which there are at architecture of the cell, confer polarity on the cell, and determine
least 15 different varieties in each of the acidic and basic/neutral the distribution of the microfilaments and intermediate filaments.
subclasses (in the tonofilaments of epithelial cells); vimentin, which By providing a radiating system of fibers to guide the movement of
is found in fibroblasts, connective tissue and other cells of mesen- vesicles and other organelles, microtubules also contribute to the
chymal origin; desmin, in muscle cells; glial fibrillary acidic (GFA) spatial disposition and directional movement of subcellular structures.
protein, in glial cells; neurofilament (NF) protein, present in the For example, microtubules serve as “tracks” for the outward movement
neurofilaments of nerve cells; and nuclear lamins A, B and C, which of the endoplasmic reticulum in growing cells, and microtubules
are found in the nuclear cortex of all cells.939 Most cells contain at transport membrane-bound vesicles in both directions along the
least two different types of IF proteins: the three lamins in the axons connecting the body of the nerve cell with the synaptic knobs
nucleus, plus the cytoplasmic IF protein appropriate to the specific (axonal transport) at a typical speed of ~2 microns/sec.939 Particles
cell type. Because of this tissue specificity, cells from different tissues easily switch from one microtubule to another intersecting one during
can be distinguished almost solely on the basis of the IF proteins transport.1448
present3393—intermediate filament typing via immunofluorescence The structure immediately responsible for the separation of the
microscopy is a useful diagnostic tool in detecting cancer and prenatal chromosomes, the spindle fibers, is composed of microtubules, as
birth defects.3394-3397 In cyto nanorobots can use this same informa- are the organelles (the centrioles) that generate the spindle fibers at
tion to continuously verify the cell type in which they are resident. the time of cell division. (Each cell has two centrioles, solid structures
composed of microtubules. Prior to cell division, the centrioles
D. Muscle Thick Filaments — Muscle thick filaments, ~15 nm in replicate and then produce the intracellular architectural skeleton
diameter and composed of the very large contractile protein myosin, called the mitotic apparatus that guides the cell through mitosis.)
are found mainly in striated muscle cells and occasionally in the Spontaneous spatial pattern formation from oscillating microtubules
cortex of nonmuscle cells.3398-3400 Myosin molecules not in filament has been observed,1071,1073 and cytoskeletal rearrangements appear
form are also present in many, if not most, other cells where they to be biochemically regulated.1083
interact with microfilaments to produce local forces and movements. The microtubule elongation rate in cultured fibroblasts has been
measured as ~0.06 microns/sec.1423 The turnover time for the entire
E. Microtubules — Microtubules are straight hollow cylinders microtubular apparatus has been estimated as ~900 sec (0.25
with an outer diameter of 25 nm and an inner diameter of 15 nm. hour),1423 with a specific power output of ~0.6 watts/m3 averaged
They vary greatly in length. Some are less than 200 nm long, while over the entire array. 1424 Not all cytoplasmic microtubules
others, particularly in nerve cells (where they provide the frame- immediately participate in this rapid turnover during interphase—
work that maintains the cell’s cylindrical shape), can be as long as about 10% of the population seems to remain stable for at least 2
25 microns. Mean intertubule spacing is at least 200-300 nm, with hours.1423 Dynamic instability causes microtubule shortening in
a minimum radius of curvature of ~0.2 microns.1437 Each microtubule human monocytes, in the range of ~260 dimers/sec1446 or ~0.15
is composed of a helical arrangement of the αβ-tubulin heterodimer microns/sec.1447 Depolymerizing microtubules can drive kinetochore
protein, with 13 tubulin subunits in each rotation of the tight movements towards the minus end at ~0.5 microns/sec, exerting
helix.1092 The uniform orientation of the tubulin molecules confers forces of up to ~100 pN.1593
an inherent polarity on the microtubule. Placed in a tubulin-rich Superfine filaments connect microtubules with each other, with
environment, the “plus” end of the tubulin polymer (β-tubulin) intermediate filaments, and with adjacent organelles.1439,1440 The
will elongate much more rapidly than the “minus” end filaments extend from the microtubular surface and prevent direct
(α-tubulin).1124 In the living cell, the ends of the microtubules farthest contact with other cellular structures.1441 This forms a narrow
away from the center of the cell are always the “plus” ends. Micro- exclusion zone around microtubules that is devoid of other structures,
tubules radiate out as lacelike threads toward the periphery of the and often appears as a clear halo1442 with a radius from ~10 nm in
cell from a microtubule-organizing center (MTOC) near the insect cells1443 up to ~50 nm in neurons.1444 High molecular weight
nucleus.939 The best-known MTOC is the centrosome, which consists microtubule-associated proteins (MAPs) define zones of exclusion
of granular material surrounding two centrioles (Fig. 8.36). Other around microtubules and may help maintain the observed spacing
examples of MTOCs include the kinetochore and the poles of the between microtubules and cell organelles.1445
mitotic spindle.
Microtubules are the most rigid of the cytoskeletal filaments and 8.5.3.12 Cytonavigational Issues
thus often serve as the principal cytoskeletal organizers and backbone Cytonavigational requirements are strongly mission-driven. A
elements (Fig. 8.44), providing (along with the ECM) the com- nonexhaustive list of mission classes might include:
pressive elements of the cellular tensegrity structure. Tensile failure
strength is ~1000 pN per fiber (Table 9.3). The flexural rigidity of 1. examination or modification of the plasma membrane or cell
individual microtubules has been directly measured as κrigid = 3.4 x cortex, including chemical testing for toxins or poisons in cell
10-23 N-m2,1468 which is higher than the rigidity of actin filaments. receptors and transport channels;
What does this mean? For an elastic rod of length L attached to a
2. cytosolic chemical or pathogenic assay, chemical injection or
wall by a pivot about which the rod is completely free to rotate, the
extraction, or other selective cytosolic modification;
magnitude of the critical buckling force of the rod is:642,1468
3. biocellular messaging or eavesdropping using chemical,
π 2 κ rigid mechanical, or other means;
Fbuckle ~ {Eqn. 8.6}
L2 4. organelle counting, dimensional measuring, and general
cytocartography;
Hence a 1-micron long microtubule will not begin to buckle until
an axial load of Fbuckle 340 pN is applied. 5. circumorganelle chemical assay;
Basic Capabilities • Navigation 267
6. organelle-specific surface membrane analysis or intraplasmic analogy to a common macroscale experience, imagining a
chemical assay; “nanorobot” of roughly human size: The subsurface robot does not
find itself traversing a large swimming pool of water, encountering
7. dynamic functional or structural testing of cellular components;
an occasional submerged obstacle. Rather, it finds itself crawling
8. sampling, diagnosis, chemoinjection, replacement or through a swimming pool mostly filled with thick-skinned water
repair operations to be performed upon an individual organelle balloons separated by its own width, or slightly less, of fluid. The
or cytocomponent located at a specific cellular physical address; water balloons are of many different sizes and shapes but average
an equivalent volume as the nanorobot itself, with almost all of
9. cytoassembly or structural editing; the balloons embedded in and loosely tethered to a dense
10. establishment of direct functional control over some or all of three-dimensional multilevel webbing of threads, strings, cords, and
normal cellular functions, including metabolism, secretion, and 1-cm gauge ropes arranged in a progressive semirandom 1-10 cm
mitotic cycling; mesh. To employ a slightly different and even more imprecise
metaphor, navigating the interior of a cell may more closely
11. comprehensive cellular reconstruction; resemble hacking through a dense jungle than strolling in an open
12. long-term cytoplasmic materials or equipment storage; garden.
Given the tight spacing of the multilevel cytoskeletal webbing,
13. sentinel or cytodefensive functions; or it will be almost impossible for a micron-scale medical nanorobot
14. activities involving the nucleus (Section 8.5.4). Each of these to enter cells and freely navigate therein without disrupting the
mission classes has very specific, and often quite different, cytoskeletal framework that lies across its path. Some disruption
navigational requirements. cannot be avoided even if useful nanodevices or their extensible
appendages can be metamorphically compressed as narrow as ~100
Medical nanorobots can certainly undertake many useful tasks nm in width (Section 5.3.1.2). However, cytoskeletal disruption
without physically entering the cell, relying solely upon diffusion, can be minimized by employing active and continuous breach-sealing
transport via cellular pumps, endocytosis and pinocytosis, or even polymerization protocols during passage (Section 9.4.6). The
nanoinjectors or manipulator appendages inserted through the nanorobot must also avoid applying excessive forces to the
plasma membrane (Section 9.4.5) while the nanorobot remains cytoskeleton, as these forces could transmit mechanically-mediated
securely anchored outside the cell. However, it is well-known that signal cascades into the nucleus and activate unwanted stress responses
motile entities are capable of entering and navigating the interiors via regulated genetic circuits. 1956 Some details regarding
of living cells for long periods of time without ill effect. For cytopenetration (Section 9.4.5), in cyto locomotion (Section 9.4.6),
example, one description848 from early microscopic investigations and biocompatible nanorobot surfaces3234 (Chapter 15) are presented
included the following observation: “...lymphocytes entered the cells elsewhere.
and circulated inside them for hours at a time. This odd relationship of How can a nanorobot determine its intracellular position? If a
lymphocytes to other cells, sometimes moving around them, high-resolution microtransponder network (Section 8.3.3) has been
sometimes entering them, they termed ‘emperipolesis’.” installed in the surrounding tissue, in vivo nanorobots can acoustically
(Emperipolesis3286-3293 is a rarely observed and still poorly understood fix their cytographic position to within ~3 microns, although a
phenomenon that may only occur in pathological conditions.) gigahertz acoustic chirp system may allow localized accuracies as
Micron-scale bacterial pathogens that invade nonphagocytic cells, close as ~100 nm in some cases (Section 8.5.4.7). A 3-micron grid
once free in the cytoplasm, are propelled “harmlessly” through the size divides a 20-micron cell volume into ~300 distinguishable voxels
cytosol via continuous cytoskeleton-linked actin polymerization1012 with each voxel encompassing an average of ~10 individual major
(Section 9.4.6). While delivery of treatment “packages” to extracellular organelles.
spaces may be an early use of medical nanorobotics, subsequent Because of the close spacing of cellular organelles, a micron-scale
development will allow nanorobots to enter and operate inside the nanorobot typically may be in direct physical contact with at least
cell. Ultimate applications would permit delicate sensing and repair one organelle at all times. The nanorobot can uniquely identify any
of DNA or organelles (Chapter 21). organelle type based on membrane composition, intraplasmic
The interior of a cell is a unique and intuitively unfamiliar biochemistry, or physical structure, and can also estimate which
environment. Figure 8.36, drawn primarily for conceptual clarity, additional organelles may be in the neighborhood based on
erroneously makes the cell appear spacious and relatively empty. In peri-organelle chemogradients. In the case of the nucleus or the
reality, cellular components are fairly closely packed. Even though ER, where there may be only one organelle of that type per cell,
cells may consist of up to 70% water, only some of this is bulk water organelle detection provides relative positional localization in the
and the cytosol more closely resembles a proteinaceous crystal (Section radial dimension (although the ER has multiple layers). In the angular
8.5.3.3). The mean separation of adjacent organelles (of all types) is dimensions, and in the case of multiple organelles, cytoskeletal
<1 micron, roughly the size of the nanorobot itself. Forward travel network topology provides additional positional and orientational
is further impeded by the presence of a dense cytoskeletal network. cues. The circumnuclear ring of intermediate filaments and the
This includes sheetlike ~30 nm meshes of microfilaments intertwined microtubule-organizing centers (MTOCs) have already been men-
and bonded with peripheral proteins comprising the cell cortex, tioned. Center-to-periphery orientation is readily established by
plus additional three-dimensional networks of intermediate filaments comparing the net polarity of the local microtubule array with a
(~100 nm mesh) and microtubules (~300 nm mesh) throughout previously assembled gross map of cellular microtubular topology.
the body of the cell (Fig. 8.44). There may be only a few Dead reckoning (Section 8.3.1) may also be used to estimate transit
multi-micron-scale “freely swimmable” spaces for nanorobots within positions and to create internal maps accurate to ~100 nm, the typical
the cell. internodal separation of the junctions of the intermediate fibers (the
A medical nanorobot bears about the same size relationship to a most persistent component of the cytoskeletal network). The mean
cell as a human body bears to a swimming pool. Consider this fanciful separation of cytoplasmic free ribosomes is also ~100 nm. However,
268 Nanomedicine • Volume I
8.5.4 Nucleography
Nucleography is the “geography” of the cell nucleus. The nucleus,
5-8 microns in diameter for a 20 micron tissue cell and up to 10
microns for a fibroblast cell, is the largest cellular organelle and the
only one that is voluminous enough, in theory, to admit a
micron-scale medical nanorobot into its interior. The nucleus is
usually a large spherical or ovoid structure surrounded by its own
nuclear membrane, although its shape generally conforms to the
Fig. 8.45. Endoplasmic reticulum surrounds the nucleus (redrawn shape of the cell. For example, if a cell is elongated, the nucleus may
from Alberts et al531). be extended as well.940
Basic Capabilities • Navigation 269
Almost all cells contain a single nucleus, whose primary function is RNA being exported to the cytoplasm. Values range from 3-4 pores/
the storage and expression of genetic information. However, a few micron2 in some white cells up to 50 pores/micron2 in oocytes and
cell types have multiple nuclei of similar size, such as skeletal muscle a theoretical maximum density of 60 pores/micron2.939 A typical
cells, osteoclasts, megakaryocytes, and some hepatocytes.935 A few ~20 micron human cell has 2000-4000 pores embedded in its nuclear
cell types have no nucleus, such as red blood cells, platelets, keratinized surface,1004 a mean density of 10-20 pores/micron2. Pore structures
squamous epidermal cells, and lens fibers. may protrude at most ~100 nm into the nucleoplasmic space.
In 1998 the finer details of nuclear structure were just beginning
to be understood.1529 Thus the following discussion of nucleography 8.5.4.3 Nuclear Cortex
must be regarded as a very tentative work in progress. The nuclear cortex is an electron-dense layer of intermediate
filaments (composed of the nuclear lamins common to most cell
8.5.4.1 Nuclear Envelope types) on the nucleoplasmic side of the inner nuclear membrane.1004
The nuclear envelope enclosing the nucleus is a lipid bilayer similar The cortex, also called the nuclear lamina or karyoskeleton, is up to
in structure to the cell membrane, except that it is a double-layered 30-40 nm thick in some cells but is difficult to detect in others.939
membrane which is topologically more convenient for dissolution Its proteinaceous fibers are arranged in whorls that may serve to
during mitosis and subsequent reassembly from vesicles. Each of funnel materials to the nuclear pores for export to the cytoplasm.
the two lipid bilayer membranes is 7-8 nm thick. The outer nuclear These fibers may also be involved in pore formation. The nuclear
membrane is occasionally continuous with the rough endoplasmic cortex helps to determine nuclear shape, and also binds to specific
reticulum and is almost entirely surrounded by it (Fig. 8.45). Like sites on chromatin, thereby guiding the interactions of chromatin
the rough ER, the outer membrane is often studded on its outer (Fig. 8.47) with the nuclear envelope.531 Chromatin binding sites
surface with ribosomes involved in protein synthesis.939 Inter- on the nuclear cortex avoid the immediate vicinity of nuclear pores
mediate filaments extend outward from the outer membrane into to ensure unobstructed passage of materials through the pores.531
the cytoplasm, anchored on the other end to the plasma membrane or
other organelles, thus positioning the nucleus firmly within the cell 8.5.4.4 Nucleoplasm and Chromatin
and increasing its mechanical stiffness almost tenfold.942 The nucleoplasm is the semifluid matrix in the interior of the
The perinuclear space (or perinuclear cisterna) between the two nucleus. It contains some condensed but mostly extended chromatin
membranes ranges in width from 10-70 nm but is usually a gap of (called heterochromatin and euchromatin, respectively), as well as a
20-40 nm. This fluid-filled compartment is continuous with the structural nuclear matrix of nonchromatin (mostly protein) material
cisternae of the rough ER (Fig. 8.46), thus providing one possible (Section 8.5.4.6). The chromatin represents chromosomes as they
avenue for transporting substances between the nucleus and different exist between cell divisions. Chromosomes assume a highly condensed
parts of the cytoplasmic compartment. (compact) state as the cell prepares to divide, but after mitosis most
The nuclear envelope disassembles at the onset of mitosis and is of the chromosomes relax into a highly extended state. The nucleus
reassembled at the end of mitosis.1140 of the human cell contains 46 chromosomes of varying lengths, in
23 pairs. Each of these in turn are composed principally of a single
8.5.4.2 Nuclear Pore Complexes deoxyribonucleic acid (DNA) molecule. The DNA contains the
The most distinctive feature of the nuclear envelope is the presence genes of the cell, and all ~100,000 genes are represented, though
of numerous nuclear pores (Fig. 8.46), small cylindrical channels not expressed, in each nucleated cell. The nucleosol, or fluid com-
with eightfold symmetry that extend through both membranes and
provide direct contact between cytoplasm and nucleo-
plasm.1003,3403-3405 Each pore complex marks a point of fusion
between the inner and outer membranes. Elements of the cytoskeleton
appear to be attached to many pores, possibly allowing direct
mechanical regulation of pore activity.3406,3407
Each nuclear pore complex is a huge multimolecular assemblage
measuring 70-90 nm in diameter, with a mass of 125 million daltons,
~34 times the size of a ribosome. Up to 100 different nucleoporin
protein molecules make up the structure.1004 Early experiments with
passive gold particles showed that cytoplasmic particles with diameters
of 5-6 nm passed into the nucleus in ~200 sec, those with diameters
of 9-10 nm took ~104 sec, but particles larger than 15 nm didn’t
seem to enter at all.939 Closer examination has revealed that the
pores are actually large enough to allow the passage of substrates as
large as 23-26 nm,1003,1004 but this is still much too narrow for
nanorobots or their flexible processes to pass through without
damaging the mechanism. The nuclear localization sequence (NLS),
a molecular tag consisting of 1-2 short sequences of amino acids,
marks cytoplasmic proteins for active transport through the nuclear
pores. Small (~40 nm) arm-like import receptors (cytoplasmic filaments)
ringing the mouth of the pore bind to a protein cargo tagged with
an NLS, then flex toward the pore to shove the cargo into the
mouth.1264,3408,3409
The density of pores across the surface of the nuclear envelope Fig. 8.47. Schematic of chromatin distribution in the nucleus (redrawn
varies greatly, depending mainly on cell type and the amount of from Alberts et al531).
270 Nanomedicine • Volume I
in its relaxed state between cell divisions, using the RWGL model which possess electrochemical characteristics that tend to be
(left) and the MLS model (right). The numerous apparently nonattractive to DNA and to nucleosomal components. Since DNA
matrix-free voids up to ~0.5 micron in diameter that appear in the is negatively charged and histones are positively charged (to bind
MLS simulation are presumably largely filled by another chromosome the DNA), and since the lipid membranes are internally hydrophobic
(not shown). (Sometimes the two copies of chromosome 15 are but polar on the surface, the ideal nanorobot exterior might require
adjacent, but most of the time they are separated.) However, a surface of alternating charges which is nonhydrophobic and
numerous ~0.1 micron voids do exist (c.f. 100-nm keyhole passage; neutral with regard to DNA, histones, and lipid surfaces.
Section 5.3.1.2), and dynamic processes may temporarily open still How can a nanorobot determine its intranuclear position?
larger spaces possibly large enough for a medical nanorobot to seek Chemonavigation is one crude approach. For example, a large number
slow, relatively safe and unobstructed passage, but the theoretical of stable RNA species—mostly the small nuclear ribonucleoproteins
pathways of spheres, diffusion and percolation through territories (snRNPs) essential for pre-messenger RNA splicing—are found in
remain to be studied [T. Knoch, personal communication, 1999]. the nucleoplasm, the cytoplasm, or both. They range in size from
90-300 nucleotides and are present in 105-106 copies per cell (Table
8.5.4.7 Nucleonavigational Issues 8.19). snRNPs from HeLa (cancer line) cells contain ~40 proteins,
Cytoplasmic medical nanorobots can perform many useful tasks 8 of which are shared by all snRNPs while the remaining ~32 proteins
without entering the nucleus. Such tasks might include: are snRNP-type specific.1074 Nucleolus-specific proteins include
UBF (94-97 kD), Ki-67 (345-390 kD), fibrillarin (34 kD), numatrin
1. physical mapping and compositional analysis of the nuclear or B23 (38 kD), and nucleolin (100-110 kD);1141 different nucleolar
envelope; markers appear during mitosis. Detection of these species via
chemosensors allows a nanorobot to distinguish cytoplasmic, nucleo-
2. monitoring of nuclear pore traffic; plasmic, and nucleolar spaces, and possibly may permit even finer
3. near-complete regulation of nuclear pore traffic using multiple localizations. Various nucleic and protein products are continuously
manipulators or other devices; being transcribed from various chromosomes, whose distinct territo-
ries within the nucleus are relatively fixed during interphase (Sections
4. monitoring, initiating, or modifying cytoskeletally-mediated 8.5.4.4 and 8.5.4.6). Detection of specific proteins and intermediate
mechanical signal transduction into the nuclear interior; RNA transcription products in the nucleosol thus may allow chromo-
5. injection of enzymes, RNA or DNA fragments, or other bioactive somal segment localization without having to actually sequence the
materials through nuclear pores using hollow nanoinjectors; or segment (e.g., in early-generation medical nanorobotic systems).
Nanorobots requiring a 100-nm three-dimensional Cartesian
6. partial or complete nucleoplasmic replacement using artificial navigation grid inside the nucleus may exploit the relatively uniform
chromatin detachment enzymes dispensed by multiple injection acoustic characteristics of the extranucleolar nucleoplasm by tethering
and extraction nanorobots positioned at the nuclear pores, a minimum of four small acoustic beacons tetrahedrally placed near
operated simultaneously and located antipodally around the the inside surface of the nuclear cortex at the antipodes of three
nucleus to establish flowthrough. transnuclear orthogonal coordinate axes. Each beacon emits brief
Entering the nucleus is somewhat more difficult than entering ~1 GHz chirps in a distinguishable format unique to each beacon,
the cytoplasmic space through the plasma membrane (Section at a very low duty cycle to avoid excessive energy consumption.
9.4.5.7). One reason is that the nucleus is almost completely surrounded From Eqn. 4.52, each chirp attenuates ~10-3 in amplitude per 100
by the membranes of the endoplasmic reticulum (Fig. 8.45), and the nm of travel through the nucleoplasmic fluid. Hence an acoustic
nearest of these membranes may lie only a few hundred nanometers detector sensitive to 10 -6 atm pressure changes can establish
from the outermost surface of the nuclear envelope (Fig. 8.46). The nanorobot position relative to each beacon to ~100 nm accuracy if
nuclear envelope is also a double-walled membrane. Another rea- the beacon output amplitude during the brief chirp is ~10-3 atm.
son why nuclear entry is difficult is that physical forces applied to
cytoskeletal elements in the immediate vicinity of the nucleus may
trigger unwanted transcriptional, structural, or metabolic Table 8.19. Some Species of Stable RNAs and Their
responses from within the nucleus. Additionally, the 10-100 nm Localizations in Human Cells996
grid size of the nuclear matrix filaments and the DNA rosette loops
may allow little free maneuvering room for nanorobots, which may Number of
find it difficult to avoid tearing the nucleoskeleton during passage. RNA Length (# of Molecules per Localization in Cell
Given that the nucleus of a 20 micron human cell is only ~8 Name Nucleotides) Cell or Nucleus
microns in diameter and thus encloses a volume of at most ~268
micron3 (Table 8.17), there is precious little maneuvering room for U3 216 3 x 105 Nucleolus
U6 106 3 x 105 Perichromatin granules
a medical nanorobot that may be 1-30 micron3 in size. Once inside
the nucleus, a principle safety concern must be avoiding damage to U1 165 1 x 106 Nucleoplasm
the relaxed euchromatin strands that permeate the nucleoplasmic (heterogenous nuclear
space. Only ~0.1 pN of force is required to move chromosomes RNA)
around the nucleus at ~0.1 microns/sec during mitosis.1463 DNA
base pair hydrogen bonds may be pulled apart with 70-75 pN/bond U2 188 5 x 105 Nucleoplasm
U4 139 1 x 105 Nucleoplasm
of force,1066 although the DNA backbone itself can withstand up to
U5 118 2 x 105 Nucleoplasm
~10 nN in tension; most conservatively, nanorobots should never 7-3 300 2 x 105 Nucleus
apply tensile or shear forces greater than ~50 pN to chromatin strands 4.5S 91-95 3 x 105 Nucleus and cytoplasm
during nucleoplasmic locomotion. Care should also be taken to 7S 280 5 x 105 Nucleus and cytoplasm
design nanorobot exterior surfaces that are free of sharp edges and 7-2 290 1 x 105 Nucleus and cytoplasm
Basic Capabilities • Navigation 273
This should be low enough to avoid any possibility of cavitation over any distended organ. Epidermal maps are further enhanced
damage to the chromatin or nuclear matrix. As a practical matter, using dermatoglyphics,3425 the study of the patterns of ridges and
additional beacons may be needed to reduce measurement uncertain- lines on the skin of the fingers, palms, wrists, toes, soles, and neck.
ties caused by nucleoplasmic nonuniformities and post-placement Many of these patterns are unique to a given individual (thus may
beacon positional shifts. be used to verify patient identity, e.g., fingerprints) and are persistent
enough over time to serve as the basis for stable epidermal maps. Der-
8.6 Ex Vivo Navigation matoglyphics already plays a role in traditional diagnosis—Down’s
In this final Section of Chapter 8, we shall discuss ex vivo syndrome produces a characteristic mid-palm crease, and infant palm
navigation—the task of navigating the spaces external to the prints can reveal telltale signs of congenital heart defect.3426-3428
human body. A comprehensive treatment is beyond the scope of Dermal ridges are also a sexually dimorphic trait—males have more
this introductory text, so the following discourse is necessarily brief. ridges than females, and both sexes usually have more ridges on the
From the nanomedical perspective, there are two distinct regimes right hand than on the left hand.1052 In 1998, mole (nevi) photo-
in which ex vivo navigation may be necessary or useful: the epidermal graphic surveillance was a preventative skin mapping procedure to
regime and the exodermal regime. detect the onset of melanomas.
Less permanent but still useful epidermal landmarks include
8.6.1 Epidermal Navigation wounds, blisters, sunburns, eczematous or psoriatic regions, or
Nanorobots traversing the epidermal regime (Section 9.5.2) must chemical stains. Epidermal microbiotagraphic maps (Section 8.4.4)
ascertain their position on the surface of the skin or in the hair. The are also possible, but microbial populations usually cluster near
epidermis averages ~100 microns thick but ranges up to 1000-1500 apocrine glands and thus are unlikely to provide significant additional
microns thick on the palms, soles, and other areas regularly subjected navigational information.
to rubbing or pressure. There are no blood vessels in the epidermis, Skin temperature varies greatly across the epidermis (Section
so nanorobots may not be able to rely upon an internal 8.4.1). The nonuniform number density of sweat glands in the skin
microtransponder network or related navigational facilities. produces highly localized periglandular temperature, moisture, and
The simplest solution to epidermal navigation is basic chemical compositional variations. However, these variations probably
map-following. For example, the adult body has 2-4 million sweat add little new information and are more difficult to interpret
glands (100-200/cm2, mean separation ~800 microns). Most of these because readings may be strongly influenced by numerous complicat-
are saline- and urea-emitting eccrine glands ~20 microns in diameter, ing factors such as clothing and cosmetics, general physical activity
prevalent on the back, chest, forehead, palms, and soles. A smaller level, localized physical activity (e.g., clapping hands), nonuniform
number of scent-secreting apocrine glands ~200 microns in diameter sunlight-mediated heating, airflow and winds, immersion of body
are concentrated at the underarms, nipples, genitals, and anus. parts in water, and so forth. Nanorobots attempting to use this kind
Apocrine secretions are promptly broken down by skin bacteria to of information will need a very sophisticated global knowledge of
make odoriferous androstenone (“stale urine”), androstenol somatic status.
(“musky”), and isovaleric acid (“sweaty goatlike”).873 Sweat glands Epidermal maps more accurate than ~1 mm might not prove
are persistent dermal landmarks that are readily mapped, along with particularly useful because natural movement of highly elastic dermal
their distinctive chemical secretions (including 0.028-0.4 mg/cm3 tissues may inject measurement errors of this magnitude into relative
glucose).585 A positional or chemonavigational sweat gland map of positional data used to locate adjacent glands, follicles or other
the ~2 m2 human skin surface to ~800 micron resolution requires epidermal landmarks.
~3 million pixels or 24 megabits of data storage assuming 8-bit pixels.
An alternative or supplementary system is a follicular or crinal 8.6.2 Exodermal Navigation
map of 50-100 micron diameter hair shafts that are irregularly Exodermal navigation encompasses an extremely broad range of
distributed over the surface of the skin. Follicular map elements are operating environments. Most nanomedically relevant are
reasonably stable due to subdermal anchoring. Hair follicles normally nanorobots resident on or in droplets or boluses of sweat, saliva,
are most numerous on the scalp (~125,000 hairs or ~200/cm2, with mucus, epidermal flakes, hairs, ejaculate, urine or feces that are
a ~700 micron mean separation between shafts and a mean natural discharged from the body. Exodermal navigation also encompasses
life of 0.4-4 years), on the axillary (underarm), perineal and pubic all medically relevant environments such as:
regions, on the eyebrows and eyelids of both genders (each eyebrow
has ~600 hairs with an average life of 112 days), and in a highly 1. clothing or bedding;
variable number density on the face, chest, arms and legs, most
2. the surfaces and interiors of furniture (upon which fingerprints
notably in males. An epidermal follicular map recording the locations
typically stand ~5 microns tall), domiciles, vehicles, food,
of ~200,000 individual hair shafts using (700 micron)2 8-bit pixels
cosmetics, and refuse; and
requires 4 million pixels and 32 megabits of data storage. Crinal
navigation is readily accommodated as the nanorobot uses dead 3. all possible locales including land (e.g., sidewalks, roads, public
reckoning to track its position while traversing individually buildings), water (e.g., drinking glasses containing beverage,
addressed hair shafts. bathtubs, swimming pools, rivers), air (e.g., exhaled nanorobots
Epidermal map reliability is enhanced by noting numerous or airborne elements of nanorobotic personal defensive systems)
landmarks that may be regarded as “permanent” features on the and even vacuum (e.g., spaceborne nanorobots). Each environ-
timescale of nanorobotic actions. Such features might include scars, ment poses unique navigational challenges, a complete treatment
birthmarks, tattoos, warts, corns, cysts, nevi, small skin flaps, or of which is quite beyond the scope of this book.
dematofibromas. Stretch marks are found over the abdomen and
breasts during pregnancy, over the abdomen in cases of obesity or The airborne nanorobot (Section 9.5.3) is an interesting example
fluid retention, on the necks of goiter patients, over the loins of of these unique challenges. Airborne nanorobots can identify their
patients suffering from disorders affecting the sacroiliac region, and host patient by chemical signature, much like a bloodhound or
274 Nanomedicine • Volume I
mosquito following its quarry’s scent.3352 Such chemical signatures or temperature differential at a 1-cm distance from human skin in real
“odortypes” may include: time during flight; Section 4.6.1.)
As another example, all aerial nanorobots can continuously trans-
1. naturally-produced “baseline” chemical scents; mit relative skin-proximity data to their neighbors, allowing each
device within a virtual “warning lattice” to estimate its rate of
2. behaviorally-related scents which may appear or intensify during
approach to the nearest prohibited surface. Consider a grid of 200
specific events such as heavy exercise, fear reactions (e.g.,
million nanorobotic acoustic buoys deposited on the ~2 m2 dermal
emotional excitement alone can increase the sweat rate by
surface of a nude human body. The buoys are spaced 100 microns
~50%), defecation or flatulence, sexual activity, intoxication,
apart, and each device has a 10-micron-diameter acoustic radiator
and the like;
operating on a 16.7% duty cycle at 4.2 MHz, giving a ~10 microsec
3. artificial scents such as perfumes, colognes, cosmetics and signal repeat time using 7-wave signal packets (SNR = 2). An aerial
deodorants; and nanorobot with an acoustic receiver of equal size can detect a warning
buoy signal at a distance of 100 microns from the skin-resident grid,
4. artificial molecular taggants specially designed to simplify the assuming a continuous buoy broadcast power of ~35 pW/buoy
recognition task, as for instance an odorless, volatile, through air at 298 K (25˚C), giving a total grid emission power of
digitally-encoded messenger molecule emitted from an external 7 milliwatts. Note that a nanorobot flying at 10 m/sec travels 100
facility that is controlled by the patient. microns in 10 microsec. Monitoring Doppler shifts in received
Airborne nanorobots can stationkeep in the vicinity of the host frequency allows only the largest changes in relative velocity to be
patient by acoustic homing on a coded ultrasonic beacon worn by measured over multiple packet cycles in a usefully short period of
the patient, all of whose emanations are inaudible to the human time. At 4.2 MHz, summing ~50 packets (~500 microsec receipt
ear. From Eqn. 4.52 the amplitude of a ν = 100 KHz acoustic wave time) allows a relative velocity change of ~1 meter/sec to be
passing through STP air over a range of x = 1 meter only attenuates detected (Section 4.3.2).
to ~25% of the original amplitude. Operational broadcast information Direct acoustic air ranging by individual flying nanorobots (i.e.,
is readily passed from patient to circumcorporeal aerial nanorobots echolocation) is also feasible but should be combined with a “warning
using other similar acoustic channels (Section 7.4.8). Ex vivo lattice” system to allow neighbors and prohibited surfaces to be
nanorobots can also detect normal conversational speech at a range efficiently distinguished.
of ~2 meters using >2.4 micron3 pressure sensors (Section 4.9.1.6). Power requirements may be estimated using Eqn. 7.22 by doubling
Airborne nanorobots can navigate and avoid no-fly zones (Section Xpath in the exponential, multiplying Pcomm by (Xpath/rantenna)2 to
9.5.3.6) by various methods. For instance, a flying nanorobot account for the doubled path length, and dividing Pcomm by the
approaching an infinite planar sheet of 308 K (35˚C) human flesh coefficient of reflection at the air/skin interface (0.9995; Section
would detect spatially anisotropic thermal emissions (peak wavelength 4.9.1.6). A 23.1% duty cycle at 3 MHz (again giving a ~10 microsec
λmax = 9.35 microns, νmax = 32 THz; Eqn. 6.20) in a response time repeat time at SNR = 2) allows aerial nanorobots to detect an
of tmeas ~ 5 nanosec, assuming a photosensor area Ae = 1 micron2, approaching skin surface from a distance of 100 microns, while con-
SNR = 2 (~7 photons per detection), and dermal radiative intensity919 suming a continuous power draw of ~29,000 pW for a 10-micron
Id ~ 30 W/m2 (see Eqn. 4.59). (Mosquitos register a ~0.0006% diameter receiver or ~230 pW for a 20-micron receiver, in air at 298 K.
CHAPTER 9
Manipulation and Locomotion
9.1 Nanorobot Dexterity and Mobility
M
anipulation and mobility are crucial basic capabilities in surfaces, or to each other possibly causing clumping. For a 1-micron
most classes of medical nanodevices. Manipulation object, the adhesive forces may exceed gravitational and inertial forces
includes handling fluids, biological objects such as tissue by a factor of 106 or more. Capillary forces also are important in
matrix fibers or cellular elements, and nanomachines or their fluid transfers inside nanodevices, in fluid transfers between
components. Physicians must be able to direct tissue- or cell-repair nanodevices or between nanodevices and their operating environment,
nanorobots to travel to a specific site where treatment is required, and during nanodevice tasks requiring locomotion through, or limb/
and once there, to manipulate the local environment to achieve the object manipulation in, a watery environment. Surface tension forces
desired results. Nanodevice mobility in vivo makes possible the rapid are especially relevant during locomotion missions requiring passage
reconfiguration of nanomedical communication, navigation, and through air/water interfaces, as might occur in the lungs.
power systems, while ex vivo mobility allows the design of more Bowling1146 classifies adhesive forces between objects into three
robust diagnostic and personal defensive systems. In vivo locomotion categories. The first category includes long-range attractive interactions
also permits precise mapping of the internal regions of the human that may bring a particle to a surface and establish the adhesion
body across many size and time scales, both for diagnostic and for contact area, such as van der Waals forces (Section 9.2.1), electrostatic
therapeutic purposes. forces (Section 9.2.2), and magnetic forces (Sections 4.7.2 and 5.4.1).
This Chapter opens with a discussion of adhesion forces at the A second category of forces are the interfacial reactions that help to
molecular level and the performance of nanoscale fluid pumps and define the adhesion area, most importantly the capillary forces arising
fluidic circuits (Section 9.2). Several useful classes of from the establishment of liquid or solid bridges between particle
nanomanipulators are then presented, along with various tool tips and surface (Section 9.2.3), but also including other effects such as
and manipulator configurations such as massively parallel manipulator sintering (diffusion and condensation), diffusive mixing, mutual
arrays (Section 9.3). Techniques of in vivo locomotion are next dissolution and surface alloying, which will not be considered further
described in the context of biofluid and nanodevice rheology, here. In the third category are very short-range interactions that
including bloodstream swimming, cell walking and anchoring, tissue may strengthen adhesion after an adhesive contact area has already
diving, cell penetration, intracellular mobility, and cytocarriage formed; such forces include chemical bonds of all types and various
(Section 9.4). The Chapter concludes with a brief consideration of noncovalent bonds such as hydrogen bonds that have already been
ex vivo locomotion (Section 9.5). described in Section 3.5.1.
Our evaluation of the biocompatibility3234 of various manipulation The rest of this Section is concerned with the transport and
and propulsion systems for medical nanodevices is deferred to Chapter manipulation of fluids. After a brief discussion of capillarity theory
15. and the unique problems associated with nanotubular fluid flow
Finally, the reader should be aware that as of 1999, much of the (Section 9.2.4), this Section presents basic aspects of continuum
available experimental data on cellular mechanics and forces in fluid flow (Section 9.2.5), describes the problems of effervescence
biomolecular systems was still very incomplete and ill-defined. There and crystallescence during offloading (Section 9.2.6), and concludes
remained significant uncertainties in the reported numbers, many by examining various design issues in submicron-scale fluid pumping,
of which were of necessity compiled from large-area or bulk measure- plumbing, mixing, and containerization (Section 9.2.7).
ments, or for just one type of easily-studied cell, cell membrane,
transmembrane protein, or receptor, and thus might prove inaccurate 9.2.1 Van der Waals Adhesion Forces
when applied to other, seemingly similar, cellular systems. Thus In dry or vacuum environments, adhesion forces between <100
the calculations, estimates, and conclusions offered here are highly micron diameter particles and surfaces (nanorobot and other)
tentative and must be applied with great caution. separated by 100 nm or less are usually dominated by van der Waals
interactions.1149 Consider a spherical particle of radius r lying a small
9.2 Adhesion and Fluid Transport distance zsep 100 nm from a flat plate of surface area A >> π r2. As
An understanding of surface forces is an essential preliminary to a crude approximation, ignoring retardation effects that may
any study of mechanisms of manipulation or locomotion. Such become important in solution for zsep > 5 nm,10 the van der Waals
adhesive forces become important at the submicron scale where adhesive force is approximated by:1146
nanorobotic parts are meshing with and sliding against one another.
Surface adhesion forces may cause tools, parts or workpieces to stick Hr
FvdW = {Eqn. 9.1}
together. Surface forces may cause airborne or solvent-immersed 6 z 2sep
nanodevices to adhere to container walls, to other dry or humid
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
276 Nanomedicine • Volume I
for zsep << r, where H is the Hamaker constant for the interaction. Table 9.1. Hamaker Constant for Various
(Eqn. 9.1 also applies to two crossed cylinders of equal radius.1152) Materials10,1146,1149,1152,1162
The Hamaker constants for the materials comprising the sphere,
the plate, and the surrounding medium are Hs, Hp, and Hm, Hamaker
respectively (Table 9.1), giving:1149 Material constant(zJ)
Vacuum or Air ~0
H ~ (H1/2 1/2 1/2 1/2
s − H m ) (H p − H m )
{Eqn. 9.2}
Cadherin-II coated surfaces3547 0.029
RBC plasma membrane1162 0.05-5
The adhesion separation distance zsep is often taken as ~0.4 nm for α-crystallin eye lens protein3548 0.26
Liquid helium 0.57
particles in intimate (but chemically unbonded) contact with a Methanol 36
surface.1146,1148 Hence the force required to overcome the van der Water 37
Waals adhesive attraction of a perfectly rigid r = 0.5 micron particle Polytetrafluoroethylene 38
adhered to a diamond plate in vacuo (with zsep = 0.4 nm, H = 340 Acetone 41
zJ) is FvdW ~ 180 nN. Ethanol 42
Real particles are not perfectly rigid but deform under the influence Hydrocarbons ~ 50
Hydrogen peroxide 54
of this adhesive force. If the adhesion surface area is increased from Glycol 56
point contact to a circle of radius radhesion, then the van der Waals Fused silica (SiO2 quartz) 65
adhesion force increases to:1146 Polystyrene 66
Glycerol 67
H r H r KBr crystals 76
FvdW = 2 + adhesion
3 {Eqn. 9.3} Polyethylene 76
6 z sep 6 z sep Polyvinyl chloride 78
Platelet surfaces3545 ~100
According to the JKR theory of adhesion mechanics1155 for a Mica 135
sphere on a flat surface of the same material with a work of adhesion Alumina (Al2O3, e.g., sapphire) 140
Wadhesion (joined surface energy; Section 9.2.3) and elastic modulus Germanium 252-290
Ke:1149 Silicon 260-275
Graphite 275
1/3 Copper 325
6 π r 2 Wadhesion Diamond 340
radhesion ~ {Eqn. 9.4}
Ke Silver 344
Metals (misc.) 300-500
Assuming Wadhesion ~10 J/m2 and Ke ~ 1012 N/m2 for smooth Silicon carbide 440
flawless diamond and r = 0.5 micron gives radhesion ~ 36 nm. Taking
zsep = 0.4 nm contact with a flat diamond plate over a ~4100 nm2
circular adhesion spot in vacuo, then FvdW ~ 1300 nN, a mean surface
pressure of pmean = FvdW / π radhesion2 ~ 3200 atm over the contact Two (1 nm)2 diamond plates separated by zsep = 0.4 nm in vacuo
circle and a peak pressure ppeak = 1.5 pmean = 4800 atm at the center. require FvdW ~ 0.07 nN (~7 atm) to overcome the van der Waals
As the sphere is pulled away, separation occurs abruptly when the attractive force. Such plates are the same size as the contacting end
contact radius falls to radhesion / 41/3 = (~63%) radhesion = 23 nm. surfaces of the logic rods employed in Drexler’s mechanical computer
Van der Waals forces also depend upon the roughness of the design (Section 10.2.1); the design assumes a rod realignment force
surface. If a smooth sphere approaches a surface having uniform of 1 nN in the exemplar calculations.10 This result suggests that forces
rugosity or roughness brug with roughness feature size << r, then the on the order of 10-100 pN must be applied to mobile nanoscale
van der Waals force is approximately:1148 components inside mechanical nanodevices in order to overcome static
van der Waals adhesion that arises due to the contact proximity of parts
within the structure.
z sep For another example, two rigid spheres of radii r1 and r2, separated
Frug = F
vdW
{Eqn. 9.5} by a distance zsep << r1, r2, have a van der Waals adhesive force of:1152
1
z sep + b rug
2
H rred {Eqn. 9.7}
FvdW =
For zsep = 0.4 nm and brug = 10 nm, Frug = 2% FvdW ~ 4 nN for 6 z 2sep
the rigid sphere (in vacuo) in the examples given above. Surface
dimpling is a common practice in MEMS fabrication, for example, where the reduced radius rred = (r1 r2) / (r1 + r2). A pair of 1-micron
to reduce adhesion between polysilicon layers and the substrate.1382 diameter rigid diamond spheres separated by zsep = 0.4 nm in vacuo
A few other geometries of rigid bodies approaching contact are have a van der Waals mutual adhesive force FvdW ~ 90 nN.
useful as well. For example, the van der Waals adhesive force As one final example, the van der Waals force between two parallel
between two flat plates of equal interfacial area A and uniform cylinders of length L, radii r1 and r2, and separation zsep is (dif-
separation zsep is:1152 ferentiating VvdW in Drexler10):
1/2
HA H L rsep
FvdW = {Eqn. 9.6} FvdW = {Eqn. 9.8}
24 π z 3sep 1281/2 z 5/2
sep
Basic Capabilities • Manipulation and Locomotion 277
A pair of 1-nm diameter, 10-nm long rigid diamondoid cylinders for polystyrene on polystyrene1153 up to 2 x 10-2 coul/m2 (~200
lying exactly zsep = 0.4 nm apart along their entire length in vacuo atm) for SiO 2 on mica. 1154 In this latter study, a pair of
feel a van der Waals force of FvdW ~ 1.5 nN. In all three examples, as contact-adhered silica/silica sheets required a force of ~0.08 nN/nm to
before, the force rises slightly if the objects deform and declines pull them apart and a mica/mica pair required ~ 0.11 nN/nm;
significantly if surface rugosity is increased. (See also however, due to contact electrification a silica/mica pair
entropic packing, Section 9.4.2.3.) required 6.6-8.8 nN/nm to separate.1154 Proper nanomechanical
design can avoid or enhance these effects, as required.10
9.2.2 Electrostatic Adhesion Forces Double layer electrostatic contact forces usually predominate over
Two types of electrostatic forces may act to hold particles to electrostatic image forces for small particles; image forces are
surfaces. The first type of force is due to bulk excess charges present important only for materials that can carry high surface charges,
on the particle or surface which produce a classical Coulombic such as polymers of poor conductivity or other extreme insulators.
attraction known as the electrostatic image force. Consider two Because of their r/zsep dependency, contact electrical forces are usually
spheres of radii r1 and r2 located a distance zsep apart, where zsep << more important than van der Waals forces only for large particles
r1, r2. Then following Eqn. 4.40 the image force is given by:1148 and at separations wider than ~100 nm, although electrical forces
can dominate in smaller particles if the surface asperities of the particles
q1 q 2 2
4 π σ1σ 2 rred are significant enough to remove the bulk of the particle from the
Fimage = = {Eqn. 9.9} contact point, thus greatly reducing the van der Waals interaction.1146
4 π ε 0 κ e d 2sep ε0 κ e
In either case, the total forces of adhesion far outweigh the force of
where q1 and q2 are charge on the two spheres (coul), σ1 and σ2 are gravity, given by:
the surface charge densities (coul/m2), ε0 = 8.85 x 10-12 farad/m
(permittivity constant), κe is the dielectric constant of the medium, 4
Fgravity = πr3 ρ g {Eqn. 9.13}
and dsep ~ r1 + r2 is the distance between charge centers. Taking 3
σ1 ~ σ2 = 10 -5 coul/m2 (~63 charges/micron2; cf. ~1000 charges/
micron2 for “highly charged surfaces”1151), r1 ~ r2 = 0.5 micron and For density ρ = 3510 kg/m3 for diamond, acceleration of gravity
κe = 1 in vacuo, then Fimage ~ 0.009 nN. g = 9.81 m/sec2, and particle radius r = 0.5 micron, Fgravity ~ 10-5
The electrostatic image force between two flat plates of equal nN; for r = 1 nm, Fgravity = 10-13 nN.
interfacial area A, equal charge density σ, and uniform separation Entropic and electrostatic effects can sometimes interact to produce
zsep with zsep << A1/2, is:727 an apparent repulsion between opposite charges—as, for example,
between positively charged bilayer surface and negatively charged
σ2 A colloidal particles.3674
Fimage = {Eqn. 9.10}
2 ε0 κ e
9.2.3 Immersive Adhesion Forces
For σ ~ 10-5 coul/m2 and A = 1 micron2 in vacuo (κe = 1), Fimage For hydrophilic particles exposed to high humidity, or immersed
~ 0.006 nN (~0.00006 atm). At larger zsep and a voltage differential and then withdrawn from a fluid, a liquid film can form on the
Vplate between the plates with capacitance Cplate, then: surface of the particle by capillary condensation or by capillary
action between particle and surface. For a spherical particle of
2 2
C plate Vplate ε 0 κ e A Vplate radius r linked by a liquid bridge to a planar surface of the same
Fimage = = {Eqn. 9.11}
2 z sep 2 z 2sep material with contact area A, separation zsep, and liquid surface tension
γ, then the capillary force between sphere and plane is Fcapillary ~ 2 γ
Thus if A = 1 micron2, Vplate = 1 volt, and zsep = 0.2 micron, then A / zsep for small contact angles between the liquid and the surfaces.1147
Fimage ~ 0.1 nN. Assuming hydrophilic (wettable) surfaces with wetting coefficient
The second and more important type of electrostatic force for cos(θ) as defined in Section 9.2.4 and zsep << r, the capillary force is
very small particles is the electrostatic contact potentials, also known given approximately by:1146,1147,1149
as induced electrical double layer forces.1146 When two different
initially uncharged materials with different local energy states and
Fcapillary = 4 π r γ cos(θ ) {Eqn. 9.14}
work functions are brought into contact, charge flows between them
until an equilibrium is reached. The resulting potential difference is
called a contact potential, Vcontact, which typically ranges from ~0-1 which has been confirmed experimentally by direct measurement.1149
volt. In the case of two metals, only the surface layer which is xcontact For the water-air interface, cos(θ) ~ 1 and surface tension γ = 75.6 x
~ 1 nm thick (the gap for tunneling) carries contact charges; for 10-3 N/m at the freezing point (273 K), 72.75 x 10-3 N/m at room
semiconductors and insulators, these regions may temperature (293 K), 70.05 x 10-3 N/m at human body temperature
extend into the bulk up to xcontact ~ 1 micron or deeper.1146 For a (~310 K), 58.90 x 10-3 N/m at the boiling point at 1 atm (373 K), and
spherical particle of radius r at a distance zsep from a surface, the 110 x 10-3 N/m for ice at 273 K.763,1149 Thus at room temperature, the
induced charge density1147 is σ = ε0 Vcontact / zsep and the contact capillary force on an r = 0.5 micron particle is Fcapillary ~ 460 nN; an
force is:1146 r = 10 nm particle feels Fcapillary ~ 9 nN, a rather substantial force.
Liquid bridges containing dissolved substances may evaporate and create
2
π ε 0 r Vcontact solid crystalline bridges. Hydrophobic surfaces are generally unaffected
Fcontact = {Eqn. 9.12}
z sep by capillary forces.1146
Eqn. 9.14 also applies to nanorobots that are caught in an
Taking r = 0.5 microns, Vcontact = 0.5 volts, and zsep = 5 nm, then air-liquid interface such as the surface of a puddle of water, alveolar
F contact ~ 1 nN (~0.01 atm). Induced charge densities vary fluids in the lung, or an epidermal pool of sweat. However, adding
experimentally from 2 x 10-7 coul/m2 (~2 x 10-11 atm contact pressure) capillary-active solute to a solvent may lower surface tension
278 Nanomedicine • Volume I
considerably. For dilute surface concentrations of a solute of molecular proposed that the ~15 nm gap frequently observed between the
area Amol in solvent of surface tension γ0 at temperature T, the surfaces of aggregated red cells represents the position of the potential
resulting surface tension of the solution drops to:390 energy minimum where the forces of electrostatic repulsion (between
negatively charged red cells) and the van der Waals attractive forces
kT are equal.1162 Taking H = 5 zJ, rred = 3 microns and zsep = 15 nm in
γ = γ0 − (N/m) {Eqn. 9.15}
A mol Eqn. 9.7, the net attractive force between red cells is FvdW ~ 0.01
nN.
For palmitic or stearic acid (e.g., soap), Amol ~ 0.21 nm2;2178 Surface force experiments have demonstrated molecular control
added to water (γ0 = 70.05 x 10-3 N/m) at 310 K, surface tension of adhesion at a fine level.1152 According to the commonly-used
falls to γ = 49.70 x 10-3 N/m. More concentrated solutions further JKR theory,1155 the mechanical force needed to separate two elastic
reduce surface tension, nonlinearly with concentration. For example, spheres each of radius r already adhered by molecular contact is:
γ ~ 25 x 10-3 N/m for a 0.1 M aqueous fatty-acid solution of hex-
anoic acid (CH3(CH2)4COOH; MW = 116 daltons), a total of ~6 3π
Fadhesion = Wadhesion r {Eqn. 9.17}
x 107 molecules, ~0.01 micron3, or ~0.01 picograms of hexanoic 4
acid per micron3 of solution.390 For the aqueous solution-air interface,
inorganic electrolytes (e.g., NaCl), organic acid salts, low-MW bases, where Wadhesion is the Dupre reversible work of adhesion (energy
and certain nonvolatile nonelectrolytes such as glucose and glycerin per unit area). For example, hydrocarbon rubber spheres display
are capillary inactive.390 Wadhesion = 71 x 10-3 J/m2 in air but only 6.8 x 10-3 J/m2 in water.
Surface tension is reduced even more dramatically by biological When sodium dodecyl sulfate1155 or dodecylammonium chloride3546
surfactants. Lung surfactant, whose activity is largely attributed to is added to the water so the liquid can wet the surface, Wadhesion
the phospholipid palmitoylphosphatidylcholine,996 produces a non- actually becomes negative—the surfaces are pushed apart by the
linear change in surface tension with area. As the lungs fill with air, intervening fluid. Nonwetting liquids increase adhesion. For
more-inflated alveoli have higher γ’s than less-inflated alveoli, serving instance, polydimethyl siloxane rubber has Wadhesion = 43.6 x 10-3 J/m2
to stabilize alveoli of different sizes.526 Aqueous solutions of surfactant to itself, in air. In water, a nonwetting liquid, adhesion nearly doubles
from mammalian lung extracts show a surface tension reduction to to 74 x 10-3 J/m2; in methanol, a wetting liquid, adhesion is almost
as low as γ ~ 0.7 x 10-3 N/m at 20% of maximum film distension.2179 eliminated, falling to 6 x 10-3 J/m2.1160 In nanomedical engineering
Survanta, an intratracheal pulmonary surfactant commonly used in applications where minimization of adhesive forces is an important
the treatment of respiratory distress syndrome (aka. hyaline membrane design objective, adhesion of specific classes of materials may be
disease) in premature infants, lowers minimum aqueous surface virtually eliminated by surface modifications that reduce Wadhesion,
tension to γ 8 x 10-3 N/m.2119 as is commonplace in biological surfaces and in engineered capillary
Adhesion forces are greatly reduced for particles and surfaces coatings designed to reduce electroosmotic drag force during capillary
that remain completely immersed in liquid. Surface tension effects zone electrophoresis.1229
are largely eliminated.1146,1147 Electrostatic image forces (Eqns. 9.9
and 9.10), already quite small, are further reduced by a factor of 9.2.4 Capillarity and Nanoscale Fluid Flow
κe-1 ~ 1-2% (κe = 74.3 for pure water at 310 K, usually reduced to In vivo nanodevices will often find it necessary to inject or to
~40 in a hydrophobic environment). Electrostatic contact forces extract small aliquots of fluid from organelles, cells, tissues, or the
may be greatly reduced because of sorption phenomena which tend environment. Internal gas or liquid transfers will also be commonplace
to shield the charges (Sections 3.5.1 and 4.7.1). For particles and in fluidic tethers, hydraulic communication and power conduits,
plates made of the same material, charges generally form the same nanohydraulic pistons, manipulators and metamorphic bumper
double layers on both surfaces so that the double layer interactions drivers, and in bulk transfers into sensor cavities or chemical reaction
are repulsive, thus reducing the net adhesive force, by an amount:1146 chambers inside nanofactories (Chapter 19). Nanopipes may also
be used in biomimetic nanosystems such as artificial organs and
Fshield ~ 64 π kT r c ion x contact {Eqn. 9.16} artificial cell components such as tubulin substitutes (Chapter 21).
Hence it is essential to examine the nature of fluid flows and
“wicking” in nanocapillary vessels, and the likely behavior of fluids
where k = 0.01381 zJ/K (Boltzmann constant), T is temperature, r in nanomachines.
is particle radius, cion is the volumetric charge density of ions in the The theory of macroscale capillarity is well-studied.1163 The
liquid, and xcontact is the double layer thickness. Taking T = 310 K, concept of “wetting” is basic. Consider a fluid in a vessel. At the
r = 0.5 micron, cion ~1026 ions/m3 (~1% or 0.15M NaCl aqueous solid-liquid-gas interface (the vessel wall) there is a characteristic
solution, ~human blood), and xcontact ~ 0.8 nm (~Kdh-1; Section contact angle θ, the angle at which the meniscus contacts the container
3.5.1), then Fshield ~ 34 nN. (Effective double layer thickness xcontact wall. This angle is indicative of the balance between the forces of
~ 1 nm for a 0.1M solution of univalent electrolyte, ~10 nm for a (1) adhesion between the liquid and the solid wall and (2) cohesion
0.001M solution.1162) While different ions may collect in various within the surface of the liquid. A contact angle <90˚ means that
alignments at unlike surfaces so that attractive (i.e.,contributing to adhesion is strong and the liquid is “wetting” the tube; an angle
adhesion) or repulsive shielding forces are possible, in most cases >90˚ implies that adhesion is relatively weak and the liquid is
involving nanodevice surfaces that are fully immersed in human “nonwetting.” In air against glass, the liquids alcohol, glycerol, and
body fluids the electrostatic contact forces should be quite small. pure water have θ ~ 0˚, while turpentine has θ ~ 17˚ and impure
The van der Waals force is also moderately reduced in fluids. For water has θ ~25˚;1164 all are wetting. On the other hand, mercury
example, van der Waals adhesion between two diamondoid on glass has θ = 140˚ and water on paraffin has θ = 109˚;1164 both
nanodevice surfaces fully immersed in water is only half of its vacuum are nonwetting.
value because the Hamaker constant (Eqn. 9.2) is reduced from In the classical example of capillarity, one end of a narrow-bore
340 zJ to 153 zJ. Blood cells are subject to similar forces. It has been open-ended tube is dipped vertically into a liquid. The liquid wets
Basic Capabilities • Manipulation and Locomotion 279
the tube, and the liquid rises until the force due to surface tension air with ngas = 2.4 x 1025 molecules/m3 at pgas = ngas kTgas = 1 atm
(Fcap) pulling the liquid upward equals the force of gravity (Fgrav) pressure, the free path is given by:
pulling the column of liquid downward at some height hcap, given
by:1163 λ gas = (21/2 π n gas d 2gas )−1 = (21/2 π p gas d 2gas / kTgas )−1
~ 200 nm
2 γ lg cos(θ )
h cap = {Eqn. 9.18} {Eqn. 9.23}
g rcap (ρl − ρg )
with wetting coefficient cos(θ) = (γsg - γsl) / γlg (the Young equation1163) under ideal gas conditions, if we take the effective molecular diameter
where γ is surface tension at the solid-gas (sg), solid-liquid (sl), as dgas ~ 0.2 nm. At high pressure, van der Waals equation must be
or liquid-gas (lg) interfaces; ρl and ρ g are liquid and gas density; used (Section 10.3.2), but for pgas = 1000 atm with ngas = 1.3 x 1028
g = 9.81 m/sec (acceleration of gravity) and rcap is the inside diameter of molecules/m3, then λgas ~ 0.4 nm. In a liquid, λliq ~ dliq, the
the tube. Thus pure water with air at STP in a glass capillary with molecular diameter; for water molecules, λliq ~ 0.3 nm.
rcap = 1 micron can rise hcap = 15 meters against gravity, representing a A ratio of rcap/λ ~ 1 marks an important transition because it
mean pressure pcap = hcap g (ρl - ρg) = 1.5 atm. A nonwetting liquid implies that molecules are colliding with the walls about as often as
does not rise up the tube, but falls instead. they are colliding with each other. If rcap << λ, then intermolecular
In the more general case of a linear capillary tube whose flow interaction is rare, wall collisions are relatively frequent, and
vector makes an angle ϕgrav with the ambient gravity field (e.g., molecular motion is largely ballistic between wall impacts. But if
ϕgrav = π is a tube pointing straight up), then the force on the fluid rcap >> λ, then molecule/wall interactions are relatively rare and
column is: intermolecular collisions are relatively frequent. In the latter situation
the continuum flow relations should become valid, for example when
rcap >> 200 nm for gases at ~1 atm or when rcap >> 0.4 nm for gases
Fcolumn = Fcap + Fgrav {Eqn. 9.19} at ~1000 atm, or when rcap >> 0.3 nm for liquids.
The range of non-continuum skin layer effects appears quite
narrow in many cases. For instance, two smooth mica surfaces that
Fcap = 2 π γ lg cos(θ) rcap {Eqn. 9.20} are slowly brought together while immersed in various nonaqueous
fluids display oscillating attractive and repulsive forces as a function
of separation when the gap is less than 6-10 molecular diameters;
2 {Eqn. 9.21}
Fgrav = π h cap (ρl − ρg ) g cos(ϕ grav )rcap periodic jump distances are about equal to the molecular diameter
of the fluid.1165 Oscillations become smaller between rough surfaces
and in liquids that mix molecules of different sizes.1149 Similar
Taking the largest reasonable tube that might fit inside an in
experiments in water with electrolyte produce similar behavior, but
vivo nanorobot, hcap = 1 micron, rcap = 0.1 micron, ρl - ρg ~ 1000
with ionic double layer repulsions superimposed—oscillatory solvent
kg/m3, γlg ~ 72 x 10-3 N/m for pure water, and taking cos(θ)
forces become significant only at zsep < 2 nm.1166 Elastohydrodynamic
~ cos(ϕgrav) ~ 1, then Fcap/Fgrav ~ 108, giving the familiar result that
simulations suggest that flat gold surfaces separated by 2.3 nm with
gravity can usually be ignored in nanoscale systems. For this
0.9-nm asperities (the “near-overlap” case) should slide smoothly
example, Fcolumn ~ Fcap = 44 nN and column fluid pressure pcolumn ~
on a thin film of liquid lubricant molecules, albeit with
2 γlg cos(θ) / r = 14 atm. Taking instead the smallest reasonable
nanometer-scale cavitated zones extending ~3 nm downstream
nanocapillary tube with hcap = 20 nm and r = 2 nm, then Fcap/Fgrav
persisting for ~0.1 nanosec at a sliding velocity of 10 m/sec.1172
~ 1011, Fcolumn ~ 0.9 nN and pcolumn ~ 700 atm, making a quite
Solvation forces may also appear at separations below a few molecular
substantial wicking force. Of course, the frictional effect of the
diameters.1149
interface region requires that a finite pressure P0 ~ 2 α / rcap must be
These results suggest that water-carrying nanocapillaries >2-4nm
applied before fluid motion will begin,1188 where α = 0.01-0.1 N/m
in internal diameter should function largely in line with continuum
(experimental); taking α ~ 0.01 N/m, then P0 ~ 2 atm for r = 0.1
models. Early theoretical calculations predicted that open-ended
micron, or ~100 atm for r = 2 nm.
carbon nanotubes as small as 0.8 nm in diameter might act as
The capillary force may also be compared to the simple hydrostatic
“nanostraws” and could wick in molecules from vapor or fluid
suction force:
phases.1167 Subsequent experiments1168-1170 confirmed that fluids
with γlg 190 x 10-3 N/m, including liquid sulfur, liquid selenium
2
Fsuck = π rcap ∆p {Eqn. 9.22} and nitric acid, are readily drawn into the inner cavity of carbon
nanotubes with inside diameters of 4-8 nm through capillarity.1169
This limit is sufficiently high to allow nanotube wetting by water
A nanopipette with inside radius rcap = 0.1 micron which is (γlg ~ 72 x 10-3 N/m), most organic solvents (γlg < 72 x 10-3 N/m),
pressed against a plasma membrane surface and is then evacuated and liquid acids (e.g., γlg ~ 43 x 10-3 N/m for HNO3) which can
behind the attachment point sufficiently to create a surfacial pressure then be used as low surface tension carriers to introduce dissolved
differential of ∆p = 0.3 atm produces a purely hydrostatic suction solute into the nanotubes.1170 Bulk nanotubes are readily wetted by
force of Fsuck = 1 nN. water.1168 Good wetting is favored when the polarizability of the
Such classical continuum models assume, among other things, tube material is higher than that of the liquid.1171 Pure metals like
that the molecular graininess of the fluid can be ignored. This molten lead or mercury with γlg 190 x 10-3 N/m do not wet
assumption fails when tube dimensions (e.g., rcap) are comparable carbon nanotubes and are not drawn in by capillarity. Such high-γlg
to the characteristic molecular length scale (λ) of the fluid.10 In a liquids may be forced into the nanotubes by applying a hydrostatic
gas, λgas is the mean free path between collisions. For Tgas = 310 K pressure pforce given by the Laplace equation:1168
280 Nanomedicine • Volume I
2 γ lg cos(θ ) large internal tensile strength Kliquid ~ 4 γlg / xmolec,1163 where xmolec
p force ~ {Eqn. 9.24}
rcap ~ 10 nm is the approximate maximum range of intermolecular forces.
Taking γlg ~ 72 x 10-3 N/m for water, Kliquid ~ 300 atm. There is
Thus, liquid mercury with γlg = 490 x 10-3 N/m can be pushed experimental evidence that water saturated with air but denucleated by
into an rcap = 0.5 micron tube by applying pforce ~ 20 atm to the high pressures does exhibit a tensile strength on the order of ~300
fluid; pforce ~ 2000 atm for rcap = 5 nm. atm.1175 This tensile strength, and not capillarity, is credited for the
By 1998, detailed molecular dynamics simulation of fluid flow ability of tall trees to pull sap up to 115 meters high,1176 far exceeding
inside 1.3-1.6 nm diameter carbon nanotubes had been a subject of the maximum 10.33 meters that water can be pulled vertically at
active research.1173,1174 One major difference between macroscale the Earth’s surface using a vacuum pump. M. Zimmermann2031
and nanoscale fluidic systems is that in nanomachines the tube walls reviews the sap transport system; the maximum pull recorded
may be considerably less rigid* and may flex and resonate. experimentally in trees is 120 atm.2032
Nanomachine designers must take into account the effects of these
vibrations as they are transmitted through nanoscale structural elements 9.2.5 Pipe Flow
attached to the tubes. Furthermore, tube wall motions are sometimes Cellular and nuclear microinjection using fine glass pipette tips
strongly size-dependent. The simulations confirmed that fluids flow as small as 200 nm in diameter is commonplace in the experimental
faster through rigid tubes than through floppy tubes, as predicted biological sciences.1191 In small tubes or nanoinjectors with rcap >>
by classical hydrodynamics theory (Section 9.2.5). At high flow λ (Section 9.2.4), nanoscale fluid flow behavior is approximated
velocities we may expect nanotubes to exhibit buckling modes, reasonably well by the classical continuum equations. Continuum
variable patency, progressive wave propagation, sluicing, flow1390 is governed by the famous Hagen-Poiseuille Law (or more
flow-limiting flutter, and stall, by analogy to the fluid mechanics of commonly, Poiseuille’s Law), derived from the Navier-Stokes equations,
compliant tube flow in human veins.361 Carbon nanotubes may be which states that a pressure difference of ∆p between the ends of a
rigidified by imposing a stretching tension, or possibly may be tube of radius rtube and length ltube will move an incompressible
replaced by stiffer diamondoid tubes.1173 If the fluid has more than fluid of absolute viscosity η in laminar flow at a volume rate of:
one kind of atom, size-mass effects and differing interaction ranges
or strengths may cause one or more species to segregate at the walls 4
π rtube ∆p
or to flow at different rates.1174 VHP = 2
= π rtube v flow (m3/sec) {Eqn. 9.25}
8 η l tube
Material flow through nanotubes has been well-exploited by
biology, including the bacterial sex pili3549 (Section 5.4.2), bacterial The subsonic mean fluid velocity (vflow), flow power dissipation
anal pores and cytoprocts,3550 cellular excretory canals (e.g., in (Pflow), and the flow time of an aliquot of fluid through the length
the glandular cells of the pancreas), 10-100 nm intranuclear nucleolar of the entire tube (tflow) then follow directly from Eqn. 9.25 as:
canals (Section 8.5.4.5), the 20-40 nm wide hollow tubular fluid
transport network that forms the smooth intracellular endoplasmic 2
rtube ∆p
reticulum (Section 8.5.3.5), the 75-nm diameter nutrient-transporting v flow = (m/sec) {Eqn. 9.26}
8 η l tube
tubovesicular membrane network of the human malaria parasite,1183
the >100-nm wide fluid-carrying human bone canaliculi (Section 4
π rtube ∆p 2
8.2.4), and prelymphatic tissue channels (Section 8.2.1.3). Pflow = (watts) {Eqn. 9.27}
8 η l tube
The syringelike T4 bacteriophage tail assembly is perhaps the
best-studied example of biological nanotube flow.1179,1180 The
100-nm long, 20-nm wide cylindrical T4 tail assembly, made of 15 8 η l 2tube {Eqn. 9.28}
t flow = 2
(sec)
different proteins joined in 24 annular segments with an 8-nm rtube ∆p
inside bore, has a set of small fibers near the tip that attach to the
plasma membrane of the host cell. After a lysozyme-like enzyme Taking η= 0.6915 x 10-3 kg/m-sec for pure water at T = 310 K, a
opens a breach in the host cell wall, the tail sheath thickens and nanotube with rtube = 10 nm, ltube = 1 micron, and ∆p = 1 atm
contracts,1181 inserting a ~2.8 megadalton hollow core protein passes fluid at VHP = 0.6 micron3/sec, vflow = 2 mm/sec, with tflow = 0.5
nanotube (80 nm long, 7 nm wide, 2.5 nm inside bore) through millisec. The incompressibility assumption generally holds in liquids
the host cell integument. The protein nanotube is then uncorked in and in gas flows where ∆p << ptube, where ptube is the head pressure at
response to chemical signals, and a large-molecule (mostly putrescine the tube entrance.
and spermadine) pressure of ~30 atm ejects a single 70-micron long, The above equations describe the resistance to Poiseuille (laminar)
2-nm wide DNA thread (~50% of head volume) through the 2.5-nm flow in a pipe, which is the minimum of resistance of all possible
nanotube aperture and out into the cell typically in ~3 seconds, a flows in a pipe.361 If the flow becomes turbulent, the resistance
mean flow velocity of ~23 microns/sec.1178 (DNA packing into the increases. The determinative parameter is a dimensionless quantity
capsids of some phages is purely mechanical. 1723 ) The called the Reynolds number,1187 NR, which is the ratio of the inertial
double-stranded DNA thread rotates ~4000 times around its axis as pressure (~ ρ vflow2) to the viscous pressure (~ η vflow / rtube) in the
it emerges.1182 Under optimum conditions, initial injection velocity flow of a fluid of density ρ, or:
may start as high as 360 micron/sec with a minimum injection time
of 0.23 sec.1178 ρ v flow rtube {Eqn. 9.29}
NR =
The tensile strength of liquids may also be important in η
nanorobot internal fluid flows, even in the complete absence of
capillarity. For instance, completely liquid-filled wetted tubes with For the example of the 10-nm nanotube in the previous paragraph,
no gas pockets make a continuous liquid column that can exhibit a NR ~ 10-5. A large Reynolds number (Section 9.4.2.1) implies a
* Approximately 100 nN of force are required to produce the first buckling2659 of a carbon nanotube pressed perpendicularly onto a diamond surface. Nanotube compressive
strength is ~1.5 x 1011 N/m2 ~ 1.5 million atm, easily sufficient to penetrate any biological surface.
Basic Capabilities • Manipulation and Locomotion 281
1. The mechanical response time of the fluid defines a maximum necessary, the active valves described above may be replaced by passive
operating frequency of νmax vsound / (ltube/2); for ltube = 100-1000 nm one-way check valves or flap valves analogous to those found in
and vsound ~ 1500 m/sec in water at 310 K, νmax = 30-3 GHz. (Note human veins (Fig. 8.3).
also the requirements that vmax << vsound to avoid acoustic radiation Many other mechanical positive displacement pumps are readily
losses, and that pressure and frequency must be sufficiently limited imagined—including diaphragm pumps, rotary pumps (valveless),
to avoid cavitation (Section 6.4.1).) hydraulic vane pumps (valveless), lobe pumps (valveless), screw
pumps (valveless), reciprocating flap-valve or plunger pumps, bellows
2. The maximum mechanical operating speed of nanoscale pistons pumps, multiple piston pumps, continuous ciliary2696 or peristaltic
is, conservatively, νmax ~ GHz.10 pumps (valveless),1215,1216 and paddlewheel or waterwheel “gear”
pumps (valveless)—all with similar scaling and performance
3. The maximum acceptable flow velocity vmax defines a maximum parameters. The dominance of viscous forces over inertial forces in
operating frequency νmax = π rtube2 vmax / Vcycle = vmax / 4 rtube taking fluid flow at small scales favors the use of these positive displacement or
Vcycle ~ (2 rtube)3 (e.g., one full piston throw opens a volume equal static-type pumps over the use of rotodynamic or kinetic-type pumps
to one cubic pipe diameter); taking vmax = 4 m/sec, then νmax = such as centrifugal pumps (with impeller blades) and venturi or jet
1-100 MHz for rtube ~ rstub = 1000-10 nm. pumps (e.g., using a motive fluid, nozzle and diffuser).
4. The maximum valving speed of vvalve = 0.01-1 m/sec (Sections 9.2.7.3 Turbomolecular Gas Pumps
3.2.4 and 3.3.2) when applied to valves of radius rtube defines a Drexler10 has briefly reviewed the general design parameters of
maximum valving frequency of νmax = vvalve / rtube; for rtube = 1000-10 nanoscale turbomolecular gas pumps. Pump effectiveness depends
nm, νmax = 0.01-100 MHz. on the ratio of the blade speed to the characteristic thermal speed of
the lightest gas molecule to be pumped. If the blades are constructed
These considerations suggest that as a conservative limit, νmax ~ of diamondoid materials, then blades may be as thin as ~1 nm and
1 MHz may be appropriate in nanomedical piston pump designs blade speed can exceed the velocities of the fastest gas molecules
that are intended to interact with an aqueous or protoplasmic (e.g., 1960 m/sec for hydrogen at 310 K; Eqn. 3.3), providing a
external biological environment. Nanorobot piston pumps transferring compression ratio of 10 per blade row.1204 Turbomolecular pumps
durable fluids internally may safely operate at frequencies up to are designed to operate under free-flow conditions involving essentially
~GHz and pressures >1000 atm. ballistic gas molecule trajectories of length λgas ~ 10 nm at 20 atm
From Eqns. 9.37 and 9.38, and taking rtube = 10 nm, ltube = 100 pressure, or λgas ~ 200 nm at 1 atm (Eqn. 9.23). Taking pump length
nm, νpump = 1 MHz, η = 0.6915 x 10-3 kg/m-sec for 310 K water, per blade row ~10 nm for operating pressures up to ~20 atm, a
and Vcycle ~ (2 rtube)3 = 8000 nm3, then vflow ~ 3 cm/sec, ∆p = 1.6 pump assembly consisting of a stack of five blade disks achieves a
atm, and Pflow ~ 1 pW assuming Pdiss << Pflow, which will normally compression ratio of ~105 in a ~50 nm pump length.
be the case. The mean pressure amplitude developed during each
piston cycle is ∆ppiston ~ 8 η ltube vflow / rtube2 ~ 1 atm. Reynolds
number NR ~ 0.0004 (Eqn. 9.29), giving laminar flow throughout 9.2.7.4 Nonmechanical Pumps
the cycle; power losses due to differential compression of the stream- Nonmechanical pumps may induce fluid flow without using any
lines as fluids curve through an elbow to enter and exit the piston moving parts in direct contact with the fluid. Electrohydrodynamic
stub should be negligible. If precise control of flow volume is not (EHD) pumps are one important class of these devices. Several
different types of EHD micropumps have been fabricated.
For example, in the DC-charge injection pump1205-1207 or ion
drag pump,1207-1209 ions are injected into the liquid at an emitting
electrode under high field conditions and move under the influence
of Coulombic forces toward a second collecting electrode where
they are absorbed. Collisions between ions and fluid molecules transfer
momentum from the ions to the fluid, producing fluid movement
in the direction of ion flow. A prototype micropump has achieved a
maximum pumping pressure of 0.01 atm (static) for ethanol flowing
between two (2500 micron)2 grids spaced 10 microns apart at 300
volts, producing a volumetric flow rate of V = 2.7 x 10-11 m3/sec at
a flow velocity of ~4 microns/sec.1206 Static pump pressure pstatic
may be estimated1208,1209 as:
2
V {Eqn. 9.39}
p static ~ c geom ε 0 κ e
d
In the traveling wave electroconvection voltage pump,1210-1212 fluid streams is rapid because the small-molecule diffusion time
phase-shifted rectangular voltages are applied across a series of parallel τ 10 microsec (Eqn. 3.1 and Table 3.4). At the other extreme,
electrodes. Temperature induced conductivity gradients induce free systems of characteristic size L 1000 microns with vflow 1.4
electric charges which can interact with the traveling field due to m/sec may readily establish a turbulent flow with NR 2000 in
charge relaxation processes in the volume of the fluid, causing fluid water at 310 K (Eqn. 9.29), and again mixing of multiple fluid
flow in a direction transverse to the electrodes. A small monotonic streams can be quite rapid.
temperature gradient, which may be produced by the traveling waves However, for systems of scale 1000 microns > L > 100 nm,
themselves,1212 is also required. Early prototype devices could pump diffusion times range from 10-5–103 sec for small molecules, and
only nonconductive fluids,1211 but Fuhr et al1212 have demonstrated even longer for large molecules. Nonlaminar flow would demand
EHD pumping of conductive fluids with conductivities between unreasonably high fluid velocities, and diffusive stirring (Section
0.0001-0.1 (ohm-m)-1 (e.g., up to ~0.01M NaCl aqueous solutions) 3.2.3.1) yields only modest improvements in mixing. To achieve
using high frequencies and a low voltage waveform. Typically, rapid mixing in this intermediate size range, a micromixer chamber
volumetric flow rates of 10-10–10-12 m3/sec and flow velocities of is first filled with one liquid, and then the other liquid is injected
50-1000 micron/sec were achieved using traveling wave frequencies of into the chamber volume simultaneously through a large number
0.1-30 MHz at ~ 40 volts across 30 micron-wide electrodes spaced of very small nozzles. In the simplest micromixer designs the mixing
30 microns apart in 50 x 70 micron square channels ~4000 microns nozzles form a regular coplanar array.1219 In more complex designs,
in length.1212 Flow velocity is a linear function of the square of the mixing nozzles will form a three-dimensional array possibly using a
applied voltage and a complex function of the applied frequency. branching tree or fractal geometry with tip spacing ~1 micron to
Further research is required to determine if unfavorable thermal allow fully intimate mixing to be completed in ~1000 microsec; a
scaling presents difficulties in submicron-size devices. ~100 nm tip spacing allows complete mixing in ~10 microsec.
Other nonmechanical pumping methods have been studied.
Electroosmotic pumping of electrolyte solutions has been observed 9.2.7.6 Nanoplumbing and Fluidic Circuits
in capillaries 50 microns in diameter or less, and separation of the In fluid distribution systems that minimize total energy dissipation
components is also possible using electrokinetic phenomena with in laminar nonpulsatile flow, space-filling fractal networks of
applied voltages up to 10,000 volts.1213,1217 Electrowetting pumps branching tubes are most efficient.3242 At each branch point in such
using electrical control of the interfacial surface tension have produced a network, where a single large tube of radius R bifurcates into N
~0.1 atm flow pressures in 10 micron radius channels.1221 Molecular branches with each branch tube having radii r1, r2,..., rN, Murray1220
flow can be induced by pulsed axial magnetic fields applied to carbon found that shear stresses are equalized and flow impedance is
nanotubes placed in a transverse electric field. Ultrasonic pumps minimized when:
cause liquid to move in the direction of wave propagation with a
speed proportional to the square of the acoustic amplitude;1214,1215
speeds of 130 micron/sec have been observed in water at 3.5 R 3 = r13 + r23 + ... + rN3 {Eqn. 9.41}
MHz.1214 Ferrofluids1241 containing ~10 nm particles in suspension
and electrorheological fluids1242 allow electrostatic control of fluid In the special case where r = r1 = r2 = ... = rN, which is quite common in
flow via the Winslow effect,1243 although early reports that blood biological systems, Murray’s law reduces to R3 = N r3. For example,
flow could be electrostatically regulated have not yet been confirmed the human bronchial system typically has N = 2, so the ideal fractal
experimentally.1244 Osmotic-pump motility across sugar gradients network has R/r ~ N1/3 = 1.26; from Table 8.7, the actual value
has been induced in micron-size phospholipid vesicles.3269 from trachea (generation 0) through the terminal bronchiole in
Optofluidic pumping is extremely energy inefficient and is feasible generation 16 (after which alveoli begin to appear irregularly) is
only at dangerously high beam intensities. Consider a beam of light R/r = 1.24, in good agreement with Murray’s law. In turbulent flow
of radius rbeam and intensity Ibeam that exerts a photon-pressure force regimes, the exponent on Murray’s law becomes 2.33, rather than
of Fbeam = π rbeam2 ka Ibeam / c, where c = 3 x 108 m/sec (speed of 3.1615 And in pulsatile flow through elastic tubes, which dominates
light) and ka = 0 for total transmission, 1 for total absorption, and 2 the aorta and major arteries in the human circulatory system, the
for total reflection. Setting this equal to the Stokes law force (Eqn. energy minimization principle requires area-preserving branching,
9.73) on a spherical target of radius rbeam in a fluid of absolute viscosity or R2 = N r2 for the ideal network.698
η gives the approximate magnitude of the fluid flow velocity as: Complex nanoscale fluidic logic devices are readily imagined. While
fractal geometries are likely, for simplicity consider a three-dimensional
k a rbeam I beam {Eqn. 9.40} fluidic circuit of volume Vcircuit. A volume fraction ftube consists of Ntube
v flow ~
6ηc independent fluidic pathways each of length ltube and radius rtube, and a
second volume fraction fvalve consists of Nvalve fluidic gates each
if we conservatively assume that dimensionless ka ~ rbeam σa where of volume Lvalve3. If each independent fluidic pathway is gated, on
σa ~ 300 m-1 (optical absorption coefficient; Section 4.9.4). Taking average, by a single valve, then Ntube = Nvalve = N = fvalve Vcircuit / Lvalve3
Ibeam ~1011 W/m2 (~optical tweezer intensity; compare maximum and ltube = (ftube / π fvalve) (Lvalve3 / rtube2). Ignoring reservoirs, inlet and
“safe” in vivo intensity of 105 watts/m2, Section 6.4.3.2) and rbeam outlet manifolds and support mechanisms, and taking Vcircuit = 1
= 200 nm giving ka ~6 x 10-5 (almost complete transmission), then micron3, ftube = 0.9, fvalve = 0.1, Lvalve = 20 nm, rtube = 10 nm, and η =
vflow ~ 1 micron/sec but with a huge power dissipation of π rbeam2 0.6915 x 10-3 kg/m-sec for water at 310 K, then the fluidic circuit
Ibeam ~10 milliwatts while developing a pumping pressure of only includes Nvalve = 12,500 fluidic gates and Ntube = 12,500 independent
pbeam ~ka Ibeam / c = 2 x 10-7 atm. fluidic pathways each of length ltube = 230 nm. If typical flow velocity
vflow = 1 mm/sec,1228 then from Section 9.2.5 the total volume flow
9.2.7.5 Fluid Mixing rate through the circuit is N VHP ~ 4000 micron3/sec at a pressure
In nanofluidic systems (e.g., pipes, chambers and junctions) of differential ∆p = 0.1 atm. Circuit power dissipation (ignoring valve
size L 100 nm, even with strictly laminar flow, mixing of separate dissipation) is N Pflow ~50 pW and tflow ~0.2 millisec assuming fully
Basic Capabilities • Manipulation and Locomotion 285
parallel operation (e.g., a path length ltube), allowing a circuit oper- have low frictional losses,10 and speeds up to ~100 m/sec can probably
ating frequency of tflow-1 ~ 5000 Hz. be tolerated in internal mechanisms if flow speed (entirely inside
Capillary networks are readily gated by applying appropriate nanodevices) is a more important design criterion than minimizing
voltages, allowing valveless switching of liquid flow among various power dissipation in a particular application. An additional con-
fluidic pathways. Purely electrical valving of fluid flows has been sideration is that subdividing a volume of fluid into many smaller
common practice in neurobiological research for decades. For blocks of fluid allows these smaller blocks to be transported
example, the flow of acetylcholine from the open end of a independently through numerous spatially independent channels
micron-sized pipette (as it is inserted into tissue) is prevented by of much smaller bore, greatly increasing the number of flow design
applying a negative bias or braking current of 3 nanoamps at the options and greatly increasing the relative advantage over Poiseuille
tip; flow resumes when the braking current is removed. 803 flow through channels of similar size.
Constant-discharge flow-control valves using opposing polymer
brushes with ~25 chains of ~40 monomers each2902 and micron-scale 9.3 Nanomanipulators
electrorheological diodes498 have been investigated. Macroscale fluidic Numerous simple actuators have been developed for
NOR logic elements that can be used to construct arbitrary Boolean microelectromechanical systems or MEMS.1232,1253-1255,1267-1269 A
logic circuits* (for controlling materials flow) are widely available few of these designs might possibly be useful in early nanomedical
commercially,1227 although these often employ the Coanda effect, systems. All major components of an articulated micromanipulator
vortices, or turbulence effects, which generally don’t scale well to having multiple degrees of freedom, workspaces on the order of
micron and submicron devices. In 1997, a microfluidic chip-based 1 mm3, positional resolution up to ~10 nm, operating frequencies
system for the integration of high-throughput drug discovery up to 10 KHz, and slewing speeds up to 4 mm/sec have been
efforts was demonstrated by SmithKline Beecham and Orchid demonstrated experimentally; complete systems have even been
Biocomputer. 1222 This microfluidic chip incorporated proposed.346,1253,1254
microfabricated components for valving and pumping of organic Actuation and manipulation may be very broadly defined. For
solvents using electrokinetic transport within a three-dimensional example, self-assembling and self-disassembling ~300 micron gold
fluidic network. The pumping and valving mechanisms had no foil cubes have been fabricated and cycled repeatedly at ~1 Hz;1251
moving parts, “making large scale integration feasible and inherently “silicon origami” has also been described.1382 Nonmechanical
reliable.” The study of microfluidic networks1228,2697,2698 using actuation has also been explored. In the Magnetic Stereotaxis System,1256
hundreds of micron-wide channels was an active research area in a helmet with a cubic array of six superconducting coils is used to
1998, and integrated chemical systems were being widely discussed.121 apply a 0.2 N force to a 3.2-mm wide, 4.7-mm long permanently
magnetized cylindrical pellet that is embedded in brain material,
9.2.7.7 Containerized Flow causing stepped movement of the pellet through the brain material
Once a block of fluid has passed into the interior of a nanodevice, to a specified location with ~1 mm placement accuracy without any
it may be containerized or divergently subdivided and then transported direct physical contact.
at velocities far higher than diffusive flow (Eqn. 3.1) or Poiseuille However, in the usual definition of a manipulator, an
flow (Eqn. 9.25) would otherwise permit. The velocities available ergomechanical transducer (e.g., motors; Chapter 6) converts
in containerized flows are largely independent of fluid viscosity and chemical, electrical, mechanical, acoustical, or some other form of
total transport time (unlike diffusive flow), and are nearly independent energy into the mechanical energy of a manipulatory device which
of fluid pressure and flow channel length (unlike Poiseuille flow). then exerts useful forces on objects or materials in the environment.
For easy comparison, consider a disk-shaped container of radius In most cases a force-transmitting physical structure is required which
rblock and thickness hblock with useful fractional storage volume fblock may include both heavy load-bearing elements such as girders, struts,
(to account for container wall thickness and mechanism overhead). pneumatic tubes or rotary joints, and fine control elements such as
After loading with fluid, the container is transported through a stress cables, valves or switches (Section 9.3.1). An end-effector (e.g.,
channel of radius rtube ~ rblock and length ltube at a velocity vblock, gripper, cutter or molecular jig) is usually employed to focus and
giving a volumetric flow rate of Vblock = π rtube2 fblock vblock (m3/sec) redirect the application of force at the distal end of the manipulation
device (Section 9.3.2), or to perform specialized tasks. Sensors
which is superior to the Poiseuille flow rate in a pressurized tube of
permit feedback control of manipulator motions as well as verification
equivalent size when:
that the assigned manipulatory task has been properly executed
2 (Section 9.3.3). Large numbers of manipulators can form ciliary
rtube ∆p arrays, allowing convenient mass transport of materials (Section
v block > {Eqn. 9.42}
8 η l tube f block 9.3.4); other classes of manipulators may be useful in bulk disassembly
of materials (Section 9.3.5).
Containerized transport thus may be preferred to Poiseuille flow The diverse concepts outlined in this Section demonstrate
in narrow, long transport channels, or in cases where fluid pressure the enormous range of possible nanomanipulator designs. These
is relatively low or fluid viscosity is relatively high, or where containers concepts are not intended as specific engineering proposals but
can be very thin-walled (e.g., high fblock) such as when strong rather as illustrations of certain useful classes of manipulators
diamondoid containers are used. For example, a containerized representing alternative design pathways that could provide the
transport channel carrying water at 310 K with rtube = 10 nm, ltube desired capability. No effort has been made to produce optimal
= 1 micron, ∆p = 1 atm, and fblock = 0.9 produces volume flow rates systems that minimize energy dissipation, maximize speed, minimize
superior to Poiseuille flow if container transport velocity vblock > 0.002 parts count, or simplify manufacture. Biocompatibility issues3234
m/sec. Container/channel sliding interfaces moving up to 1 m/sec will be addressed in Chapter 15.
* In the 1950s, Marvin Minsky and Rollo Silver289 built a “hydroflip computer” using hydraulic logic elements consisting of millimeter-wide grooves and holes in multiple layers
of plastic sheets with small rods and balls inserted in some of the grooves. When the assembly was pressed together and connected to a water supply, it became a hydraulic
computer powered by a 3-inch high column of water, operating at ~30 Hz.
286 Nanomedicine • Volume I
9.3.1 Nanoscale Manipulators of the human inner ear446 respond to a minimum 2 x 10-5 N/m2
(2 x 10-10 atm) pressure with a minimum 0.1 nm deflection at an
9.3.1.1 Biological Cilia applied force of ~10-3 pN, indicating a mechanical stiffness of
Biological cilia are motile, hairlike cylindrical processes typically ~10 -5 N/m. (Axoneme bending moment is ~7 x 10-17 N-m.1449)
200-300 nm in diameter, 2-20 microns in length, and ~10-16–10-15 kg Assuming a maximum Dp ~ 105 watts/m3 power density in non-
in mass.338,396,936,939,1394,1449 They are found in large numbers on muscular working tissue (Table 6.8) and a ciliary volume of ~0.1-1
some cell surfaces. Unicellular organisms use cilia both for locomotion micron3 also gives an estimated mechanical power output of Pcilium
and for food collection, while multicellular organisms use cilia ~ 0.01-0.1 pW/cilium.
primarily for mass transport of the environment past the cell. A simple cilium 12 microns long may beat at a frequency νcilium ~
Each cilium is bounded by an extension of the cellular plasma 30 Hz with an angular velocity of 12 deg/millisec and a tip velocity of
membrane (Fig. 9.2A), rising from a cytoskeletally-anchored 2500 microns/sec in the effective stroke, while the bend in the
centriole-like basal body consisting of an array of 9 triplets of recovery stroke propagates at ~350 microns/sec.1394 (A 600-micron long
common-walled microtubules ~150 nm in diameter and 300-500 compound cilium beats at ~20 Hz with angular velocity 10 deg/millisec
nm in length. Sprouting upward from the basal body is the primary and a 17 mm/sec recovery stroke.1394) Taking Pcilium ~ 0.05 pW and
ciliary structure, called the axoneme. The axoneme is a cylinder of vcilium ~500 microns/sec , then Fcilium ~ Pcilium / vcilium ~ 0.1 nN.
microtubules (Section 8.5.3.11) with 9 outer doublets of microtubules
and two additional complete microtubules in the center, often called 9.3.1.2 Nanocilium Manipulators
the central pair (Fig. 9.2B). The 9 outer doublets are extensions of Equally complex nanomechanical ciliary systems could probably
two of the three microtubules comprising each of the nine basal be designed. But for simplicity, consider a nanociliary manipulator
body triplets. Each outer doublet of the axoneme consists of the A patterned more closely after the muscular trunk of the elephant or
tubule (a complete 25-nm outer-diameter microtubule with the usual tentacle of the squid1231 and based only loosely on the biological
13 protofilaments made of tubulin dimers), the B tubule (an cilium. The model consists of a cylindrical central shaft of radius
incomplete microtubule with only 10-11 protofilaments), and a com- rshaft and length lshaft, the tip of which is bonded to one or more
mon wall containing the protein tektin (an intermediate-filament-like conduited shaft-attached control cables (radius rcable) whose lengths
protein with high tensile strength) (Fig. 9.2C). and tensions can be predictably altered, causing the shaft to flex. A
A set of 1-2 megadalton dynein side arms project outward from cable pulled with a force Fcable applies a transverse deflection force
each of the A tubules, reaching clockwise toward the B tubules of to the nanocilium shaft of approximate magnitude Fdeflect ~ (rcable/lshaft)
the adjacent doublet (Fig. 9.2D). The dynein arms occur in pairs, Fcable for small deflections. The force required to deflect the terminus of
one inner arm and one outer arm, spaced at regular ~30 nm intervals a simple cantilevered rod is Fdeflect = 3 Eshaft Ishaft d / lshaft3, where Eshaft
along the microtubule. Nexin protein interdoublet links at wider is Young’s modulus and Ishaft = π rshaft4 / 4 is the second moment of
intervals join the outer doublets making circumferential rings, and area (also known as the moment of inertia of the area) for a shaft of
radial spokes project inward from each of the 9 microtubule doublets. circular cross-section.364 Solving for the deflection gives:
Microtubules do not change length during ciliary movement. Rather,
2
rcable l shaft
the stalk of each dynein arm attaches to and detaches from the 4 Fcable {Eqn. 9.43}
adjacent B tubule in an ATP-driven cyclic process,3551-3554 pulling d= 4
3 π E shaft rshaft
the stalk the length of one dimer along the tubule with a velocity of
~14 microns/sec.1450 The maximum force generated by a dynein and a deflection angle θshaft = tan-1 (d / lshaft). The shaft begins to
arm has been measured as ~1 pN.452 The differential stress of adjacent buckle when Fcable exceeds the Euler force:364
doublet columns causes the axoneme to flex. Selective sidearm
bonding and unbonding allows the cilium to generate a bend π 2 E shaft I shaft π 3 E shaft rshaft
4
{Eqn. 9.44}
anywhere along its length. Fbuckle = =
l 2cable 4 l 2shaft
In early experiments, bullfrog gullet ciliary surfaces developed a
mechanical motive power of ~0.01 watts/m2;526 assuming 1-10
micron2/cilium across the gullet surface gives an estimated mechanical
power output Pcilium ~ 0.01-0.1 pW/cilium. Similarly, hair cell cilia
Fig. 9.2. Diagrammatic representation of the structure of a biological cilium (modified from Cormack936 and Becker and Deamer939).
Basic Capabilities • Manipulation and Locomotion 287
The maximum force that can be transmitted through a There are many examples of pressurized hydraulic tissue inflation
diamondoid cable of circular cross-section and tensile strength536 in macroscale biology, including sea anemones, nematodes, echino-
Tstr = 1.9 x 1011 N/m2 with rcable = 1 nm is Fmax = π rcable2 Tstr = 600 derm tube feet, spider legs, pupal butterfly wing extension, piscine
nN. (For hollow cylinders of inside radius r and outside radius R, swim bladders, and human sex organs. The pressurized pumping of
rshaft4 should be replaced by (R4 - r4) in Eqn. 9.44.) DNA through a nanotube in the T4 bacteriophage has already been
For a large nanocilium, we take rshaft = 50 nm, lshaft = 1000 nm, described (Section 9.2.4). As another possible example in
and Eshaft ~ 108 N/m2 (~tendon strength521). At maximum deflection nanobiology, the sperm of the sea cucumber Thyone rapidly elongates
where Fcable = Fmax ~ 600 nN, then d ~ 400 nm, θshaft ~ 22˚, and its ~700-nm wide spherical acrosomal vesicle into a 50-nm wide,
bending stiffness kshaft = Fdeflect / d = (3 π / 4) (Eshaft rshaft4 / lshaft3) ~ 90-micron long tubular acrosomal process in less than 10 sec after a
0.001 nN/nm. Maximum lateral force that may be applied by the rapid influx of water doubles the volume of the 0.5 micron3 acrosomal
nanocilium tip is Fdeflect ~ 0.6 nN; setting this force equal to the cup in which the vesicle is stored in 50-70 millisec (Fig. 9.4). This
Stokes law force (Eqn. 9.73) gives a maximum nanocilium velocity has led to the proposal that the elongation is at least partly hydrau-
through water of ~10 cm/sec. If cable tension is uniformly distributed lically driven by a profilactin osmotic pressure of ~0.5 atm, because
over a shaft endplate of radius rshaft, the maximum mechanical pressure the speed of actin polymerization alone appears to be about an
is pshaft = Fmax / π rshaft2 = 8 x 107 N/m2 < Eshaft. Shaft buckling com- order of magnitude too slow.1230
mences at Fbuckle ~ 5 nN with d = 3 nm and θshaft = 0.2˚; classical Nanoscale manipulators may be constructed of simple
positional variance of the tip due to thermal noise10 is ∆x = (kT / orthotropic tubes with flexible ribbing and an elastic but
kshaft)1/2 ~ 2 nm, very close to the minimum deflection at buckling. nonextensible spine that allows manipulator flexure in only one
If the control cable may be moved at vcable ~ 1 m/sec, then maximum direction when pressurized (Fig. 9.5). Experiments using compound
nanocilium operating frequency νmax ~ vcilium / rshaft = 20 MHz; manipulators constructed using centimeter-sized pneumatic
however, power dissipation is at least Pcilium ~ Fmax rshaft νcilium = 30 orthotropic segments that were pressurized to 3-6 atm produced
pW at an operating frequency νcilium = 1 KHz, plus up to ~60 pW 90˚ flexures in 0.3-1 sec with 2-5 mm placement accuracy
of Stokes frictional dissipation (Eqn. 9.74) at the maximum ~10 (0.4%-0.9%) and load-bearing strengths up to ~20 N at the tip.1231
cm/sec tip velocity. Suzumori et al1232 have constructed, tested and analyzed a simple
For a very small nanocilium, we take rshaft = 10 nm, lshaft = 100 but elegant pneumatic manipulator ~4 mm in diameter that should
nm, and Eshaft = 1010 N/m2 where Fcable = Fmax ~ 600 nN, then d = be readily adaptable to the microscopic scale. As shown in Figure
25 nm, θcable = 14˚, kshaft = 0.2 nN/nm, Fdeflect = 6 nN, pshaft = 2 x 9.6, the manipulator consists of a flexible cylinder made of three
109 N/m2 < Eshaft, Fbuckle = 78 nN, ∆x = 0.1 nm, maximum νmax ~ separate 120˚-sector longitudinal chambers that are permanently
100 MHz and Pcilium = 6 pW at νcilium = 1 KHz. Maximum Stokes bonded together. Each chamber may be independently pressurized
velocity in water is ~10 m/sec, but even at ~1 cm/sec the Stokes or depressurized through flexible tubes connected to pressure control
power dissipation is an additional ~6 pW. valves. In the first configuration, purely circumferential reinforcing
Coiling the cable around the flexible shaft permits twisting motions fibers (winding angle α = 0˚) allow the tri-chambered manipulator
to be imparted to the manipulator. Attachment of at least three to easily deform in the axial direction, while resisting deformation
control cables (at 120˚ circumferential intervals) allows full spherical in the radial direction. Pressure applied equally to the three chambers
angular coordinate steering of tip position. Adding additional control thus causes axial stretching. Pressure applied to only one chamber
cable triplets on successive connection rings spaced along the length causes the manipulator to bend away from that chamber, so the
of the shaft allows independent addressing of intermediate shaft device can be flexed in any direction by controlling the pressure in
segments to permit the shaft to flex into a variety of sinuous shapes
with some additional control of total radial extension. Two orthogonal
pairs of tensioned cables attached on either side to ball joints separating
each segment gives a more complex but highly redundant and highly
controllable articulated manipulator (Fig. 9.3).
Fig. 9.3. Two-dimensional representation of segmented 3-D Fig. 9.4. Schematic of the acrosomal process in Thyone (modified
manipulator using ball joints (modified from Ma et al1233). from Oster and Perelson1230).
288 Nanomedicine • Volume I
Fig. 9.5. Flexible ribbed orthotropic tube manipulator (modified Fig. 9.6. Schematic design of tri-chambered pneumatic manipulator
from Wilson et al1231). (modified from Suzumori, Iikura, and Tanaka1232).
tool is withdrawn, extracting a full cylindrical core sample of recalibrations by periodically returning the arm to a precisely known
neatly excised tissue that is ready for further analysis or transport. “home” position. If low-stress stretch-inelastic metrological cables
A similar tool may be required for ice burrowing (Section 10.5.2). are embedded in the manipulator structure, then physical displacements
of those cables in response to an applied load may be compared to
4. Noncovalent Biochemical Welders—rejoins noncovalently linked
no-load force/distance profiles, revealing the external force vector.
biological structures that have become detached (Section 9.4.4.3);
Thus actual tip displacements are recorded directly by the metrological
closes gaps in lipid bilayer membranes after being breached by
cables, and force feedback is continuously available. End effectors
the passage of an nanomechanical appendage or entire nanorobot
may include a wide variety of additional useful sensors, including
device (Section 9.4.5.6); reattaches vesicles and organelles to
gripper force and adhesion sensors, chemotactic sensors, vibration
microtubular tracks; reseals intercellular gap junctions.
and acoustic sensors, electric or magnetic sensors, thermal or optical
5. Joining and Spooling Tools—bobbins, spinning and spooling sensors, and so forth (Chapter 4).
tools; fiber manipulators including stitching, stapling and Techniques for precise nanomanipulator control had received
threading devices; rivet pin inserters. insufficient formal attention as of 1998. Pure open loop control
(e.g., dead reckoning with no sensory feedback) could be sufficient
6. Compression and Compaction Tools—extruders, compactors, in some molecular manufacturing operations. In this regard the inkjet
compression rollers, beam benders, crimpers, and compression printer might be a more suitable conceptual model than the robot
fitters including shrink fitters and press fitters. arm, since a printer can build up considerable three-dimensional
7. Coarse Shearing Tools—microscale slitting, scissoring, piercing, complexity during repeated passes over the workpiece following a
punching, trimming, shaving, notching, and perforating; simple linear chain of instructions in a raster pattern. Adding the
“eggbeater” tools for rapid pulping or liquefaction of semifluid ability to sense a fiducial structure near the workpiece can provide
biological materials (Section 10.4.2.5.3). periodic checks on registration and reduce placement error, and
Drexler10 has described the use of sterically complementary probes
8. Coarse Machining Tools—microscale drilling, lathing, sawing, or alignment pegs to help guide end-effectors precisely to their tar-
filing, planing, grinding and polishing. gets.
9. Pattern Impression and Coating Tools—transfer molding, panto- However, force reflection and other sensory feedback are likely
graphic tracing; surface laminators, abstractors, decorators and to play important roles in nanomedical manipulator control. J.S.
other surfacing tools. Hall, cited in Drexler,10 points out that the ratios of the times and
energies consumed by a typical nanomechanical computation to
10. Membrane Manipulation Tools—cell and organelle lipid the times and energies consumed by a typical nanomanipulator
membrane bending, stretching, tearing, and joining; electric motion are enormously greater than the corresponding ratios for
field-induced lipid bilayer membrane demixers;1613 trans- microprocessor computation and macromechanical robotic arm
membrane channel inserters. motion. In other words, computation is relatively cheap for
11. Molecular Tools and Jigs—tool tips designed to allow manipula- macroscale robotic manipulators while arm motion is relatively cheap
tion of individual molecules or molecular structures, perhaps for nanoscale robotic manipulators. Thus the moment-by-moment
using enzyme-like functionalizations for grasping (e.g., binding computer control of arm trajectories is the appropriate paradigm
sites), cutting (e.g., pepsin, trypsin, collagenases, proteases, for macroscale robots, but not for nanoscale robots. For nanoscale
lipases, nucleases), joining (e.g., ribozymes, ligases), splicing (e.g., robots, the appropriate manipulator control paradigm is often
spliceosomes), folding (e.g., molecular chaperones,466), copying trajectory trial-and-error, also known as sensor-based motion
(e.g., DNA polymerase, reverse transcriptases), appending (e.g., control1623,1638 or “groping.”
transferases), and packing or pumping (e.g., hexagonal pRNA Using trajectory trial-and-error, the nanomanipulator is moved
packs coiled DNA into viral capsids1723). The engineering of generally in the direction of a desired endpoint, then is stopped and
“wet” enzymes to accurately and reliably function when attached sensory feedback from the tip is obtained and examined for a match
to stiff manipulators will be challenging because any attachment with the target destination profile. Given only a partial match, the
methods (multiple bonds) which will give the tip a high arm is next moved in some direction and new sensory feedback is
positional accuracy might also interfere with enzyme function. sampled. If the profile match has improved, another increment of
Enzymes generally require nanoscale movement to effect motion is applied in the same direction; if the match has deteriorated,
catalysis—the more tightly the tip is held, the less likely the another direction is tried. Much like a blind man groping for his
enzyme will retain functionality. knife and fork by feeling around on the surface of a dinner table
until he finds the utensils, the nanomanipulator is directed by
Tool exchange ports and tool tip garages should lie within the trial-and-error progressively toward its goal, until the target is
accessible work volume of the nanomanipulator system, to allow unambiguously located.
convenient and watertight tool tip changeout, or else tool tips must Efficient search algorithms for detecting and avoiding local
be transferrable internally within the manipulator (e.g., Section maxima, identifying saddle points, rejecting outliers, and minimizing
9.3.1.4). search times are well-known to mathematicians. In some cases,
chemonavigational sensory readings may be taken using sensor pads
9.3.3 Sensors and Manipulator Control (Section 4.2.5) at the manipulator tip to determine proximity to
In addition to end-effectors, it will often be convenient to position specific cellular processes or organelles. Unknown objects may be
various classes of sensors along the length of a manipulator, or at examined by haptic (tactile) exploration1622 or by other means.
the tip. Monitoring control cable lengths, pneumatic chamber Outside the cell, extracellular matrix (ECM) elements may be
pressures, drive shaft rotations or strut lengths can allow a controller to repeatedly chemotactically sampled to allow a nanomanipulator to feel
know the position of a manipulator tip to the accuracy of one control its way toward a particular structure or node. Deployment of multiple
increment, assuming no external forces and assuming regular nanomanipulators from a single device permits the simultaneous
Basic Capabilities • Manipulation and Locomotion 293
coordinated manipulation of several objects in the environment. In In 1998, the prototyping and testing of ciliary arrays in MEMS
many cases, Brownian transport may suffice to bring a molecular work was an active research area. Ataka et al1274 fabricated and
target to the nanorobot arm. operated a 1 cm2 array of 512 cantilever-type bimorph manipulators
If a nanomanipulator can be moved in minimum increments of (each one 500 microns long, 100 microns wide, and 6 microns thick)
∆L at mean velocity varm throughout a typical work volume Vwork, and operated it at 10 Hz in a coordinated fashion to transport a 2.4
then an efficient search algorithm can locate any target volume of mg piece of silicon wafer at 27-500 micron/sec using ~100 micron
size ∆L3 that lies within Vwork in at most Ntrial ~ log2(Vwork/∆L3) strokes and a 4 milliwatt input power to each actuator. Bohringer et
trials, requiring a search time tsearch ~ Ntrial ∆t where the mean time al1639 fabricated a prototype array of 1024 cilia called the “cilia chip”
per nanomanipulator motion is ∆t Vwork1/3 / varm assuming a that moves silicon chips at speeds up to 200 microns/sec with a
reasonably smooth gradient in roughly cubical work volume. Taking placement accuracy of ~3 microns and a lifting capacity of 250 N/
∆L = 1 nm, varm = 1 cm/sec, and Vwork = 0.1 micron3 for a cell-repair m2. Individual ciliary pixel control allows movement of multiple
type manipulator, then Ntrial ~ 27 trials and ∆t 46 microsec, components on different trajectories, enabling the performance of
giving tsearch 1 millisec for the nanomanipulator arm to search for various assembly tasks. A larger manipulator chip (M-chip) consisting
(and find) its intracellular target using the trial-and-error paradigm. of ~10,000 micro-actuator “resonators” (5-micron tall cilia) has also
This is consistent with the estimated time to search cell surfaces for been fabricated on a few cm2 of silicon substrate and tested at
specific markers (Eqn. 8.5). For the telescoping nanomanipulator ~5 KHz.1645 A part dropped onto the array is propelled forward at
to be used in molecular manufacturing as described by Drexler,10 a constant speed of ~800 microns/sec.1646 Bohringer et al1643,1644
and taking ∆L ~ 0.25 nm, varm = 1 cm/sec, and Vwork = 3 nm3, then also created a theory of programmable force fields to model the
Ntrial ~ 8 trials and ∆t 0.1 microsec, giving tsearch 1 microsec. actions of a ciliary array; simulations have uncovered numerous
Other control paradigms might also be useful in molecular important operational design issues.1646 Analogously in experimental
manufacturing applications requiring high placement accuracy, biology, an array of kinesin motors fastened to a fixed surface trans-
possibly including full closed-loop operation in special cases. ported microtubules hand-over-hand when ATP was added.2425,2426
Peter Will et al1640 developed a software toolkit to allow researchers
9.3.4 Manipulator Arrays to program Intelligent Motion Surfaces1641,1642 to perform a variety of
Arrays of micron- or submicron-scale manipulator elements can simple functions including centering parts, spiraling a part to
be used to create 1-, 2-, or 3-dimensional programmable motion center in a convergent field array, spiraling a part away from the
fields. In the simple 1-dimensional case, a single row of manipulators center in a divergent field array, rotating a part about the center
alternately grasp, transfer, and release a load, passing the payload using four triangular fields, orienting a part in a programmable field
down the line like a bucket brigade. In the 2-dimensional case, surfaces array, and sorting two parts using a hole as a trap for a part being
may be coated with closely-packed manipulators, allowing rapid translated past it. Properly arrayed, such surfaces can form an
and continuous transfers of multiple payload streams along multiple assembly pipeline in which parts may enter at one end and be
surface vectors simultaneously. In biology, ciliated epithelium is successively sorted, spaced (so parts flow through at a constant rate),
found in respiratory, excretory, digestive, circulatory, genital, and centered, aligned and, ultimately, inserted into other parts.
nervous systems of various animal groups, to drive fluid flow.1617,1618
Examples in human physiology include the ciliated air passages of 9.3.5 Materials Disassembly for Disposal
the bronchi (Section 8.2.2) and the villiated surfaces of the small From time to time, medical nanorobots will find it necessary to
intestine (Section 8.2.3). In these natural systems, payload transport accept bulk materials of various sizes and types, and reduce those
speeds are typically 10-100 microns/sec. For instance, experiments materials to smaller and simpler forms in preparation for analysis,
with ciliated bullfrog gullet tissue show maximum transport efficiency transport, or disposal from the human body. For example,
when moving a load of ~5 grams/cm2 at a speed of 27 microns/sec.526 nanorobots may be required to mechanically excise unwanted
Ciliary arrays used by protozoa for locomotion also display tissue or mineral deposits from arterial walls. Disabled nanodevices
time-synchronized wave patterns3558 (Section 9.4.2.5.1), which may or their component parts found freely floating in tissues may also
be analogous to the operation of submicron motion fields. require disposal. Both requirements are discussed below. A fuller
There are many possible applications of manipulator arrays in treatment of the biocompatibility of in vivo refuse, and routes of
nanomedicine. Ciliary arrays inside hollow nanofactory workspaces can final disposal thereof, is deferred to Chapters 15 and 16.
regulate throughput of physical materials for manufacturing (Chap-
ter 19). Arrays can establish specified flows of environment fluids 9.3.5.1 Morcellation and Mincing
such as blood plasma across sensors, or may be used in device loco- Morcellation is the fragmentation of biological materials as they
motion (both crawling and swimming; Section 9.4) or in self-cleaning are excised from the body; mincing is the progressive reduction in
activities. Medical nanosystems may incorporate complex size of tissue segments by mechanical means. Chunks of biological
three-dimensional manipulator arrays to control the transport of material may be excised from the body using a tool such as the core
biocomponents in cell mills and organ mills (Chapter 21), to move sampler described in Section 9.3.2. Cutting is required because many
chyme across an artificial stomach lining (Chapter 26), or to move connective tissues have strengths on the order of 10-100 atm but
fluids through artificial organs designed for chemical processing or fil- the body is only pressurized to ~1 atm, so vacuum suction alone is
tration such as an artificial liver or kidney (Chapter 26). Ciliary trans- insufficient to pull coherent tissues apart.
port systems may also support unique and highly sophisticated artifi- In the simplest design, morcellated material is passed through
cial whole-body nutrient transport systems such as the vasculoid-class successive banks of fixed diamondoid cutting blades or rotating
devices described in Chapter 30. These nanomechanical arrays can be diamondoid cutting disks positioned at various angles with pro-
operated at transport speeds (1-100 cm/sec), flexure gressively more closely-spaced blade edges. The target material is
frequencies (up to 1 MHz), and power levels (0.1-100 pW per array minced into nanometer-sized bits. Each blade is geared for maximum
element) characteristic of individual nanoscale manipulators (Section force application at relatively slow speed and turns in a tightly fitted
9.3.1). sleeve, providing an automatic self-cleaning action. More complex
294 Nanomedicine • Volume I
* M. Krummenacker notes that mechanical bond cutting might leave behind reactive fragments, possibly including radicals, that could dehydrogenate the diamond blade surface
via radical abstraction, leading to chemomechanical blade wear. A fluorine-passivated diamond blade might be more resistant to such wear, and hydrogen bonding with fluorine
increases protein-diamond friction, possibly giving better cutting.
Basic Capabilities • Manipulation and Locomotion 295
* Failure strength may differ significantly in tension, compression, bending, or torsion; value given is representative.
** Mechanical properties are a function of nanotube chirality.2277
*** Bacillus subtilis, bacterial cell wall.3149
onboard disassembly of diamondoid materials is clearly the greatest of grinder mechanism which is approximately equal to the volume
challenge. The six general approaches proposed in this Section are of the target, hence is relatively energy inefficient because, in addition
randomizing processes that destroy any atomic-level positional or to the power dissipated by grinding, the sacrificial grinders must
compositional information contained within the structure that is then be rebuilt which requires another expenditure of a similar
being dismantled. Controlled information-preserving disassembly magnitude of energy for fabrication. At least twice the volume of
processes are described in Chapter 19. the original target in particulates is produced by this process.
Alternatively, two or more diamond targets may be rubbed against
9.3.5.3.1 Grinding each other destructively, most efficiently after the manner of a
Two substances of nearly equal hardness can scratch each other, macroscale ball mill. Note that diamond detritus may be ground,
so a set of corrugated sacrificial diamond grinding elements can be though less efficiently, by sacrificial grinders comprised of materials
used to mechanically grind or saw the target mass into of lesser hardness or strength—for example, cubic boron nitride or
nanometer-scale particulate waste. This process consumes a volume borazon, first synthesized in 1957, scratches diamond with ease.
296 Nanomedicine • Volume I
9.3.5.3.5 Molecular Mechanodecomposition and Cr, there is no known room temperature solvent that dissolves
Molecular mechanosynthesis can be used to construct nanoscale pure crystalline diamond. Intact diamond and fullerene surfaces are
objects, using either precise moiety-by-moiety placement or extremely inert. For example, after facet-cutting, gem diamonds are
mechanical part-by-part placement of individual nanoscale parts boiled in concentrated sulfuric acid for cleaning, leaving the gem
(Chapters 2 and 19). Following the same process in reverse, surface unaffected. The outer faces of natural hydrophobic diamond
diamondoid objects may be decomposed atom by atom into their may be terminated partly by hydrogen and partly by bridging oxygen,
constituent elemental components. This molecular with a significant proportion of carbonyl groups and a small number of
mechanodecomposition may proceed rapidly using many tools -OH and carboxyl (-COOH) groups as well.1596
working simultaneously, if no attempt is made to preserve or record Diamond is almost completely resistant to attack by
the encoded structural pattern information. room-temperature ground-state molecular oxygen (see Eqn. 9.55),
Many of the radical-based reaction mechanisms for diamond although oxidative erosion by atomic oxygen has been shown at
mechanosynthesis described by Drexler10 may be reversible with rates of ~0.04 nm/min1599 and ozone or various radicals might also
the application of mechanical energy, since at elevated temperatures be effective. Molecular fluorine only fluorinates the surface,1598
surface groups and radical vacancies apparently can migrate after producing a “Teflon” coat (stable up to ~1120 K)1596 while not
placement on growing diamond surfaces.1293 M. Krummenacker disturbing the underlying C-C bonds because F makes only single
[personal communication, 1997] suggests a speculative mechanochemi- bonds; chlorine is also taken up by diamond surfaces.1600 Molten
cal decomposition process in which a few surface hydrogen atoms sodium nitrate attacks diamond at 700 K.1597 At high tempera-
are first abstracted from an edge or corner of the diamond surface ture or pressure, carbon from diamond can migrate and form a metal
to minimize steric congestion at the disassembly site. Then a carbide phase in carbide-forming metals including W, Ta, Ti, and
radical-based tool, possibly with an oxygen radical at the tip, bonds Zr,1597 and metal oxides of Cu, Fe, Co, and Ni are reduced to the
to an exposed carbon atom and pulls it upward far enough to insert metal (a redox reaction with the carbon escaping as oxide) upon
another reactive moiety such as a nitrene (an analog to carbene) heating in vacuo.1596
into the gap, replacing another C-C lattice bond and allowing the Non-intact diamondoid surfaces may be more susceptible to
first carbon atom to be pulled further out of the matrix. This process is chemical attack. For instance, open-ended single-walled fullerene
repeated on an adjoining carbon atom, resulting in a two-carbon nanotubes are consumed by a 3:1 mixture of sulfuric (98%) and
unit with four bonds to the manipulator tool, which can then be nitric (70%) acids at 343 K at a rate of ~130 nm/hour even in the
pulled the rest of the way out by mechanically disrupting the two absence of sonication;1525 the same mixture intercalates and exfoliates
remaining C-C bonds to the diamond lattice without exceeding the graphite.1524 A 4:1 mixture of sulfuric acid (98%) and hydrogen
tensile strength of the tool tip. (A great deal of sensing and chemical peroxide (30%) at 343 K also etches the exposed ends of open
inference remains to be described in this scenario.) Krummenacker’s nanotubes at ~200 nm/hour, “much like the burning of a fuse.”1525
process might also be used to record structural information, if Etch rate may vary with the chiral indices (n, m) of the nanotubes.1525
required (Chapter 19). COCl-derivatized single-walled carbon nanotubes will solvate in
Evans1277 estimates that 1760 zJ/atom of energy are required to organic solvents,2164 and high-strain sites such as the outer fold of a
break three C-C bonds and detach a single carbon atom from the kinked nanotube are subject to attack by nitric acid.2954
{111} diamond crystal surface into the gas phase. With 176 carbon Sapphire is primarily corundum or α-Al 2O3, the oxide ions
atoms/nm3 in diamond, mechanodecomposition of bulk diamond forming a hexagonally close-packed array and the Al ions distributed
would require ~300 nJ/micron 3. Generously assuming only symmetrically among the octahedral interstices.691 The solubility
~5 manipulator arm motions to remove each carbon atom and a of α-Al2O3 in ~neutral water at room temperature is given variously as
manipulator operating frequency of ~1 MHz, a single manipulator 10-7 - 10-5 M (~60-6000 atoms/micron3) at equilibrium,1602,1603
can mechanically disassemble diamond at a volumetric rate of ~1000 but solubility rises sharply below pH 4 and above pH 9 in an
nm3/sec-manipulator. The volume of each mechanosynthetic manipu- almost U-shaped curve.1603 (Human blood pH normally ranges from
lator described in Section 9.3.1.4 is ~105 nm3, so ~1000 manipulators 7.35-7.45).1604 Aluminum oxide is amphoteric, forming hydrated
disassembling in parallel occupy ~10% of a 1 micron3 work space Al+++ ions in acidic solutions (pH < 4) and Al(OH)4- ions in alkaline
and can collectively mechanically decompose ~0.001 micron3/sec solutions (pH > 9).1603 Corundum dissolves slowly in boiling nitric
of diamond crystal while drawing a total of ~300 pW of continuous acid and in orthophosphoric acid to 570 K, and dissolves well in
power. Actual power usage may be far less, since in any reasonable potassium bisulfate at 670-870 K, or in borax or sodium
decomposition process some energy will be recovered when the fluoaluminate (cryolite) at 1070-1270 K.1602
liberated carbon atom forms new bonds; high energies will only be Air-exposed Al metal is protected by a thin1601 (~5 nm) adherent
encountered in the transition state, as in any chemical reaction. oxide layer having a defect rock-salt structure691 easily compromised
by amalgamation or halogens, or by alkali hydroxides (e.g., NaOH)
9.3.5.3.6 Chemical and Microbial Decomposition with the generation of hydrogen in seconds at room temperature.
Four issues are considered briefly here. First, can diamond or Complex-forming reagents such as Cu++ + Cl- also react with
sapphire be chemically solvated? Second, does any microbe likely oxide-coated aluminum metal in less than 1 minute.
exist which is capable of attacking a diamond or sapphire surface?
Third, could such a microbe evolve naturally? Fourth, could such a II. Does any existing microbe possess the natural ability to attack a
microbe be artificially engineered? (The author thanks R. Bradbury, diamond or sapphire surface? Extensive tests have not yet been performed,
M. Krummenacker, R. Merkle, and J. Soreff for helpful discussions and negatives cannot be proven, but the prospects are poor. Most
and important contributions to this Section.) organisms develop the means for attacking materials in their environ-
ment because these materials are abundant and provide essential
I. Can diamond or sapphire be chemically solvated? Although carbon molecules or elements that are needed for energy production or
is soluble in molten Fe (e.g., >1808 K at 1 atm),763 Co, Mn, Ni, important biochemical functions.
298 Nanomedicine • Volume I
For diamondophagy to evolve naturally, a microbe probably must concentrations should remove oxygens from SiO2 or, with more
occupy a niche in which diamond is more abundant than competing difficulty, from Al 2O 3 , a more efficient attack strategy for
carbon sources. This is unlikely except many kilometers below the H-terminated diamondoid might be an extremely alkaline environ-
natural oil/coal deposits in the Earth’s crust, though the possibility ment, although the most alkaliphilic bacteria (such as the
cannot be definitely ruled out because deep-crustal-dwelling bacteria Natranobacterium gregoryi normally found in soda lakes and
and other archaic biota have been found in rocks at depths of at high-carbonate soils)3561 only reach a pH of 10-11. High OH-
least 2.7 kilometers, a field of study now known as environments can destroy lipid bilayers, RNA, and standard proteases
geomicrobiology.1592,3096 However, far more abundant nonpolymeric and lipases. 1591 Also, the biochemistries of acidophiles and
carbon sources are usually available. Highly polymeric molecules alkaliphiles are so tuned to their natural environments 3562 that
including long-chain hydrocarbons, cellulose, and starches tend to the predominantly neutral pH found in the human body might
be fairly resistant to enzymatic degradation—nature has found it prove toxic for these microbes.
relatively difficult to devise an attack strategy for cellulose (e.g., Most human-pathogenic bacteria likely to be attacked by medical
wood) and chitin (e.g., crab and insect shells). With their crystalline nanodevices are not extremophiles. Consequently, as R. Bradbury
arrays, diamond and sapphire would seem to fall into this category observes, Nature’s design challenge is for non-extremophiles to evolve
as well. systems of creating very high local H+ concentrations,3563 having
A microbe naturally evolved to attack sapphire would probably the energy resources available to drive this pathway and to minimize
be seeking to extract the aluminum (sapphirophagy), since oxygen ATP production which utilizes the H+ ions. Such evolution seems
is plentiful elsewhere. However, Al is generally considered unlikely. Only if medical nanodevices were constructed of an essential
toxic,752,3278-3281 and reports of microbes that feed on Al-rich minerals material that is in short supply, such as iron, or could provide a
are extremely infrequent and remain unconfirmed, though microbial better energy source than the surrounding plasma or cytosol, could
aluminum tolerance is well-known.3282,3283 Organisms use +1/+2/+3 bacteria be selected which have the potential of attacking
metal ions (mostly Cu, Fe, Mn, and more rarely Mo and Co) in nanomachinery. Whether extremophiles might subsequently
enzymes to catalyze specific difficult reactions. Yet in seawater, Al is repopulate the vacated microecological niches currently occupied
~10-1000 times more abundant than Cu, ~50-500 times more by natural pathogenic bacterial species is an open issue worthy of
abundant than Fe, ~100-1000 times more abundant than Mn, future study.
~500-3000 times more abundant than Mo, and ~10,000 times more
abundant than Co,763 suggesting that Nature has gone to great IV. Could a microbe capable of attacking diamond or sapphire be
lengths to avoid the use of aluminum in biological systems. Natural artificially engineered? Almost certainly the answer is yes. In the
sapphire also contains ~0.1% iron atoms (Fe++ and Fe+++), and natural simplest case using conventional biotechnology, a bacterium would
ruby has traces of chromium (Cr+++), biologically useful atoms more be designed to produce and secrete an appropriate acid or alkali,
conveniently available from alternative sources. creating a highly corrosive environment local to the target material
by binding to the surface and secreting the acid (or ions) into
III. Could a microbe capable of attacking diamond or sapphire evolve sequestered adherent pockets.
naturally? There are >10 23 bacteria living inside Earth’s human J. Soreff suggests other approaches that may employ locally
population alone. While most of these microbes (>99%) are harmless far-from-equilibrium states which are harder to get (at least with fast
or beneficial, up to ~1021 may be undesirable pathogens possibly kinetics) in normal chemistry. One strategy is to engineer artificial
subject to attack by medical nanorobots. Could this large “natural enzymelike structures that can bind to the target surface at one end
laboratory” population of bacteria evolve diamondophagy or while catalyzing the local production of molecules in excited states (e.g.,
sapphirophagy as a defense against artificial nanomachines? by crude analogy to luciferase in bioluminescence)3564 at the other end.
In the case of sapphire, most biological metal absorption is initiated Enzymes like catalase and superoxide dismutase already handle locally
by secretion of acids strong enough to dissolve the metal-containing powerful oxidants, and in the presence of light and oxygen, C60 can
material. Evolving an acid production capacity isn’t difficult because pass its superfluous excitation energy onto nearby O2 molecules, creat-
most bacteria use H+ ion gradients as power sources. Common ing singlet oxygen. An enzyme might be designed to catalyze HOCl +
bacteria normally create a mildly acidic environment. Typical H2O2 →HCl + H2O + O2* (singlet state oxygen)3565,3566, other sin-
energy sources (e.g., glucose) are oxidized to increase the external glets,3567,3568 triplets,3569-3572 quartets,3573 or other electronically-excited
H+ ion concentration. The flow of the H+ ions back into the cell oxidizers.3574 However, survival of such an enzyme over multiple cycles
through the ATPase enzyme generates ATP (as in mitochondria). is problematical. Another strategy is to design novel mechanochemical
Blocking or minimizing ATP production and limiting external H+ tools into the bacterium. Proteins can convert ATP hydrolysis into me-
diffusion could produce fairly high local H+ concentrations. Bacteria chanical motion. Such motion, perhaps combined with a “snap-action”
such as Thiobacillus ferrodoxians, found in environments where better elastic energy storage mechanism to allow tool release speeds compa-
energy sources are lacking, oxidize metal sulfides to generate rable to vibrational times, could be used to mechanically hammer an
energy.3559,3560 These result in the generation of sulfuric acid and oxidant into a diamond surface, thus reducing the chemical energy
environmental pH values of 2-3. Extremozymes that can work at a required to be released at the point of action.
pH below 1.0 have been isolated from the cell wall and underlying
cell membrane of some acidophilic bacteria;1591 some acids (e.g., 9.4 In Vivo Locomotion
HF) that dissolve oxides (e.g., SiO2) may be safely stored in purely One of the most important basic capabilities a medical nanorobot
organic vessels (e.g., wax or plastic). As noted earlier, sapphire is may possess is the ability to move about inside the human body. At
also attacked by strong alkali (but see below). its most simple, this movement may be purely statistical, with
Natural evolution of a diamondophagic capability is even more nanodevices carried along with the natural ebb and flow of bodily
arduous. Acids such as HF, HCl and H 2SO 4 will not harm fluids. At the other extreme, nanorobot locomotion may be highly
either H-terminated diamondoid surfaces or cellular lipid membranes deterministic, including powered drive mechanisms, mapping and
which generally also have hydrogenated surfaces. While high H+ active navigation, and traverses of diverse histological territories
Basic Capabilities • Manipulation and Locomotion 299
having markedly different mechanical and chemical characteristics. intermolecular interactions lead to higher viscosities.390 Theory
The subject matter is huge and quite impossible to cover fully in a predicts that gas viscosity ~ T1/2 (e.g., rises with the square-root of
single Chapter. As a result, the discussion here is merely a preliminary temperature T), but a somewhat larger temperature exponent is
survey of the most important issues and challenges of in vivo locomo- obtained experimentally for real gases. In contrast, the viscosity of
tion, suggesting promising new areas for future research. liquids increases with rising pressure (typically by a factor of 2-3
Section 9.4.1 opens with an overview of fluid viscosity generally after moving from 1 atm up to 1000 atm for organic liquids) and
and the rheology (flow characteristics) of nanorobot-rich biofluids decreases with rising temperature. In normal liquids the temperature
that might be associated with passive nanorobot locomotion. dependence is approximated by Andrade’s formula which gives:
Aspects and techniques of active swimming through the bloodstream,
or sanguinatation, are described in Section 9.4.2. This is followed
by discussions of cytoambulation (cell surface walking and anchoring) η ~ k v eE v / kT {Eqn. 9.59}
in Section 9.4.3, histonatation (tissue diving including diapedesis,
ECM transit, and intercellular passage) in Section 9.4.4, where for example the activation energy for viscosity Ev ~ 25 zJ and
cytopenetration (entering individual cells) in Section 9.4.5, locomo- the constant kv ~ 2.1 x 10-6 kg/m-sec for pure water at 1 atm. Non-
tion inside the cell (Section 9.4.6), and finally cytocarriage electrolytes dissolved in water generally cause viscosity to rise, while
(nanorobotic pilotage of natural motile cells) in Section 9.4.7. The solvation of electrolytes may increase or decrease viscosity (the
biocompatibility of motive mechanisms is discussed in Chapter 15. effect is typically ~10% or less for a 1M solution). Large asymmetric
solute molecules increase viscosity more than an equal mass of small
9.4.1 Rheology of Nanorobot-Rich Biofluids spherical molecules. The threshold between solid and liquid is
The study of biofluid flow, or biorheology, is useful in generally taken as η ~ 1014 kg/m-sec.364
nanomedicine because it is necessary to understand the flow character- Most biofluids are viscoelastic and non-Newtonian, with apparent
istics of fluids through which nanorobots must navigate—whether viscosity ηa varying with shear rate and displaying other nonlinear
a nanorobot is actively swimming or is simply drifting with the characteristics such as hysteresis, relaxation, and creep.362 Saliva
flow, or whether the nanorobot is traveling in an ordinary Newtonian behaves more like an elastic body than like water. Because of its
fluid such as water or in more complex viscoelastic biofluids such as high molecular weight, DNA solution is viscoelastic even at low
mucus or saliva. Additionally, the presence of large numbers of concentrations. Sex glands produce viscoelastic fluids, including
nanorobots may dramatically alter bloodstream viscosity (depending semen and uterine cervical mucus1392 (ηa varies ~20% during the
on nanorobot number density and shape), with important medical menstrual cycle).3575-3577 Human synovial fluid becomes increasingly
consequences. The following discussion examines biofluid and incompressible at higher pressures, with ηa ~ 10 kg/m-sec at g ~ 0.1
whole-blood viscosities (Sections 9.4.1.1 and 9.4.1.2), the radial sec-1 (e.g., knee flexion during very slow walking) declining to ηa ~ 0.1
distribution of blood elements in blood vessels (Section 9.4.1.3), kg/m-sec at g ~ 10 sec-1 (very fast running), and to ηa ~ 0.001 kg/m-sec
viscosity and bloodstream velocity profiles of nanorobot-rich blood at g ~ 10,000 sec-1 (experimental).362 Viscoelasticity is also an
(Sections 9.4.1.4 and 9.4.1.5), and hematocrit reduction in narrow important property of respiratory tract mucus, which typically shows
blood vessels (Section 9.4.1.6). an ηa ~ 1 kg/m-sec at low shear rates near g ~ 0.1-1 sec-1, falling to
ηa ~ 0.01 kg/m-sec at high shear rates near g ~ 100-1000 sec-1.362
9.4.1.1 Biofluid Viscosity Even ice is a viscoelastic material, with ηa ~ 1010–1013 kg/m-sec
Viscosity is a measure of the resistance of a fluid to shearing (estimated as maximum shear stress divided by shear rate from data
when the fluid is in motion. Consider a plate of surface area A mov- in Sinha et al1609) for g ~ 10-3-10-7 sec-1 at 262 K; ice viscosity varies
ing parallel to a fixed plane surface with constant velocity v, being with temperature (Table 9.4) as described by Andrade’s formula,
pushed laterally by a constant force F. A fluid of viscosity eta fills with Ev ~ 110 zJ as determined experimentally for pure ice,1609 and
the volume between the two surfaces, which are separated by a distance taking kv ~ 6.3 x 10-4 kg/m-sec at high shear rate.
d. The fluid layer nearest the moving plate also moves at velocity v Cytoplasm is a complex viscoelastic material having a continuous
and the layer nearest the stationary plane remains stationary. In liquid phase (the cytosol) plus various suspended particles, granules,
between the two surfaces, the velocity increases linearly with distance, and membranous structures. More precisely, the cytomatrix is a
establishing a constant gradient. This gradient is usually called the mixed-phase body composed of a fibrillar network penetrated by a so-
shear rate (essentially a size-normalized velocity), or g = v/d (m/ lution.1408 As a result, viscosity is different in the various phases. From
sec-m, or sec -1 ). The absolute viscosity may then be flow behavior, the viscosity of E. coli protoplasm was estimated as ~1000
defined by: kg/m-sec; from measured diffusion rates of sucrose, dextran, and
β-galactosidase, the apparent viscosity was 3-4 x 10-3 kg/m-sec.1407
Cytoplasm is inhomogeneous and anisotropic at many levels of
F/A = η γ˙ (N/m 2 ) {Eqn. 9.58}
organization.
where η has MKS units of N-sec/m2, Pascal-sec, or, more simply, 9.4.1.2 Viscosity of Whole Blood
kg/m-sec. In a Newtonian fluid, the shear stress F/A (N/m2) Human blood is a suspension of cells, in plasma (an aqueous
increases linearly with shear rate g, so that viscosity η is constant solution of electrolytes and nonelectrolytes; Appendix B). The plasma
over a wide range of shear rates. Many common fluids such as air, is ~90% water by weight, 7% plasma proteins, 1% inorganic materials,
water, saline and blood serum closely approximate the ideal and 1% other organic substances. The cellular component (Appendix
Newtonian fluid. The viscosity of solutions of molecules is related B) is essentially all erythrocytes, or red blood cells (RBCs; Figure 8.43),
to the diffusion coefficient; see Eqn. 3.5. with white cells of various categories comprising less than 1/600th
The viscosities of some common materials are given in Table of the total volume of cells and platelets less than 1/800th.
9.4. The viscosity of an ideal gas is independent of density and Pure blood plasma is a Newtonian viscous fluid, with ηplasma =
independent of pressure between 0.01-10 atm; at higher pressures, 1.1 x 10-3 kg/m-sec at 310 K. Blood plasma is the environment
300 Nanomedicine • Volume I
Material (Gas, Liquid, Solid) Viscosity (kg/m-sec) Material (Gas, Liquid, Solid) Viscosity (kg/m-sec)
normally encountered by micron-sized bloodstream-traversing m-sec at 310 K and ~0.15 kg/m-sec at 283 K; for g = 100 sec-1,
nanorobots as they move between blood cells. then ηa ~ 0.010 kg/m-sec at 310 K and ~0.015 kg/m-sec at 283
On the other hand, “whole” blood is the complete natural mixture K.362
of blood plasma and blood cells. In blood vessels whose diameters For large blood vessels, the effect of hematocrit on viscosity for
are much larger than the size of blood cells, or in the case of Hct 45% has been modeled experimentally by Cokelet et al1318
mechanical systems with dimensions much larger than the characteris- as:
tic sizes of blood cells, whole blood must be treated as an homogenous
non-Newtonian fluid. The bulk viscosity of whole blood decreases
with rising shear rate and increases with rising hematocrit (Hct), ηa/ηplasma = (1 − Hct) −2.5 {Eqn. 9.60}
the percentage of blood volume occupied by red cells. (The human
male hematocrit has a normal range of Hct = 40%-52%, average with Hct expressed as a fraction. This formula, which also gives
Hct = 46%, 743 which optimizes oxygen transport. 1325) As an good results for RBC-sized oil/water emulsions in the same volume
example, for whole blood at a low shear rate of g ~ 0.1 sec-1, then ηa fraction range,1316 is only useful up to volume fraction of ~10% in
~ 0.001 kg/m-sec at Hct = 0%, ~0.1 kg/m-sec at Hct = 45%, and the case of rigid-particle suspensions, whose viscosity behaves
~1 kg/m-sec at Hct = 90%. At a high shear rate of g ~ 100 sec-1, markedly differently from that of RBC suspensions (see below).
then η a ~ 0.001 kg/m-sec at Hct = 0%, ~0.01 kg/m-sec at It has long been known1313 that human red blood cells can form
Hct = 45%, and ~0.1 kg/m-sec at Hct = 90%.362 At still higher aggregates known as rouleaux, in which the discoid RBCs adhere
shear rates g > 100 sec -1, whole blood behaves almost like a loosely in a “stack of coins” configuration at shear rates <100 sec-1.1314
Newtonian fluid with a nearly constant ηa (Fig. 9.12). Viscosity Formation of linear and branched chain aggregates (rouleaux)
also varies with disease state (if any) and slightly with temperature. depends on the presence of the cell-surface cross-linking proteins
For whole blood at normal Hct and g = 0.1 sec-1, then ηa ~ 0.10 kg/ fibrinogen and globulin in the plasma. The lower the shear rate
Basic Capabilities • Manipulation and Locomotion 301
(e.g., the slower the blood velocity), the more prevalent (larger size
and number density) are the aggregates. As the shear rate goes to
zero, it is speculated that human blood becomes one big aggregate,
which then may behave as a viscoelastic or viscoplastic solid.362
As shear rate increases, the rouleaux tend to break up. Individual
red cells also deform slightly, elongating and lining up with the
streamlines. These two effects combine to reduce blood viscosity
with rising shear, as illustrated by Figure 9.12 which shows the relative
viscosity ηa / ηplasma for human blood at Hct = 45% as a function of
shear rate. Note that for rigid particles (including hardened red cells,
normal leukocytes, and nondeforming nanorobots), bulk viscosity
is essentially independent of shear rate.
Normal blood vessel wall (peripheral zone) shear rates in physiological
bloodflow range from 50-700 sec-1 in the larger arteries to 250-2000
sec-1 in the smallest arteries and capillaries, and 20-200 sec-1 in large
and small veins.386 At shear rates >100 sec-1 where RBC aggregation
ceases to be important, pure whole blood remains fluid even up
to 98% RBC concentration by volume (e.g., Hct = 98% volume
fraction).1319 Fig. 9.12. Viscosity of human blood as a function of shear rate, at Hct
= 45% (relative apparent viscosity at 310 K, redrawn from Chien1314).
9.4.1.3 Radial Distribution of Blood Elements
At low shear rates, red cells aggregate into rouleaux and migrate
inward, forming a network of aggregates in the core of the tube. rate >100 sec-1 as a function of particle volume fraction, compared
Individual rouleaux may incorporate 10-20 red cells, or more, creating to the relative viscosity of suspensions of latex rigid spheres, rigid
by far the largest cellular elements normally present in the blood. disks, emulsion droplets, and sickled erythrocytes (which are virtually
At the highest shear rates, the rouleaux break up entirely into single nondeformable), as determined experimentally.1312 Figure 9.13
red cells, and the red cells then distribute themselves more uniformly reveals that a 50% suspension of micron-sized rigid nanorobots will
in the radial direction. increase blood viscosity by a factor of ~350, seriously impeding flow
The radial distribution of white cells is also a function of flow especially in the smaller vessels. However, a plasma suspension of
conditions.1325,1333-1336 At low shear rates, under conditions allowing microspheres at a ~10% particle volume fraction has a relative viscosity
red cell aggregation, the white cells are displaced to the periphery of indistinguishable from Hct = 10% whole blood. This suggests a
the flow by the much larger red cell rouleaux. At the highest shear conservative 10% volume-fraction limit for the maximum blood-
rates, white cell concentration is highest along the tube axis, displacing stream concentration of medical nanorobots (e.g., a maximum
some red cells, since most white cells are larger than individual “nanocrit” or Nct = 10%), a limit that may also ensure free flow of
red cells. the fluid (see also Sections 9.4.1.5 and 9.4.2.6).
The radial distribution of the local platelet concentration during
blood flow in tubes has also been investigated.1337,1338 In plasma
containing only platelets, the platelet distribution is radially uniform.
However, in whole blood flow under all shear conditions, the platelet
concentration is highest near the vessel wall. In arterioles, the platelet
number density is about two times higher near the wall than in the
center of the vessel.1342 Platelets are much smaller than either red
cells or white cells, thus tend to be crowded out of the center whenever
red cells or white cells are present.
These experimental observations are consistent with the general
principle that during blood flow in a vessel, the largest particles, or
“flow units,” move toward the axial region, leaving the smallest
particles more concentrated at the periphery.1332 In most cases,
bloodborne medical nanorobots will be ~2 microns in diameter or
smaller. As such, they will normally constitute the smallest particles
in the bloodstream. More than any other blood element, free-floating
nanorobots should tend to migrate nearest the blood vessel walls,
although at high shear rates the radial diffusivity is significantly
increased due to local fluid motions generated by red cell rotations
(Section 3.2.2). Small molecules and complexes such as lipoproteins
are less subject to erythrocyte-induced diffusivity enhancement,
hence may migrate toward the walls.
Relative viscosity also depends on particle size, though the effect from the wall) for Rnano/rtube ~0.25.1320,1321 By analogy with Brownian
due to the presence of medical nanorobots is usually minor. As a translational diffusion and Eqn. 3.1, a radial dispersion coefficient
conservative upper limit in the smallest vessels:1315 Dr may be defined as ∆r = (2 τ Dr)1/2 (meters), where ∆r is the RMS
-1
radial displacement of a bloodborne object in an observation time
D 4
τ. The analogy is imperfect because these radial
ηa /ηplasma = 1 − nano motions are not random, but are due to multibody collisions
d tube {Eqn. 9.61}
determined by the local velocity gradient, particle concentration,
and surface deformations of the objects. At any given concentra-
where Dnano (= 2 Rnano) is the maximum nanorobot diameter (radius) tion, displacements are greatest at radial distances between 0.5-0.8
and dtube (= 2 rtube) is the blood vessel diameter (radius). Taking rtube. For local shear rates of 5-20 sec-1 and volume concentrations
dtube = 8 microns (capillaries), then ηa / ηplasma = 1.0002 for Dnano = from 20%-70%, Dr = 1-20 x 10-12 m2/sec both for red cells and for
1 micron, or 1.07 for Dnano = 4 microns (the largest bloodborne rigid 2-micron diameter microspheres,386 and 3-86 x 10-11 m2/sec
nanorobot; see Sections 5.2.1 and 8.2.1.2). In larger blood vessels, for platelets in whole blood,1398 as determined experimentally.1358
this effect is even smaller for micron-sized medical nanorobots. Thus the mean time for a nanorobot (Rnano = 1 micron) to migrate
Relative blood viscosity also depends on nanorobot shape. Chien’s a radial distance ∆r ~1 micron is τ ~25-500 millisec—about an
measurements1314 of effective viscosity as a function of particle shape order of magnitude faster than simple Brownian diffusion (Section
in dilute suspensions found that minimum viscosity is achieved by 3.2.1).
hard spheres or by 1:1 hard cylinders. Thin disks or long cylinders
have higher viscosity. For example, 10:1 rods (10 times longer than 9.4.1.5 Bloodstream Velocity Profiles
wide) produce a suspension with ~10 times higher viscosity than a Consider a Newtonian fluid of viscosity η flowing through a
suspension containing an equal volume of spheres; for 100:1 rods, cylindrical tube of length ltube and radius rtube with pressure differential
viscosity increases ~2500-fold. The implication for nanodevice ∆p between the ends. The average fluid velocity (vflow) for laminar
design is that a large population of bloodborne medical nanorobots or Poiseuille flow* is given by Eqn. 9.26, but imposing a no-slip
will have the minimum impact on blood viscosity if each nanorobot condition at the vessel wall produces a radius-dependent parabolic
is closest to spherical in shape. Long rod or flat disk shapes will velocity profile:362
greatly increase blood viscosity, in comparison to spheres, although
at the lowest nanodevice number densities the total impact on blood 2
viscosity may be negligible. v Pois (r) = k p (rtube − r 2 ) (m/sec) {Eqn. 9.62}
Chien’s results1314 also suggest that metamorphic nanorobots
capable of continuous surface deformations in response to flow where r is radial distance from the tube axis and kp = ∆p / 4 η ltube =
conditions (like RBCs) may further reduce their contribution to 2 vflow / rtube2. Maximum flow velocity vmax = 2 vflow, and occurs at
blood viscosity by at least a factor of 2-6, depending on shear rate the centerline (r = 0).
(Fig. 9.12). Goldsmith and Turitto386 show that at shear rates over Of course, as fluid enters a tube from a large reservoir, there is an
200 sec-1, typical in physiological blood, the optimum shape for red entrance region called the inlet length (linlet) which lies between the
cells is ellipsoidal, positioned at an angle to the flow, with the surface entrance and a point downstream, where the parabolic profile is in the
rotating in the direction of flow in a tank-tread-like motion. In process of being established asymptotically (Fig. 9.14). For NR 1,
experiments with flowing emulsions, the deformation of a liquid linlet ~ 1.3 rtube, while for NR 30, linlet ~ 0.16 NR rtube, producing,
droplet results in its migration across the streamlines away from the post-inlet, a <1% deviation from an ideal Poiseuille (parabolic)
tube wall. Thus in physiological blood over the whole range of normal profile.361,1331 Inlet conditions prevail throughout the entire length
hematocrits and typical flow rates, there is a plasma-rich (blood-cell-rare) of the aorta and most of the major arteries, but entrance effects are
or “plasmatic” zone δplasma ~ 2-4 microns deep at the walls of vessels minimal in the smaller vessels.
whose diameters exceed 100 microns.362,1319 Now suppose that red blood cells are added to the plasma. Due
Such lateral migration is not observed with small rigid particles to the inward migration of red cells and other factors, the velocity
of any shape at high concentrations and at low Reynolds numbers profile of whole blood is affected by flow rate and hematocrit,
(Section 9.4.2.1) NR 10-3 (e.g., arterioles and smaller vessels;
Table 8.2).1319 However, for vessels with NR 1 (e.g., arteries
and veins; Table 8.2), inertial effects do come into play and rigid
free-floating nanorobots will be pushed away from the wall to
produce a particle-free zone. The thickness of this “plasmatic”
zone δnano decreases sharply with increasing nanorobot concentra-
tion (Nct). For example, at Nct = 2%, δnano ~ 0.3 rtube; at Nct =
10%, δnano ~ 0.1 rtube; at Nct = 30%, δnano ~ 0.01 rtube.1320
In terms of individual nanorobot motion, a rigid sphere initially
placed near the tube wall migrates inward, while a rigid sphere placed
near the tube axis migrates outward. Known as the “tubular pinch
effect,”1321 rigid spheres started in either position converge to an
intermediate equilibrium radius position (as measured from the tube Fig. 9.14. Establishment of parabolic velocity profile in Poiseuille
axis) of req ~ (0.6-0.7) rtube for Rnano/rtube << 1, or req ~ 0.5 rtube (farther tube flow (redrawn from Goldsmith and Turitto386).
* For well-developed turbulent flows, the velocity profile may be expressed as vturb = vmax (1 - (r / rtube))(1/m) away from the laminar sublayer near the wall, where m ~ 7 for
a wide range of Reynolds numbers.1390
Basic Capabilities • Manipulation and Locomotion 303
9.4.2.1 Reynolds Number Fig. 9.16. Dimensionless velocity profiles in flowing aqueous
Consider an object of characteristic dimension L moving at nanorobot suspensions (rigid spheres and discs in rigid tubes; modified
velocity v through a fluid of density ρ and viscosity η. The object’s from Karnis, Goldsmith, and Mason1322). A) Effect of concentration
movement is resisted by two forces—inertia and viscous drag. The (Nct = % nanocrit). B) Effect of particle size (Rnano/rtube). C) Effect
inertial force on the object is of order Finertial ~ ρ v2 L2; the viscous of fluid flow rate (VHP). D) Effect of nanorobot shape.
drag force is of order Fviscous ~ η v L. Thus a slow human underwater
swimmer with L ~ 1 meter, v ~ 0.1 m/sec, ρ ~ 1000 kg/m3, and
η ~ 10-3 kg/m-sec must apply Finertial ~ 10 N plus a minor additional
Fviscous ~ 10-4 N of motive force in order to keep moving forward. power to a swimming nanorobot with radius Rnano = 1 micron and
Clearly, the human swimmer lives in a world of predominantly velocity vnano = 1 cm/sec is suddenly stopped, then the nanorobot will
inertial forces. “coast” to a halt in a time tcoast = ρ Rnano2 / 15 η = 0.1 microsec and in
A bacterial swimmer faces entirely different challenges.389,1386,1387 a distance xcoast ~ vnano tcoast = 1 nm.1395 If the nanorobot is rotating
A bacterium of size L ~ 1 micron and velocity v ~ 10 micron/sec must at a frequency νnano = 100 Hz when its rotational power source is
apply Finertial ~ 10-4 fN (femtonewtons; 1 fN = 10-15 N) but also a suddenly turned off, νnano decays exponentially to zero in a time
much larger Fviscous ~ 10 fN of motive force in order to keep moving tcoast ~ 0.1 microsec and stops after turning θcoast = 2 π νnano ρ
forward. The ratio of the two forces is still 105:1, but the roles have Rnano2 / 15 η ~ 40 microradians.
reversed. The bacterium (or any micron-scale medical nanorobot) lives The ratio of inertial to viscous forces is called the Reynolds number
in a world dominated by viscosity, where, as an example, the phenom- NR, or:
enon of “coasting” essentially ceases to exist. For instance, if motive
Finertial ρ v L {Eqn. 9.65}
NR = ~
Fviscous η
Basic Capabilities • Manipulation and Locomotion 305
∆p 4 v flow
g= r= 2 r (sec-1 ) {Eqn. 9.66}
2 η l tube rtube
When a suspending liquid is subjected to laminar flow, the fluid
stresses on the surface of suspended rigid bodies cause those bodies
to rotate as they travel down the tube.1319 Rigid free-floating spherical
nanorobots will rotate with uniform angular velocity, or, more
specifically, with a rotational frequency of:
Fig. 9.17. Reduction of hematocrit (Hct) and blood viscosity in
narrow blood vessels1313,1324,1325 (redrawn from Chien1325). v
g ∆p
ν nano = = r = flow r (Hz)
4 π 8 π η l tube 2
π rtube {Eqn. 9.67}
which is a dimensionless number. In the examples given above, NR For example, a rigid free-floating spherical nanorobot traveling
= 105 for the human swimmer and NR = 10-5 for the bacterium. in an artery with rtube = 500 micron and vflow = 100 mm/sec (Table
Purcell389 notes that for a man to be swimming at the same Reynolds 8.2) rotates at νnano ~ 63 Hz at r = 495 microns (very near the vessel
number as his own sperm, he would have to be placed in a swimming wall), which is much faster than the random ~0.1 Hz Brownian
pool full of molasses and then be forbidden to move any part of his rotation typical for micron-scale nanorobots (Section 3.2.1).
body faster than 1 cm/min, roughly the speed of the minute-hand Non-spherical rigid particles1343 and red cells1344 display variable
of a large wall clock. angular velocity but spend more time in each orbit aligned with the
The Reynolds number has already been introduced in connection direction of flow. Platelets can be seen tumbling in arterioles, especially
with laminar tube flow (Section 9.2.5), and elsewhere it has been near the vessel wall,1340 but they tend to align with the flow, a tendency
noted that NR = 100-6100 in the arteries, 200-900 in the veins, which is strongest nearest the wall.1341
0.0004-0.003 in the blood capillaries (Table 8.2), and ~10-6–1 for Gyroscopic effects are present in every rotating body, with pitch,
lymph vessels (Table 8.5). However, these figures are relevant only roll, yaw, and turning producing torques which cause precessions,
when considering flow phenomenon on a scale large enough such giving periodic increases in bearing pressures and stresses. Fortunately,
that the cellular graininess of human blood may be ignored. In the case these stresses remain modest in most nanomechanical designs. For
of microscopic motile cells and medical nanorobots, this assumption is example, consider a rapidly spinning component inside the tumbling
not valid. spherical nanorobot described in the previous paragraph. This
On the contrary, nanorobotic sanguinatators will find themselves internal component is a diamondoid disk of radius rdisk, thickness
negotiating a viscous Newtonian-fluid plasmatic environment, hdisk, and density ρdisk, spinning at an angular velocity ωdisk around
punctuated by numerous closely-spaced free-floating cellular an axis oriented in the plane of the nanorobot tumble (tumbling is
obstacles. Powered sanguinatation thus may involve traversing at frequency νnano), and supported by two coaxial bearings located a
opportunistic clear volumes of blood plasma between red cells, then distance xbearing apart. The gyroscopic reaction force on the bearings
altering course to take advantage of the next available open space is given by:
further along, following a zig-zag path generally in the desired
direction. While the sizes and shapes of these clear volumes are π 2 rdisk
4
h disk ρdisk ω dis k ν nano
Fbearing = {Eqn. 9.68}
strongly time- and position-dependent, their characteristic size is x bearing
xclear ~ (MCV (100%-Hct) / Hct)1/3. Taking the Mean Cell Volume
MCV = 94 micron3 for red cells (Section 8.2.1.2), then xclear ~ 5
microns in the arteries where Hct ~ 46% and xclear ~ 10 microns in
306 Nanomedicine • Volume I
1/3
π
Taking rdisk = 100 nm, hdisk = 20 nm, ρdisk = 3510 kg/m3, ωdisk ~ lij ~
6
(R i c-1/3
i + R j c-1/3
j ) {Eqn. 9.72}
ωmax ~ 1010 rad/sec (Eqn. 4.17), νnano = 63 Hz, and xbearing ~ hdisk, then
Fbearing ~ 2 pN.
For example, in a suspension consisting of Ri = 1 micron
In general, if two micron-scale objects are translating at the same
nanorobots with volume concentration ci = 0.10 (Nct = 10%), and
mean speed, more energy is dissipated by the one that produces the
Rj ~ 1.5 micron platelets with cj = 0.0035 (mean physiological
larger amount of vorticity—that is, an axisymmetric object that rotates
plateletocrit), flowing through a small artery with rtube = 500
as it swims is less efficient than the nonrotating swimmer.1389 The
microns at mean velocity vflow = 100 mm/sec, and at a radial distance r
tangential force required to neutralize the hydrodynamic torque
= 495 microns (near the tube wall), then for nanorobot/platelet
acting on a rigid sphere of radius Rnano and tumble frequency νnano
interactions, K ij ~ 2 collisions/sec, mean collision velocity
is torque divided by radius, or:1396
vij ~ 2 mm/sec, and I ij = 9.7 microns. For nanorobot/nanorobot
interactions, Kij ~ 40 collisions/sec (cf. K = 200 collisions/sec using
Ftumble = 16 π 2 η R 2nano ν nano {Eqn. 9.69}
Eqn. 9.70), vij ~ 1.6 mm/sec, and I ij = 3.5 microns. These figures are
crude estimates at best, since they ignore many possible complicating
For Rnano = 1 micron, νnano = 63 Hz, and η = 1.1 x 10-3 kg/m-sec for factors such as aggregation and margination, collision inelasticities
plasma at 310 K, then Ftumble = 11 pN. Application of such small forces and n-body collisions (n > 2), nonspherical object shapes, the presence
may be controlled using measurements of absolute orientation taken or absence of specific macromolecules, receptor interactions, pulsatile
from an onboard nanogyroscope (Section 4.3.4.1). Given that Fbearing
flow, ionic strength of the medium, and cell surface electrostatics.1325,3545
and Ftumble are of similar magnitude, direct anti-tumble gyrostabilization
Free-floating nanorobots that collide with blood vessel walls
and gyroscopic rotational locomotion (gyrorotation) may be possible in
produce negligible shear forces, given the no-slip condition at the
some nanorobot applications.
wall. Powered nanorobots of radius Rnano that impact a vessel wall
The velocity gradient often brings suspended particles into close
at velocity vnano may apply a maximum shear stress of pshear ~ ρnano
proximity. Kinetic theories of flowing suspensions have been
vnano2; taking ρnano ~ 1000 kg/m3 and vnano ~ 1 cm/sec, then pshear ~
developed from experiments on model systems involving two-body
0.1 N/m2. By comparison, the time-averaged shear stress for blood
collisions between rigid and deformable spheres1345 and between rigid
circulation in normal vessels362,1346,1347,1352 is 1-2 N/m2 (range
cylinders.1343 Goldsmith and Mason1312 estimate that the per-object
0.5-5.6 N/m2)386, reaching up to 10-40 N/m2 when small arteries
collision frequency K for equal-sized rigid spheres of volume concen-
and arterioles are partially occluded as by atherosclerosis or vascular
tration c flowing at velocity v at a radial distance r from the center of a
spasm.1348,1349 This may also be compared to the threshold limit
tube of radius rtube is:
for shear stress-induced platelet aggregation of 6-9 N/m2,1346,1349-1351
the shearing stress of 5-100 N/m2 acting at the interface between a
32 v r c {Eqn. 9.70} leukocyte and an endothelium when the leukocyte is adhering to or
K= 2
(collisions/sec)
π rtube rolling on the endothelium of a venule,366 and the critical shear
stress of 42 N/m2 known to initiate major changes in the endothelial
However, no complete theory yet exists to describe all the cells in the arteries.365
interactions of multiple classes of rigid bodies and deformable cells in
blood vessels.
9.4.2.3 Disturbed Flows, Hydrodynamic Interactions,
As a crude approximation, consider the laminar flow of a fluid
and Entropic Packing
suspension of two types of spherical objects (i = 1, 2) of radius Ri,
Two kinds of fluid flow have already been described—laminar
density ρ i (kg/m3), number density ni (m-3), and volumetric
or Poiseuille streamline flow, and turbulent or random flow. However,
concentration ci = (4 π / 3) ni Ri3 expressed as a fraction. Each
in branching or nonuniform-diameter blood vessels, nanorobots may
object occupies a cubic fluid volume of dimension Li ~ ni-1/3 = (4 π Ri
also be required to negotiate an additional flow regime that is not
/ 3 ci)1/3, and in laminar flow, two radially-adjacent boxes move past
observed in straight tubes of uniform diameter. This third
each other (a “collision”) at a mean relative velocity of vij ~ g (Ri + Rj)
regime, called “disturbed flow,” involves secondary fluid motions in
when Ri, Rj << rtube, and interact for a time tij ~ Li / vij (j = 1, 2). From
directions away from that of the primary flow, often with separation of
the viewpoint of object i, the probability that after Ncoll ij collisions at
the streamlines from the vessel walls to form a vortex or a recirculation
least one object j has been encountered is pj = 1– (1 – cj)Ncoll ij. Taking
pj ~ 0.9 (the final result is relatively insensitive to the exact threshold zone between the forward flowing mainstream and the wall.1358
selected), and multiplying by 2 because there is a concentric layer Disturbed flow is most common in the larger blood vessels.
on either side of object i, then the mean collision rate experienced Studies have been conducted to observe the flow patterns in various
by each object i with an object j also present in the suspension is vessels of simple and complex geometries, using flow visualization
Kij ~ 2 (Ncoll ij tij)-1, which, at a radial distance r in the tube, may be and cinemicrographic techniques.1358-1366 In one extensive series of
written as: experiments,1359 tracer polystyrene microspheres were photographed
1/ 3
at various flow rates as they traveled through glass tube models or
48 v flow c1/3
i
R i + R j −1 through chemically-transparentized natural blood vessels. The
K ij ~ 2 2 r log 10 (1 − c j )
π rtube R i developed movie films were then projected on a drafting table and
(collisions/sec) analyzed frame by frame. Figure 9.18 illustrates some results for
{Eqn. 9.71} progressively higher-angle blood vessel bifurcations. The
cross-streamline and vortex patterns are quasi-stable; in pulsatile
- flow, vortices vary periodically in size and intensity, with the axial
and the mean free path (Iij) between an object i and an object j in
the suspension (neglecting all velocity profile and margination location of the vortex center and reattachment point oscillating in
effects) is given approximately by: phase with the upstream fluid velocity between maximum and
Basic Capabilities • Manipulation and Locomotion 307
(Fig. 9.19)—a motion vaguely reminiscent of the “planetary slingshot” also known as Stokes law. This result applies only in the case of a
maneuver often performed by NASA spacecraft to change direction. single sphere in an infinite expanse of homogeneous viscous fluid,
This unusual cell-cell hydrodynamic interaction has now been and neglects all inertial terms. If the fluid container is finite in size,
observed experimentally in E. coli traversing fluid in a glass or if there are other spheres in the neighborhood, or if inertial forces
microcapillary.1371 Hydrodynamic interactions among bacterial cannot be entirely ignored because NR 1 (e.g., Rnano = 1 micron,
flagellar swimmers are greatest when cell separation distances are vnano > 1 m/sec in water), then the equation must be corrected.1374
less than the overall length of the cells including the length of the Dynamic effects due to sphere oscillation, sudden release from rest,
flagella, or 10 microns.336 or variable speed also require corrections,1374 and there are other
In 1998, relatively little was known about the likely hydrodynamic corrections for neighboring spheres.1375 Most of these corrections
behavior of nanorobots in the close company of large numbers of are of order near-unity for micron-scale objects.
other nanorobots and natural blood cells. Differing sizes, shapes, Eqn. 9.73 provides a useful approximation of the motive force
and surface characteristics may lead to subtle and unexpected required to drive a spherical nanorobot through blood plasma.
hydrodynamic interactions. For example,846,3579 leukocyte axial Assuming a perfectly efficient drive mechanism, the power require-
velocity in capillaries is slightly lower than that of erythrocytes ment337 is at least:
because the white cell surface undergoes a smaller deformation during
flow due to the higher stiffness and larger volume of a leukocyte— Pnano = Fnano v nano
e.g., the relative velocity ratio is 0.88 in a 6.8-micron diameter 2
= 6 π η R nano v nano (watts) {Eqn. 9.74}
capillary, is somewhat closer but still under 1.00 in larger vessels,
and differs among leukocyte types.1353 This small velocity differential
causes an axial redistribution of a train of erythrocytes in the presence For example, a force of Fnano = 200 pN and a power of at least
of a white cell. Upstream from the leukocyte, red cells bunch up, Pnano = 2 pW are required to drive a Rnano = 1 micron spherical
forming a region of elevated hematocrit; downstream, a plasma gap nanorobot at vnano = 1 cm/sec through blood plasma at 310 K with
develops, increasing linearly with time and with the velocity differ- η = 1.1 x 10-3 kg/m-sec. These formulas may also be used to estimate
ential between the white cell and the next red cell down the nanodevice velocity, given Fnano or Pnano.
line.1354,1356 Upon entering a postcapillary venule, the configuration Of course, drive mechanisms are not perfectly efficient. Propulsion
breaks up as the erythrocyte immediately upstream of the leukocyte efficiency is often poor for objects that swim at low Reynolds numbers
passes the white cell and pushes it laterally against the vessel wall, often (e.g., typically NR ~ 10-3 for flagellates).3578 A sphere driven by a
causing the white cell to attach to the endothelial surface of the helical propeller (e.g., flagellar propulsion; Section 9.4.2.5.2) of
venule. (Without red cells, leukocytes make no regular attachment arbitrary length may have a propulsion efficiency as low as e% ~
to the venous endothelium1356,1357). The remaining red cells then 0.01(1%).389 Propulsive efficiency for organisms with spherical heads
close up the gap in the flow.1356 Medical nanorobots may exhibit 10-40 times larger than their flagellar radius (optimum shape),
equally unusual flow behaviors. using helical flagellar beats, ranges from e% = 0.10-0.28 (10%-28%),1377
Self-organizing spatial patterns may also arise in mixtures of requiring a propulsive input power of ~Pnano/e% ~ 7-20 pW in the
nanorobot-size particles of different shapes and sizes, a process which previous example. Other drive mechanisms may prove more efficient.
minimizes entropy.2168 Entropic forces become significant at scales Force requirements for nonspherical nanorobots are similar in
of a few tens of nanometers to several microns.2168 For example, magnitude. For example, consider a cylinder of radius Rnano and
micron-diameter spheres mixed with micron-long, 10-nm thick rods length Lnano translating uniformly in a direction normal to its axis.
in water solidify into two arrangements as water is removed—one a Lighthill1367,1376 shows that the force (applied at the midpoint)
“cake” with layers of vertical rods alternating with a thin frosting of required to move this object at velocity vnano is given by:
balls (a stacked, lamellar arrangement akin to cell plasma membranes)
and the other a lattice of vertical columns of clustered spheres 8 π η L nano v nano
embedded in a horizontal sea of parallel rods (a columnar arrangement Fnano N = (newtons) {Eqn. 9.75}
often found in glues).2169 Other less-stable patterns such as ropes L2
1 + ln nano
2
with lamellar order and chains of rod packets interspersed with R nano
spheres are also observed. In another series of experiments, small
for L nano >> Rnano.363 (If the perpendicular force is applied at a
spheres 100 nm in diameter were mixed with large spheres ~500
distance c from one end of the cylinder, then the Lnano2 term in
nm in diameter in a ~1000:1 ratio, and the small spheres pushed
the larger ones against the hard, flat container walls. Large balls Eqn. 9.75 is replaced by 4 c (Lnano - c) when c >> Rnano.) Eqn.
were also forced against the most curved sections of the inner walls 9.75 does not hold for a perpendicular force applied near the
of pear-shaped rigid vessels.2170 These entropic forces are attractive ends of the cylinder. Also, a constant Fnano actually produces a
at low concentrations of small spheres, but at higher concentrations slowly varying velocity field along the cylinder length; for a
the force alternates between repulsion and attraction.2170 midpoint-applied force, vnano is at maximum at the midpoint,
but the percentage variation over most of the cylinder is not
9.4.2.4 Force and Power Requirements large.363 Experiments show that needle-shaped bodies fall in viscous
Consider a spherical nanorobot of radius Rnano that is falling at media about half as fast sideways as they do end-on;1378 that is,
uniform velocity vnano through an incompressible (Newtonian) fluid the force on a long cylinder translating parallel to its axis is FnanoP
of viscosity η. If the Reynolds number NR << 1 (Eqn. 9.65), then ~ (1/2) F nanoN. The power requirement is then calculated as in
Stokes1373 found that the total force of resistance imparted on the Eqn. 9.74.
sphere by the fluid is given by: Interestingly, there seems to be a sharp minimum size limit
of ~0.6 microns for free-swimming foraging microbes, below
which size locomotion has no apparent benefit.3581 This theo-
Fnano = 6 π η R nano v nano (newtons) {Eqn. 9.73}
retical conclusion is supported by the observation that the smallest 97
Basic Capabilities • Manipulation and Locomotion 309
genera of motile bacteria have a mean length of 0.8 microns, locomotive method is provided by Solem’s “viscous-lift helicopter”
whereas 18 of 94 nonmotile genera are smaller.3581 design (Fig. 9.22). Viscous drag on each of the four rotating wheels
is Fwheel ~ (16 π / 3) η νwheel Rwheel2 for wheels of radius Rwheel
9.4.2.5 Nanomechanisms for Natation turning at frequency νwheel (Hz) in a medium of viscosity η, and
Swimming motions consisting purely of reciprocal deformations device mass is mnano ~ 2 π ρnano Rwheel3 for a device of density
(e.g., shape A deforms into shape B, then retraces the same motion ρnano.1982 Taking νwheel = 10 KHz, Rwheel = 1 micron, ρnano = 2000
back to shape A) cannot produce forward progress in a kg/m3, and η ~ 10-3 for water, then Fwheel ~ 170 pN per wheel, or
viscosity-dominated environment.389,1386 For example, in the ~0.7 nN for the whole device. There is a vast range of possibilities,
macroscale world, a scallop may open its shell slowly, then close it according to Purcell:389 “Turn anything—if it isn’t perfectly sym-
rapidly to squirt out water, relying upon inertia and “coasting” to metrical, you’ll swim.”
carry it forward a little bit each cycle. At the low Reynolds numbers While incompressible tangential surface deformations alone are
of most medical nanorobots, such single-hinge deformations yield not propulsive, even single-sphere swimmers can translate or rotate
only back-and-forth motion. Indeed, Fukuda et al1385 estimate that using specific cyclic, nonreciprocal, compressible surface distortions
a vibrating-fin-driven water-swimming robot shorter than ~6 mm (i.e.,traveling waves). Such waves have been suggested as the mode
can no longer overcome viscous drag.* Purcell 389 notes that the of locomotion employed by appendageless spheroidal
simplest possible mechanical swimmer may require at least two cyanobacteria,1388 and surface undulations passing backward from
hinges and a cyclical deformation loop traced out in a the advancing edge of the cell have been observed in mammalian
two-dimensional configuration space. fibroblasts.1467 Swimming speed for an object of radius Rnano is ~10
At least four distinct classes of mechanisms for natation are readily Rnano per second using a radial deformation of ε~ 0.05 (5%); with n
distinguished, as described below. = 10 surface ripples, energy efficiency is approximated by e% ~ (3
Fig. 9.20. Flexible oar (redrawn from Purcell389). Fig. 9.22. Viscous-lift helicopter design (modified from Solem1982).
* The smallest known swimming fish is the dwarf pygmy goby (Pandaka pygmaea), measuring 7.1-9.7 mm long in the adult form.739
310 Nanomedicine • Volume I
π2 n / 128) ε2 = 0.006 (0.6%) for ε << 1.1388 (If the waves are not with power density ~10 4 watts/m3 (est. from Table 6.8). Observed
shallow, and (n ε) > 1, then the peak-to-peak spacing becomes less propulsion velocities of paramecia range from 0.2-2.5 mm/sec.1460,3586
than the peak-to-valley depth, whereupon friction from the vertical
movement of the waves’ walls should dominate energy consumption.) 9.4.2.5.2 Inclined Plane
A more familiar example of a deformable natation structure is Another class of mechanisms for natation makes use of the
the simple cilium (Section 9.3.1.1). In ciliate protozoa, cilia are inclined plane, a basic mechanical device that can convert viscous
typically much shorter than body length and are arranged in large forces into forward motion. The simplest example is a threaded screw.
numbers in rows on the body surface. Individual cilia have a regular In standard propeller theory at high Reynolds number, forward thrust
beat pattern, typically including a rapid forward power stroke at is proportional to the rate at which a mass of fluid can be ejected
full extension, followed by a slower return or recovery stroke with out the rear (e.g., inertial forces). However, at low Reynolds number,
the cilium bent close to the body surface. Ciliary arrays (Section the fluid that is pushed backwards by the rotating tilted planes does
9.3.4) may also display metachronism, or time-synchronized wave not provide thrust primarily by its inertial movement, but rather
patterns, that can be used for precision steering and speed control, serves as a resistive medium against which the device can push itself
as, for example, by a 60 micron x 220 micron (~600,000 micron3) forward. In the world of the nanorobot, the environment is very
Paramecium caudatum, which rotates as it progresses forward in its thick and viscous. The motive effect is not unlike the forward
path (Fig. 9.23) using the ~2500 cilia on its outer surface.526 motion achieved by a threaded screw as it is screwed into a piece of
Metachronal waves traveling in the same direction as the power stroke wood using a screwdriver.3580
are symplectic; such waves are antiplectic if they travel against the The motive force and power consumption of a microscale screw
power stroke, and are dexioplectic or laeoplectic (or, more generally, drive (Fig. 9.24) with pitch angle ϕ and mean radius Rscrew may be
diaplectic) when the power stroke is to either side of the line of very crudely approximated as follows. Consider a helical ribbon of
wave propagation.1405,3555 The swimming paramecium may adjust width wthread and total length lthread that is wrapped around an
its wave patterns while negotiating a liquid medium of varying axially-translating cylindrical body, making a pitch angle ϕ as
viscosity.1406,3558 These and similar results should be generalized measured from normal to the direction of travel of the screw body.
and extended to the case of nanorobotic ciliary propulsion. From Stokes law (Eqn. 9.73), a square element of that ribbon with
For a medical nanorobot coated with propulsive cilia with wave area wthread2 experiences a maximum drag force of ~6 π η wthread
velocity vcilium, then vnano/vcilium = 0.125-0.25 and e% = 0.125-0.30 vthread. There are nelement = lthread/wthread square elements in the
(12.5%-30%).1379,1380 If vnano = 1 cm/sec, then vcilium ~ 4-8 cm/sec entire ribbon; neglecting flow field interactions of the elements and
giving pshear ~ 2-6 N/m2 (Section 9.4.2.2), well within the normal of the solid center for this approximation, the maximum laminar
range for human blood and probably nonthrombogenic to platelets. drag force on the entire ribbon is Fmax ~ 6 π η lthread vthread. Viscous
Ciliary propulsion even by large protozoa costs relatively little drag is lowest at ϕ = 0˚ (edge on) and highest at ϕ = 90˚ (face on);
energy. For example, a 220-micron long paramecium swimming at a factor of (3-cos(2ϕ))/4 captures the experimental behavior of
~1 mm/sec in water experiences ~1 nN of drag force and consumes needle-shaped bodies which fall in viscous media about half as fast
Pdrag ~ (1 pW / e%) of power to locomote, but the animal can be sideways as they do end-on (Section 9.4.2.4), with periodicity of π.
very inefficient because ~10,000 pW are available to a paramecium The number of threads around the screw is Nthread = lthread cos(ϕ)) /
Fig. 9.23. The metachronal ciliary array of the paramecium. 1225,1380,1406 Fig. 9.24. Schematic of screw drive.
Basic Capabilities • Manipulation and Locomotion 311
Energy efficiency can be good because less fluid may be sheared erythropoietin to stimulate RBC production (Chapter 22), but this
during nanorobot movement, although in 1998 this method had approach would violate the general nanomedical design principle
not been widely studied. If the forward anchor is pushed many of avoiding iatrogenic harm whenever possible (Chapter 11).
diameters ahead before inflation, then even the expansion of an Another velocity-related consideration involves the largely
anchor much larger than the nanorobot might prove less cell-free plasmatic zone (the “nanorobot freeway”) that extends 2-4
energy-expensive than anything except a device with skin than could microns from noncapillary blood vessel walls (Section 9.4.1.4), with
flow backwards to match laminar streamlines (Section 5.1). the larger width occurring at higher shear rates.362 Even in very
narrow capillary blood vessels, moving red cells never come into
9.4.2.6 Additional Considerations solid-to-solid contact with the endothelium of the blood vessel. There
The need for safe shear stresses (Section 9.4.2.2), and nanorobot is always a thin fluid layer in between, that serves as a lubrication
power requirements for swimming (Section 9.4.2.4), both suggest layer.362 In experiments with glass capillaries 7.6-8.5 microns in
that the maximum sanguinatation velocity to be employed by diameter, the apparent plasma layer thickness δplasma ~ 0.6 microns
nanorobots in the human body in normal circumstances should be for a red cell velocity vRBC ~ 0 mm/sec, δplasma ~ 1.0 microns at vRBC
1 cm/sec. Also, from Eqn. 9.65, a 1-micron nanorobot in water ~ 0.5 mm/sec, and δplasma ~ 1.4 microns at vRBC ~ 1.5 mm/sec.1399
has a Reynolds number NR ~ v; hence, to remain in the purely This layer will usually be wide enough to accommodate most
viscous regime, v << 1 m/sec. The following analysis provides bloodborne nanorobots, which are expected to be 2 microns or
additional support for this speed limit. smaller in diameter.
Consider a spherical nanorobot of radius Rnano swimming at Note that a 1 cm3 therapeutic dose of 1 micron3 nanorobots
velocity vnano in the bloodstream, that impacts a passing blood cell. includes ~1012 devices, each of cross-sectional area ~1 micron2. Such
Virtually all cells encountered in this way will be erythrocytes. The a fleet would occupy ~1 m2 if spread out uniformly on a surface,
elastic modulus for the viscoelastic red cell plasma membrane is adjacent and one layer thick. The total surface of the entire human
Ecell ~ 103 N/m2 for isoareal deformation (pure shear), ~105 N/m2 vascular system is ~313 m2, but the summed area of all large veins
at low areal strain (elastic area compressibility modulus), and the and main arterial branches alone totals ~1 m2 (Table 8.1). Thus,
rupture strength is ~106 N/m2.1325 The force that is driving the small therapeutic doses of medical nanorobots may safely travel the
sphere Fnano (Eqn. 9.73) may be distributed over the smallest possible cell-free plasmatic “freeway” at somewhat higher speeds than pre-
impact area ~π Rnano2, and the resulting stress must be less than the viously estimated, though possibly at the expense of significantly
rupture strength or elastic modulus to prevent significant damage greater power consumption (Section 9.4.2.4) and possibly, at the
or deformation of the cell surface, hence: highest number densities, interfering with the lubrication effect
normally provided by the plasmatic layer, especially in the capillaries.
R nano E cell The need to maintain moderate viscosity of nanorobot-rich blood
v nano < (m/sec) {Eqn. 9.77} (Section 9.4.1.4) and to avoid complete plug flow in the narrowest
6η
human capillaries (Section 9.4.1.5) implies that the maximum
Taking η ~ 7 x 10-3 kg/m-sec (Table 9.4) for the red cell contents nanocrit to be employed by nanorobots in the human bloodstream
(~0.33 gm/cm3 hemoglobin solution) and Rnano = 1 micron, then in normal circumstances should be Nct 10%. The following
the impacted erythrocyte deforms slightly with no change in surface simple analysis provides another constraint that is consistent with
area when vnano 2 cm/sec, deforms significantly with some change this estimate, and is valid for rigid and metamorphic nanorobots
in surface area when vnano ~ 2 m/sec, and finally ruptures when vnano alike.
20 m/sec. This suggests a conservative maximum velocity of 2 The frequency of close encounters and collisions among
cm/sec for medical nanorobots traversing the human bloodstream, nanorobots may be taken as a conservative metric of the likelihood
consistent with our proposed ~1 cm/sec speed limit. of physical jamming, mission interference, and other pathological
Nanorobot biocompatibility3234 is an issue of crucial importance effects of crowding. Consider a spherical nanorobot of radius Rnano
in nanomedicine (Chapter 15). Consider a fleet of Nnano = 3 Vblood and volume Vnano = (4/3) π Rnano3, and a second spherical nanorobot
Nct / 4 π Rnano3 nanorobots uniformly deployed in a blood volume of identical size that approaches the first until the two are in contact,
Vblood populated by red blood cells of typical length LRBC. Each defining a “collision” event. If the number density nnano = 3 Nct /
nanorobot swims past ~vnano/LRBC red cells per second, of which [4 π Rnano3 (1-Hct)] of a uniformly distributed population of such
some small fraction κx are injured as a result of the encounter. If the nanorobots exceeds 2 devices within a spherical volume of radius 2Rnano,
iatrogenic injury rate is conservatively set equal to the natural rate then, on average, all devices are in collision. This defines a maximum
of erythrocyte loss in the human body, or K0 ~ 3 x 106 sec-1, then: upper bound for nanocrit of NctmaxHi (1-Hct) / 4, representing the
onset of a highly collisional state; NctmaxHi = 13.5% for Hct = 46% in
4 π R 3nano K 0 L RBC the arteries, 22.5% for Hct ~ 10% in the capillaries. Similarly, if the
κx {Eqn. 9.78} nanorobot number density is less than 1 device within a spherical
3 Vblood Nct v nano
volume of radius 2Rnano, then each device, on average, is surrounded
Taking vnano = 1 cm/sec, LRBC ~ 7 microns, Vblood = 5400 cm3, by a nanorobot-free zone the width of a single nanorobot radius, and
and a 1 cm3 therapeutic dose of Rnano = 1 micron medical nanorobots collisions in a uniformly distributed population are relatively infrequent,*
(which implies Nnano ~ 2 x 1011 nanorobots and Nct ~ 0.02%), defining NctmaxLo ~ (1-Hct) / 8. For Nct NctmaxLo, the nanorobot
then κx 10-8. This amounts to a net erythrocyte injury rate of population begins transitioning to an increasingly collisional state;
only LRBC / (vnano κx) ~ 1 cell/day per nanorobot—a challenging NctmaxLo = 6.8% for Hct = 46% in the arteries, 11.3% for Hct ~ 10%
but probably attainable goal. (K0 ~ 2 x 106 sec-1 for platelets, 0.3-2 in the capillaries. Thus in the arteries, an Nct < 6.8% is relatively
x 106 sec-1 for blood leukocytes.) Higher rates of red cell damage in noncollisional,* an Nct > 13.5% is highly collisional, and a 6.8% < Nct
theory could be accommodated by administering compensatory < 13.5% (midpoint Nct ~ 10%) is transitional.
* But only “relatively”—for example, the multi-body collision frequency is appreciable among red cells even at hematocrits as low as 5%.1358
Basic Capabilities • Manipulation and Locomotion 313
* J. Hoh emphasizes that a large thermal contribution exists for forces in the piconewton range; the smaller the force, the larger the time-dependent contribution. Normal
biomolecular interactions, such as antibody-antigen interactions at 100 pN, have finite lifetimes and will unbind on a timescale of hours or days in the absence of any force.
Even a very small loading force may shift the unbinding timescale significantly downward. As a result, the binding forces for nanorobot footpads will be critically linked to
the speed at which the nanorobot is moving. Hoh believes these variations in force may span orders of magnitude; additional research on nanorobot footpad mechanics is
clearly needed.
314 Nanomedicine • Volume I
When mechanical leverage is applied against the cell surface, 9.4.3.2.1 Plasma Membrane Areal Expansion Elasticity
plasma membrane components feel a force in the direction opposite to A nanorobot with a footpad of width Lfoot = 10 nm that applies
the direction of travel of the ambulating nanorobot. Since the plasma a pressure of Pnano = 10 pN / Lfoot2 across a span Lfoot of plasma
membrane is a fluid, components within the membrane may be free membrane surface (and normal to it) creates an isotropic tension of
to slip backwards, reducing traction. For simplicity of analysis, T ~ Pnano Lfoot = 1 x 10-3 N/m within the membrane, causing the
consider a spherical nanorobot of radius Rnano that inserts a spherical plasma membrane under the nanorobot to expand uniformly without
footpad of radius Rfoot into a lipid bilayer membrane, at the end of shearing or bending. For comparison, the tension required to smooth
each of Nleg legs each of a width that is small in comparison with out the thermal undulations or “Brownian motion” of the outer
Rfoot (so that the contribution from the legs may be ignored). The membrane of artificial phospholipid vesicles 10-20 microns in
viscosity of the plasma membrane that resists the backward movement diameter (typical cell size) was determined experimentally to be
of the footpad is approximately ηmembrane ~ 10 kg/m-sec and the 0.01-0.1 x 10-3 N/m.368 At the other extreme, osmotically swollen
viscosity of the extracellular fluid is ηextra ~ 10-3 kg/m-sec (Table red cells will instantaneously lyse* at a plasma membrane tension of
9.4). The nanorobot ambulates across the cell surface through the Tlyse = 10-20 x 10-3 N/m1415,1421 or at an elastic modulus with
extracellular fluid at a velocity vnano against a “headwind” of vheadwind respect to area dilation of Tlyse / hcell ~ 3 x 106 N/m2,1422 where red
(the fluid speed relative to plasma membrane surface), during which cell wall thickness hcell = 8 nm.
movement the footpad slips backwards at a velocity vfoot. Equating The relative area expansion of the plasma membrane under
the forces on the nanorobot and the footpad from Eqn. 9.73 gives: the nanorobot footpad is ∆A / A = T / K, 1415 where the
experimentally-determined area compressibility modulus is K = 0.45
N/m for red cell plasma membrane at 298 K1412,1413,3171,3172 (change
v nano ~ ( κ traction N leg v foot ) − v headwind (m/sec) {Eqn. 9.79} in area compressibility modulus with temperature is -6 x 10-3 N/
m-K)3172; K = 1.7 N/m for certain cholesterol-lipid mixtures.1414
where the coefficient of traction κtraction = ηmembrane Rfoot / ηextra This gives ∆A / A ~ 0.2% or 0.06% for the nanorobot footpad of
Rnano. Taking Nleg = 2, Rnano = 1 micron and Rfoot = 10 nm, then size L foot described above (2%-4% areal expansion produces
κtraction = 200. Thus with vheadwind = 0, the footpads of a bipedal lysis1415), or a mean linear strain of ε = (∆A / A)1/2 ~ 0.04 (4%) or
nanorobot traveling forward at vnano = 1 cm/sec slip backward within 0.02 (2%). For ε << 1, the footpad depresses the surface by ∆x ~
the lipid bilayer membrane at only vfoot = 50 microns/sec. This process Lfoot (ε/2)1/2 ~ 1.5 nm into the red cell’s interior. This deflection
is functionally similar to the tracked system modeled by kinesin represents only ~15% of lipid bilayer membrane thickness and must
microtubule transport (Section 9.4.6) wherein productive steps are be considered modest in most circumstances. For leukocyte plasma
directed by protein-protein interaction affinities. membranes, measured K = 0.636 N/m.846
Repeated application of physical forces across a cell surface may The design of cytoambulation mechanisms should attempt to
activate mechanical signal transduction pathways mediated by specific minimize the activation of sodium-ion (and many other)
transmembrane proteins such as the integrins and cadherins (Sections stretch-activated channels—gated transmembrane channels that are
8.5.2.2 and 8.5.3.11). These signals can trigger major changes in activated by simply stretching the plasma membrane, or by tension
cell behavior and in cellular protein expression. Microfilaments or stress development in cytoskeletal elements associated with the
readily transduce 0.01-2 Hz mechanical signals throughout the cell membrane.362,1506 Such channels have already been implicated
cell. 1202 In 1998, it was not yet known whether much higher in the maintenance of cell volume.491,1416 Biochemical transduction of
frequencies, such as might be employed in cytoambulation, also mechanical strain has also been investigated in bone cells during
induce a significant cellular response, except, of course, in specialized normal loading. Linear strains of ε < 0.05% were nonstimulative;
mechanoreceptor cells such as the cochlear stereocilia.3597,3598 Footpad those between 0.05%-0.15% maintained normal bone mass, and
target proteins, motions, and operating frequencies should be selected strains of ε > 0.15% stimulated osteoblasts to increase bone mass.1417-1419
with the objective of minimizing mechanical signal transduction Linear strains >1% induced osteoblasts to alter morphology, becoming
effects. fibroblast-like,1420 and red cells lyse at ε 20%.362 A limit of ∆A / A ~
0.05% for a 10 nm footpad on a red cell surface would give an
9.4.3.2 Cell Plasma Membrane Elasticity estimate of ~2 pN for the activation threshold. However, a force of
Does the temporary attachment and passage of a cytoambulating 1 pN across a protein stretch sensor of cross-sectional area ~1 nm2
nanorobot across a cell surface have a significant mechanical effect represents an energy density of 106 joules/m3, or 10 zJ (~2 kT) for
on that surface? Cell and plasma membrane deformation can be a ~10 nm3 sensor volume, which is probably close to the limit for
quite complex. However, taking the plasma membrane to be a biological force detection consistent with earlier estimates of
two-dimensional, incompressible elastic solid, a deformation will nanosensor detection limits (Section 4.4.1).
always consist of one or more of three fundamental independent From these comparisons, it appears that a biological response,
deformations: expansion without bending or shear (characterized stimulated by plasma membrane areal expansion due to the passage
by the area expansion modulus K, in N/m), elongation (shear) without of nanorobot footpads across the cell surface employing forces typical
expanding or bending (shear modulus µshear, in N/m), and bending in cytoambulation (e.g., ~20 pN; Section 9.4.3.5), cannot be ruled
without shear or expansion (bending modulus B, in N-m). Each out. However, in 1998 it was not yet known how efficiently
mode is discussed briefly, below. mechanical pressures cycled at 10-100 KHz are transduced by plasma
membrane stretch sensors, since most mechanical cell stimulation
* T ~ 6 x 10-3 N/m produces red cell plasma membrane lysis after ~10 sec; time of lysis is a stochastic function that increases to ~120 days (maximum red cell lifetime) at
T ~ 3-4 x 10-3 N/m.1415
**Specifically: 0.05 Hz,3599 0.1 Hz,3600 0.25 Hz,3601 0.33 Hz,3600,3602 0.5 Hz,3603,3604 1 Hz,3604-3609 1.67 Hz,3609 2 Hz,3604 and 5 Hz.3610
Basic Capabilities • Manipulation and Locomotion 315
experiments have been conducted at frequencies between 0.05-5 ∆X = (2 D τ )1/2 (meters) {Eqn. 9.80}
Hz.** Energy coupling may be poor due to a large mechanical
impedance mismatch. Looser glycocalyx anchorages also could
which is readily obtained by combining Eqns. 3.1 and 3.5. For
minimize stretch activation effects.
lipidic probes, translational diffusion coefficients in artificial fluid
bilayer systems generally range from D = 1-10 x 10-12 m2/sec;1430
9.4.3.2.2 Plasma Membrane Shear Elasticity
for plasma membrane lipids in human fibroblasts, D = 1.6 x 10-12
A plasma membrane surface can deform by “shear”—elongation
m2/sec at 310 K.1431 Proteins reconstituted in phospholipid bilayers
in one dimension while narrowing in another dimension—without
show diffusion coefficients from D = 0.7-8 x 10-12 m2/sec. LDL
bending or increasing surface area. If a deforming force normal to a
receptors in human fibroblasts have D = 0.2 x 10-12 m2/sec at 310
plasma membrane surface is suddenly removed, the membrane surface
K; MHC Class I (HLA) antigens in human neutrophils, lympho-
will recover its normal unstressed shape in a characteristic time
cytes and fibroblasts have D = 0.05-0.07 x 10-12 m2/sec, or 0.15-0.30
tsnapback = ηsurface / µshear ~ 0.1 sec,3171 where elastic shear modulus µshear
x 10-12 m2/sec in human endothelial cells.1482 There is a weak
= 6.6 x 10-6 N/m for the red cell plasma membrane at 298 K,3172 as
dependence on protein molecular size1430—according to Monte
determined experimentally, and the measured coefficient of surface
Carlo simulations, a plasma membrane lattice covered up to 82%
viscosity ηsurface ~ 10-6 N-sec/m,3171 is the product of plasma
with impermeable (protein) domains diminishes D by only a factor
membrane viscosity (~100 kg/m-sec for RBC; Table 9.4) and plasma
of 20 in comparison to the zero concentration limit.1436 In erythrocyte
membrane thickness (~8 nm for RBC), with measured ηsurface =
plasma membranes, spectrin-anchored proteins such as the
0.6-1.2 x 10-6 N-sec/m for the red cell plasma membrane.371 (The
anion transport protein band 3 have D ~ 0.0045 x 10-12 m2/sec, while
change in elastic shear modulus with temperature is -6 x 10-8 N/
D = 0.25 x 10-12 m2/sec in spectrin-depleted cells where the same
m-K.3172) Shape recovery is dominated by plasma membrane viscosity,
proteins are no longer anchored;1432,1434 in either case, D = 0.8-1.5
not cytoplasm viscosity, in some systems, particularly RBCs;362
x 10-12 m2/sec for RBC plasma membrane lipids.1432,1433 A few
however, J. Hoh [personal communication, 1999] notes that this
covalently glycolipid-linked proteins show exceptionally stable
does not hold for all cells, and that for most cell types it is the
anchorage,1485 such as the sperm antigen PH-20 with D = 0.00001 x
cytoplasm that dominates the rheological properties, as
10-12 m2/sec.1482
experimentally measured, for example, by indentors or piezo con-
Taking τ ~ νleg-1 ~ 10-100 microsec (Section 9.4.3.5) as the
trolled microplates.3611 The time required for a leukocyte to enter a
duration of the anchoring event during legged ambulation, then
capillary is ~1000-2000 times longer than the time required by red
attachment to a lipid or an unanchored protein (D ~ 10-12 m2/sec)
cells,846 suggesting tsnapback ~ 100 sec for white cells.
gives a footpad wander of ∆X ~ 4-14 nm, which is probably acceptable
With nanorobot legswing frequency νleg >> tsnapback-1, a section
in most applications. Footholds on transmembrane proteins that
of plasma membrane distorted by the passage of one nanorobot
are mechanically linked to the submembrane cytomatrix will
footpad may not be able to resume its fully relaxed state before the
require a force of at least 100 pN/molecule to dislodge, and will
arrival of another footpad in the same spot as the first. If a traverse
have even less free play, given the lower D. Additionally, for a
through a narrow passage of cell-rich tissue by large numbers of
cylindrical protein of radius R ~ 3 nm traversing a plasma membrane
ambulating nanorobots is contemplated for a particular application,
of thickness h ~ 10 nm, the rotational diffusion coefficient Drot is
then footpad placements should be randomized as much as possible
given by:1483
to avoid repeat-deformation grooving, rutting, or other persistent
indentation features in the plasma membrane surface.
kT
Drot = = 380 sec −1 {Eqn. 9.81}
9.4.3.2.3 Plasma Membrane Bending Elasticity 4 π ηmembrane R 2 h
The bending stiffness (bending modulus) of the red cell plasma
taking ηmembrane ~ 10 kg/m-sec at 310 K, which gives a diffusional
membrane at room temperature is B ~ 1.8 x 10 -19
rotation of ∆α = (2 Drot τ)1/2 = 0.1-0.3 radian taking τ ~ 10-100
N-m.371,1203,1411,3171 The energy required to bend the plasma
microsec.
membrane into a hemispherical cap is ~4 π B ~ 2300 zJ.1203 A
For much longer parking times (e.g., τ ~ 1 sec), in the classical
nanorobot footpad of size Lfoot that exerts a backward force F ~ 10
fluid mosaic model of the cell plasma membrane (Section 8.5.3.2),
pN against the plasma membrane may cause the membrane surface
∆X ~ 1 micron for footpads attached to lipids or unanchored proteins.
behind the footpad to fold into a ripple with radius of curvature
However, recent work by Kusumi and Sako1476 has demonstrated
rcurve ~ B / F ~ 20 nm. The dynamic resistance to RBC plasma
that a substantial fraction of unanchored proteins are transiently
membrane folding appears to be limited by viscous dissipation in
confined to domains somewhat smaller than this. According to their
the cytoplasmic and external fluid phases.3171 The plasma membrane
membrane-skeleton fence model, a spectrin-like meshwork (Fig.
has only a very weak resistance to bending.
8.43) closely apposed to the cytoplasmic face of the plasma membrane
sterically confines transmembrane proteins to regions on the order
9.4.3.3 Anchoring and Dislodgement Forces
of the cytoskeletal mesh size. The fences appear elastic, because, for
A footpad which is noncovalently bound only to a single lipid1481
example, transferrin receptors rebound after they strike barriers, and
or unanchored protein1482,1483 molecule embedded in the plasma
a small fraction of these receptors seem to be fixed to the underlying
membrane will slowly move as the membrane molecule(s) to which
cytoskeleton by spring-like tethers.1477 For cadherins, transferrin
it is attached experiences translation diffusion according to the
receptors, and epidermal growth factor receptors, the domains
well-known Einstein-Smoluchowski equation:
(e.g., the barrier-free path or BFP) are 300-600 nm in diameter
316 Nanomedicine • Volume I
and confinement lasts 3-30 sec.1476-1478 BFPs for the lipid-linked ~105/micron2 glycocalyx strands and a similar number of integral
and membrane-spanning isoforms of the MHC (Section 8.5.2.1) anti- proteins near the cell surface (Section 9.4.3.1), there are ~10 strands
gens are ~1700 nm and ~600 nm, respectively, at a temperature of and ~10 proteins under each 100 nm2 footpad. For either glycocalyx
296 K.1479 Confinement was also found for a lipid-linked isoform strands or integral proteins, mean separation is ~3 nm giving a
of neural cell adhesion molecules (NCAMs) in muscle cells (which concentration of ~4 x 10-2/nm3 > 10-2/nm3, thus qualifying as
cannot be directly trapped by the cytoskeletal network), with BFP “common” molecules in the footpad environment. (There are also
domains ~280 nm in diameter and a mean trapping time of ~8 sec.1480 ~250 bilayer lipid heads directly beneath a 100 nm2 footpad, of
Still, footholds to well-anchored proteins may be preferred for the which ~100 are phospholipids, ~50 are cholesterols, 10-75 are
longest parking times. glycolipids, and the remaining 25-90 are other lipids.) Alternatively,
An annular footpad of radius Rfoot = 10 nm firmly attached mechanical grippers that close and open on a 5-nm wide molecular
around its circumference to a ring of plasma membrane-surface lipid target using a 1 cm/sec jaw speed require ~1 microsec per gripping
molecules, taking each molecule of area Alipid ~ 0.4 nm2/molecule cycle.
and assuming a single-lipid extraction force Flipid ~ 1 pN (Section Finally, a mechanical manipulator appendage traveling at a
9.4.3.1), achieves an anchorage force Fanchor = 2 π Rfoot Flipid / Alipid1/2 ~ conservative ~1 cm/sec (Section 9.3.1) can transit the 10-100 nm
100 pN (~3 atm); somewhat more compact anchor geometries are glycocalyx, reaching the plasma membrane surface, if necessary, in
possible. Equally strong footholds may be gained using artificial 1-10 microsec. A similar amount of time must be allowed for the
amphipathic transmembrane anchors terminated with limb to be retracted from the cell surface. These figures are all
~20-nm-diameter expansible submembrane compartments (analogous consistent with a maximum legswing frequency νleg ~ 100 KHz.
cytosolic “anchor domains” are common in cytochemistry; see Figs.
8.33 and 8.34), or using amphipathic transmembrane anchors which 9.4.3.5 Legged Ambulation
are directly but reversibly secured to the cytomatrix. Taking the Consider a 1 micron3 nanorobot cytoambulating using legs
membranolytic limit as 3 x 106 N/m2,1422 then a 100 nm2 footpad tipped with appropriate footpads to traverse a vascular wall. Each
can apply up to 300 pN of anchoring force without tearing the leg is assumed to be similar in size and function to the 100-nm
plasma membrane. long, 30-nm wide cylindrical telescoping nanomanipulator described
A cluster of ten 100-pN anchors can resist at least ~1000 pN of in Section 9.3.1.4. Each nanorobot has a total of 100 legs, occupying
dislodgement force applied to a medical nanorobot. Most in vivo 7% of the 106 nm2 underside area of the device. To allow tenfold
dislodgement forces will be considerably smaller than this. For redundancy, at any one time only Nleg = 10 legs are deployed and in
example, mean shear stress at blood vessel walls due to normal blood use. The remainder are stowed as spares.
flow is ~2 N/m2 (Section 9.4.2.2), giving a typical dislodgement Ignoring 1% traction losses (Section 9.4.3.1), the total force
force of Fdis ~ 2 pN on a 1-micron2 nanorobot. (The net attractive that must be supplied by all Nleg working legs is:
force of ~70 pN between red cells in a rouleaux is also ~2 N/m2;
Section 9.2.3.) Shear stress in partially occluded arteries produces a
maximum Fdis ~ 40 pN, and shearing stresses between venule Ftotal = Fdis + N leg Fleg + Fnano {Eqn. 9.82}
endothelium and a rolling leukocyte may reach 100 N/m2 (Section
9.4.2.2), giving Fdis ~ 100 pN if a white cell bumps or rolls over an The maximum dislodgement or “headwind” force normally
anchored nanorobot. Impact by a rapidly sanguinatating nanorobot encountered along blood vessel walls is Fdis ~ 40 pN (Section 9.4.3.3).
moving at 1 cm/sec (Section 9.4.2.4) produces a dislodgement force The viscous force on each leg is approximated by Eqn. 9.75 as Fleg ~
of at most Fdis ~ 200 pN. FnanoN ~ 6 pN, taking Lleg = 100 nm, Rleg = 15 nm, and vleg = 1 cm/sec.
For comparison, the adhesion strength for the protozoan Amoeba From Eqn. 9.73, Fnano ~ 100 pN, taking η = 1.1 x 10-3 kg/m-sec for
proteus has been measured as ~100-1000 nN,1456 giving an adhesion
plasma at 310 K, Rnano ~ 0.5 micron, and vnano = 1 cm/sec. Ftotal =
force of 100-1000 pN/micron2 over a focal contact area of ~1000
200 pN, easily within the capacity of a single leg (Section 9.3.1.4),
micron2.1454 The tension force exerted by a single fibroblast during
giving an allocation of Ftotal/Nleg = 20 pN per leg. Maximum safe
locomotion has been measured as ~165 nN,1461 or ~1000 pN/micron2
towing force is 300 pN/leg, assuming 100 nm2 footpads and
(1000 N/m2). Cell-cell adhesion of T cells and target cells is ~1500
a 3 x 106 N/m2 membranolytic limit for plasma membrane.1422
pN/micron2.1458
Cytoambulatory dislodgement forces elsewhere in the human Many N-podal gaits are possible.3499-3507 In the most conservative
body are equally modest. For example, taking Eqn. 9.58 and crude gait, only 1 leg is moved at a time while the remaining (Nleg -1) legs
estimates using data from Table 9.4 and Section 8.2, shear stress is stay anchored at their footpads. Given a full center-to-center working
~0.001-0.1 N/m2 along the walls of the small intestine and ~0.01-1 arc of Xarc ~ 80 nm, each leg must travel Xswing = Xarc/Nleg = 8 nm in
N/m2 in the large intestine; at the rectal wall, ~1-100 N/m2 during a time tswing = Xswing / vleg = 0.8 microsec at a velocity vleg = 1 cm/sec,
normal defecation and ~10-100 N/m2 during explosive defecation; with a per-leg duty cycle of fduty = Nleg-1 = 10% and an operating fre-
on the walls of the male urethra, shear stress is ~1 N/m2 during quency of νleg = fduty/tswing ~ 100 KHz. From Eqn. 9.74, nanorobot
urination and up to ~10-100 N/m2 during ejaculation; on the esoph- motive power is Pnano = Ftotal vnano / e% ~ 10 pW, taking e% ~ 0.20
ageal walls, shear stress is ~0.001 N/m2 when swallowing water, ~1 (20%). Conservatively taking each footpad binding event as costing
N/m2 while swallowing food, and ~10-100 N/m2 during emesis; Ebind ~ 100 zJ (Section 4.2.1), then footpad binding power require-
on the corneal surface of the eye, ~0.1 N/m2 during eyelid flapping; ment is Pbind = Nleg νleg Ebind ~ 0.1 pW, a negligible contribution.
and on the tracheal and nasal surfaces, ~0.001 N/m2 during a sneeze. For the least conservative gait, only 1 leg stays anchored while the
remaining (Nleg -1) legs are in motion. In this case, Xswing = Xarc = 80 nm
9.4.3.4 Contact Event Cycling giving tswing = 8 microsec and νleg ~ 10 KHz, but motive power,
How fast can ambulatory contact events be cycled? Molecular nanorobot velocity, and leg duty cycle are unchanged. Doubling leg
receptors ~10 nm2 in size can bind large (5-10 nm), “common” length to Lleg = 200 nm while holding Rleg, vleg, and vnano unchanged
(~10-2/nm3) molecules in tEQ ~ 0.2 microsec (Section 4.2.1). With decreases operating frequency to νleg ~ 5 KHz while increasing Ftotal to
Basic Capabilities • Manipulation and Locomotion 317
230 pN and Pnano to 12 pW. Doubling the velocities doubles force into the tissues in the form of tissue microphages or macrophages.
and operating frequency, and quadruples the power demand. Per- Fibroblasts and normally sessile germinal skin cells can move into
haps counterintuitively from common macroscale experience,1486 damaged areas to assist in wound repair. Embryonic cells in the
for small ambulators traveling in viscous-dominated media (e.g., fetus such as neurons often migrate long distances to their final
low Reynolds number ambulators), shorter legs may produce the location by amoeboid movement, after which they become fixed in
highest motive velocity for the lowest power requirement and tissue as sessile cells. The 200-600 micron carnivorous Amoeba proteus
applied force. also displays this form of locomotion and was the subject of the
As a biological analog, tiny extensible hydraulic tube feet specialized earliest studies, hence the name.
for burrowing and stepping locomotion, often with terminal suckers, Amoeboid movement is associated with two properties—cytoplas-
have been extensively described in echinoderms.1472-1475 mic streaming, and the extension and retraction of pseudopods—
the motive effects of which could be simulated by medical
9.4.3.6 Tank-Tread Rolling nanorobots using metamorphic exterior surfaces (Section 5.3). As
When an injured cell “calls for help” from leukocytes, the cell shown in Figure 9.26, the monopodial amoeboid cell progresses by
secretes cytokines such as IL-1 and TNF, causing nearby vascular establishing a series of attachment points or focal contacts with the
endothelial cells to express P-selectin and E-selectin on their luminal surface it is traversing. Viewed from the side, the amoeba steps forward
surfaces.415 Passing white cells adhere to these protruding molecules on new pseudopods that make adhesive contact with the surface,
because their carbohydrate coat contains complementary structures. with the tail region and retracting pseudopods lifted clear of the
When a leukocyte touches a venule wall, its rate of movement slows surface.1464 The plasma membrane with its mucus coat is a relatively
because of the stickiness between the cell and the wall, but the force permanent structure that plays a passive role during locomotion,1465
of the circulating blood keeps the cell moving with a tank-tread rotating forward during locomotion something like a water balloon
motion in what is called a rolling interaction (Fig. 9.28). The average rolling across a tilted tabletop.
white cell rolling velocity is only <4% of the mean blood flow Inside the plasma membrane are two regions of cytoplasm with
velocity in the venule,361 typically ~10-40 microns/sec.1027,1484,1507 varying viscosity—the actin microfilament-rich outer portion, called
This form of locomotion is easily implemented by rigid medical the ectoplasm or cell cortex, and the inner portion called the
nanorobots. A primitive example would be a spherical device with endoplasm. To move forward, the ectoplasm at the front end
numerous flexible knobs projecting radially from its surface, located becomes thin, causing a pseudopodium to bulge forward; the
a distance ∆y apart. A mechanical gripper or binding pad located at ectoplasm at the tail end contracts, pushing endoplasm into the
the tip of each knob is switched on or off, depending on the direction pseudopodium and extending it further.1466 Actin monomers in the
the nanorobot desires to go. Anchored with one knob, Brownian or pseudopods are gelated to actin polymers in the pseudopods, then
hydrodynamic forces cause the device to bounce around until one solated back to monomers in the tail. (Gels depolymerize when Ca++
of the active knobs contacts the surface, whereupon that knob binds, activates gelsolin protein, which severs actin; actin repolymerizes
and the previous anchor knob releases. The device has now progressed into gel when Ca++ concentration is reduced.) The surface for
a distance ∆y in the desired direction. A micron-size nanorobot could new pseudopod formation is unfolded from the sink of convoluted
achieve vnano ~ 1 micron/sec in a quiet environment or up to vnano ~ surface in retracted pseudopods and in the tail. In each pseudopod, the
1 mm/sec in blood vessels, at a near-negligible power cost (<< 1 pW) surface rolls forward over the stationary ectoplasmic tube on a
because only footpads must be operated. In the limit of a flexible lubricating layer of hyaloplasm dispersed from the hyaline cap.1380
knob-dense surface, a nanorobot with ~1 micron2 of continuous Isolated amoebic cytoplasm, when injected with ATP, streams
contact surface could, in theory, tow up to 3,000,000 pN of load spontaneously at up to 160 microns/sec.1394
before reaching the ~3 x 106 N/m2 membranolytic limit.1422 The formation of a focal contact between fibroblast and surface
is a biphasic process in which the fast (~1 sec) initial phase of
9.4.3.7 Amoeboid Locomotion establishing small (~0.25 micron2) immature contacts at large
The most common cells exhibiting amoeboid locomotion3613 in separation distances is followed by a slower (~15 sec) phase of
the human body are white cells, having moved out of the blood widening mature contacts with narrowing separation distances.1457
Leukocyte pseudopodia are ~1 micron in length with a typical
extension velocity of ~0.08 microns/sec, 846 so white cells and
fibroblasts readily cytoambulate at ~0.05-0.1 micron/sec;359,1513
chemotactically-stimulated leukocytes can locomote at up to ~0.7
microns/sec.1516 An individual fibroblast has a towing strength of
~165 nN,1461 giving an implied low-load motive power demand of
only ~0.02 pW (force x velocity). Measured motive force of a whole
amoeba (~towing force) is 50-290 nN,1462,1469 or ~100 nN per
Fig. 9.26. Protoplasmic streaming in a monopodal amoeba with Fig. 9.27. Schematic of neutrophil cytoambulation (redrawn from
velocity profiles at three loci (modified from Holberton1380). Horwitz1511).
318 Nanomedicine • Volume I
endothelial gap possibly using a metamorphic surface to maintain a tissue cells are killed by freezing or poisoning, all of the cellular
protein-tight seal if necessary, then release endothelial movement components may die and be removed, but the basement tissue
inhibitors such as cytochalasin B or endothelial growth inhibitor membrane often remains intact. These residual scaffoldings ensure
protein (EGIP)1494 to encourage endothelial reattachment, returning correct repositioning of cells (e.g., cell polarity) and proper restoration
the gap to its normal size. (Active chemokine concentrations are of different cell types to their correct locations (e.g., muscle cells in
typically ~10 molecules/micron3; Section 7.4.5.2.) The actual transit muscle basement tissue membrane, nerve cells in nerve sheaths,
of the gap should require only milliseconds assuming ~mm/sec endothelium within vessels). Conversely, loss of ECM integrity
ambulation velocities, but a time on the order of seconds could be during wound healing may cause permanent disorganization of
required for biochemically-mediated endothelial cell gap width tissue patterns, producing dermal scars.985 The ECM also plays a role
management. Physical force may be used to spread or to close a in controlling cell function and morphology. Hepatocytes cultured upon
temporary gap much faster (Section 9.4.4.3) but may be inconsistent fibronectin or laminin at low fiber surface density (1-50 ng/cm2)
with endothelial cell homeostasis. As already noted in Section exhibit differentiation, but switch to growth at high fiber surface
8.2.1.3, the lymphatic endothelium can probably open gaps at least density (1000 ng/cm2).1501 Capillary-like tube formation by endothe-
~22.5 microns wide,851 so micron-sized nanorobots should also find lial cells can be induced by purely mechanical means (simulating
easy passage into and out of the lymphatic system. mechanical stresses in the natural ECM).1502 Cells cultured on
substrates containing adhesive islands (mimicking spatial patterns
9.4.4.2 ECM Brachiation of ECM adhesivity) change shape to match the shape of the
Taking the standard reference male human body volume of islands.718
60,000 cm3 and subtracting ~16,000 cm3 (27%) for fluids, digestive The mesh size of the fibrous components of the ECM varies
contents, and expandables (Section 8.2.5), then subtracting another widely according to tissue type, but a few generalizations and specific
~27,000 cm3 (45%) for the volume of all tissue cells (Section 8.5.1), examples can be given. For instance, the matrical function of collagen
leaves ~17,000 cm3 (28%) which comprises the intercellular tissue and elastin is mostly structural, while the function of fibronectin
volume. This volume is thoroughly penetrated by the extracellular and laminin is primarily adhesive. Yet collagens are also adhesive
matrix or ECM, a fibrous scaffolding that helps organize cells into for cells and other macromolecules, and fibronectin provides the
tissues. The ECM contains both protein and carbohydrate components. major matrical support in clot and early granulation tissue formation
(Matrical water is not in the form of a dilute aqueous solution but is (the first stages of wound repair).985
strongly influenced by the macromolecules that are present; diffusion Collagens are the major proteins of the ECM and comprise ~25%
of small molecules is much slower in matrix water than in bulk of total mammalian protein mass.396 The collagen family currently
water.) contains 19 members.971,1497,1498,3614 The collagen molecule is a
Nanorobots with at least two appendages can alternately grasp long (~300 nm), thin (~1.5 nm) fiber, the center of which is a charac-
and release a succession of adjacent ECM elements, brachiating1621 teristic triple helix running ~95% of the length.938 Micrographs of
“hand over hand” through tissue in a manner crudely analogous to endothelial cells cultured on a disorganized collagen-rich gel show
a scuba diver pulling himself along an underwater rope mesh ladder. that the cells quickly remodel the substrate into a network of collagen
Similarly, fibroblasts migrating through tissue toward the site of a pads, cords, cables and bridges with grid sizes ranging from 100-1000
wound move toward a chemotactic distress gradient by extending microns.1499 Photomicrographs of excised tissue samples show a gap
lamellipodia toward the stimulus while their opposite poles remain of 4-12 microns between adjacent collagen fibrils in skin tissue and
firmly bound until released (haptotaxis). ECM fibrils strongly in tendons.938 Cartilage (which contains much collagen) has large
influence the direction of migration since cultured fibroblasts tend aggregates of proteoglycans, with as many as 100 molecules attached
to align and migrate along discontinuities in substrata to which they to a single hyaluronic acid, giving a length of ~10 microns and a
are attached (contact guidance), and only along, but not across, diameter of 500-600 nm; a tissue micrograph of fibrous cartilage in
fibronectin fibrils.1537 the disks between the vertebral bodies shows gaps of 10-30 microns
ECMs are composed of different collagen types, elastin, large between adjacent fibrils.938
glycoproteins (e.g., fibronectin, laminin, entactin, osteopontin), and Fibronectin is usually formed as a disulfide-linked dimer consisting
proteoglycans that contain large glycosaminoglycan side chains (e.g., of two 220-250 kilodalton peptide subunits, each containing binding
heparan sulfate, chondroitin sulfate, dermatan sulfate, keratan sulfate, sites for collagen, for heparin, for the clotting protein fibrin, and
hyaluronic acid).938,985,1511 While all ECMs share these components, for several other ECM molecules, along with cell surface receptors.938
the organization, form, and mechanical properties of ECMs vary The main function of laminin (a 50 nm x 70 nm cross-shaped
widely in different tissues. For example, interstitial collagens (e.g., molecule938) is to mediate the binding of cells to Type IV collagen.
Types I & III) self-assemble into a three-dimensional lattice which Fibronectins or laminins may be present in ECM at low density
binds fibronectin and proteoglycans. This type of ECM hydrogel (<1 ng/mm 3) or high density (>5 ng/mm3),985 giving, from Eqn.
forms the backbone of loose connective tissues such as dermis.985 8.7, an estimated typical intermolecular spacing of Lgrid ~ 10
In contrast, basement tissue membrane collagens (Types IV & V) microns at low density and Lgrid ~ 4 microns at high density.
assemble into planar arrays. When these collagenous sheets interact
Although the matrix grid can be as narrow as 0.3-3 microns in
with fibronectin, laminin, and heparan sulfate proteoglycan, the
special cases such as the ECM between the epidermis and the somites
result is a planar ECM scaffolding. The ability of tendons to resist
tension, and of cartilage and bone to resist compression, similarly of the axolotl embryo, or between the highly flexible elastin fibers
results from local differences in the composition and organization in the walls of the aorta,938 in most cases the gaps between ECM
of the ECM.985 elements should be wide enough for micron-size nanorobots to slip
Tissues are dynamic structures that exhibit continual turnover through without much difficulty. Even quite large rigid objects
of all molecular and cellular components. The ECM helps to maintain should be able to negotiate the ECM. Experimentally, teflon particles
tissue pattern integrity, allowing cells that are lost due to injury or up to 80 microns in diameter were injected extravascularly and
aging to be replaced in an organized fashion. For instance, when
320 Nanomedicine • Volume I
migrated to distant locations around the body including lymph nodes, the cellular interior at up to ~10 microns/sec,453 so faster ECM
lungs, and kidneys.946 transit speeds up to ~100 microns/sec are probably safe.
From Eqn. 9.75, an isolated cylindrical ECM element ~1
micron long and ~0.1 micron wide could be shoved aside at a lateral 9.4.4.3 Intercellular Passage
velocity of ~1 mm/sec in plasma with a force of ~5 pN, easily within With just a few notable exceptions, virtually all tissue cells lie
the strength limits of medical nanorobots having the appropriate within ~2-3 cell widths of a capillary, or ~50 microns.71,531 Thus a
manipulatory and motive appendages. Chemosensor pads also will bloodborne nanorobot may reach any tissue cell by rapidly traveling
allow the nanorobot to identify fiber type and tissue type (having most of the way by capillary, then exiting the capillary and crossing
unique chemical signatures) as the device crawls or brachiates at most 1-2 cells to arrive at a given target cell. In cell dense tissue,
through the ECM forest. For example, only two kinds of carbohy- it may become necessary to crawl between adhering cells.
drate are found attached to the hydroxylysines of collagen. Elastin Tissue cells are not packed so tightly that adjacent cell surfaces
lacks the amino acid methionine. The family of integrins binds are in direct contact with each other. There is usually a space of at
fibronectin, and fibronectin has lots of binding sites. Proteoglycans least 20 nm between the opposing plasma membranes of adjacent
typically have a long core protein to which are attached up to 100 cells, wide enough to admit a slender nanorobot manipulator arm
very large glycosaminoglycan (GAG) chains, with each population (Section 9.3.1). This space is filled with extracellular fluid and provides
of core proteins having many different carbohydrates, varying in a pathway for substances to pass between cells on their way to and
size, charge, and even composition.938 Sensor pads can make a from the blood in nearby capillaries. Most tissues employ desmosome
cell-type or tissue-type determination in as little as 2 millisec (Section or gap junctions2922 wherein the opposing plasma membranes come
8.5.2.2), suggesting an upper limit on nanorobot ECM brachiation within 2-4 nm of each other over a space of ~5 nm on the membrane
of νbrach ~ 500 Hz if chemopositional validation is required at every surface, with these junctions spaced ~20 nm apart across the plasma
step. membranes and opposing plasma membranes, retaining a fluid-filled
What is the maximum safe nanorobot brachiation speed through 25-35 nm gap between them. Tight or “occluding” junctions (as in
the ECM? In theory, a dibrachial armswing of ~1 micron repeated the endothelial blood-brain barrier and certain epithelial surfaces
at ~100 Hz allows an ECM transit speed up to 100 microns/sec comprised of intestinal cells, bladder cells, and some exocrine cells)
through clear fluid lanes in the matrix. From Eqn. 9.73, the force have <2.5 nm wide intermembrane gaps.361 None of these spaces is
required to pull a 1 micron spherical object through 310 K interstitial wide enough to allow passage of whole (even metamorphic) medical
fluid (Table 9.4) at 100 microns/sec is ~2 pN, somewhat less than nanorobots. To pass between cells in cell-rich tissue, it is necessary
the ~10 pN likely to stimulate a mechanically-transduced cellular for an advancing nanorobot to disrupt some minimum number of
response (Section 9.4.3.2.1). (One study found that the force cell-to-cell adhesive contacts that lie ahead in its path. After that,
required to break individual integrin bonds to fibrinogen is ~2.1 and with the objective of minimizing biointrusiveness, the nanorobot
pN;1508 another study found ~1000 cell adhesion proteoglycan must reseal those adhesive contacts in its wake, after passage, crudely
molecules on each marine sponge cell surface, with pairs on adjacent analogous to a burrowing mole.
surfaces having an experimentally measured adhesion of 40-400 pN A full treatment of all types of cell-cell contacts and anchoring
per pair, depending upon Ca++ concentration.1248) Assuming a pair mechanisms is beyond the scope of this book, but a few specific
of 1 micron long, 0.1 micron thick cylindrical nanorobot arms and examples can be given. For instance, spot desmosomes (Section 5.4)
applying Eqn. 9.75, an additional ~0.5 pN is required to move each are ~30-nm-long “spot weld” molecules linking neighboring cells,
arm forward, giving a total power requirement of only ~0.0003 pW spaced ~8 nm apart across the apposed cellular surfaces. A force of
for brachiation at ~100 microns/sec. For comparison, a proposal to 6-10 pN is required to separate each connexin-32 hepatic cell gap
drive a millimeter-size “seed” through human brain parenchyma junction unit (Section 5.4.2). Integrins may average ~20 nm separa-
using external magnetic forces, while maintaining what was believed tion, and require ~2.1 pN to separate from a fibronectin molecule in
to be an adequate margin of safety, was tested experimentally at a the ECM,1508 although direct cell-ECM connections are relatively
net tissue transit speed of ~8 microns/sec.1256,1257 scarce inside cell-cell junctions.
Natural movement of biological entities through ECM is much As a crude estimate, assume that intercellular adhesion molecules
slower. The ECM provides a handhold-rich scaffold for fibroblast hadhes ~ 30 nm in length are spaced Xadhes ~ 10 nm apart across the
migration.359 Leukocyte and fibroblast amoeboid motion through cell surfaces and require Fadhes ~ 10 pN to pull apart,1223 and that an
extracellular tissue is typically ~0.050-0.7 microns/sec (Section Lnano ~ 1 micron wide nanorobot wishes to pass through by
9.4.3.7), although white cell diapedesis through the blood vessel dynamically clearing a path ahead that is Lnano wide and Lnano long.
walls (~0.005 microns/sec; Section 9.4.4.1) is much slower. Chain Along the leading edge, Lnano/Xadhes adhesive joints must be detached
migration of neuronal precursor cells across a restricted pathway in one by one, requiring a detachment energy of Edetach ~ Lnano Fadhes
the brain, through a complex parenchyma between two regions hadhes / Xadhes ~ 30,000 zJ to advance a distance Xadhes. This gives a
separated by several millimeters, occurs at ~0.008 microns/sec.947 power requirement of Ptravel ~ Edetach vtravel / Xadhes ~ 0.003 pW if
The migratory speed of cultured smooth muscle cells taken from the velocity of forward travel through the cell-cell junction is vtravel
coronary and peripheral arterial walls is also only ~0.006-0.015 ~ 1 micron/sec, allowing transit between two adhered 20-micron
microns/sec.1503 Epithelial cells migrate over a wound surface in a cells in ~20 sec. Adding manipulator arm energy dissipation raises
sheet at ~0.035 microns/sec, while wound contraction proceeds at the total to ~0.01 pW (viscous drag power is ~10-5 pW; Eqns. 9.74
0.007-0.009 microns/sec.359 Osteoclasts tunnel through old bone, and 9.75). Total detachment rate is νdetach ~ Lnano vtravel / Xadhes2 ~ 10,000
remodeling it, advancing at a rate of only ~0.0006 microns/sec.531 detachments/sec, a burden which can be shared by more than one
However, inside cytomatrix-rich cells, membrane-bound vesicles manipulatory appendage, each equipped with appropriate lytic
undergo axonal transport at a typical speed ~2-4 microns/sec,938,939 end-effectors (e.g., trypsin-like tool tips; Section 9.3.2). Rejoining
pigment granules in chromatophores move at 2-10 microns/sec,938 the parted cell junctions astern requires, at worst, a similar
and mitochondria (~micron-sized organelles) are shuttled around energy expenditure; in the case of noncovalent bonds, unassisted
Basic Capabilities • Manipulation and Locomotion 321
rejoining may be energetically favorable if the edges have been 3. clear a sufficient interdevice distance to preclude significant
left in relative proximity. Reattachment may be facilitated using error in positional readings from the navigation grid (Section
a metamorphic nanorobot integument, together with a surfacial 8.3.3), due to spurious acoustic refraction and attenuation
hydrophilic solvation wave drive system (Section 9.4.5.3), to effects if there is a large number density of nanorobots in the
establish a teardrop-shaped cross-section that can slowly adduct vicinity.
the separated plasma membrane faces and maneuver the detached
stubs of parted anchor macromolecules into close proximity. Traf-
fic density and frequency should be locally restricted to minimize 9.4.5 Cytopenetration
mechanical stimulation of unwanted ECM and cytomatrical re- Upon arriving at a target tissue cell, a cellular repair nanorobot
sponses (Sections 9.4.3.2.1 and 9.4.4.2), and especially detachment- may require entry into the cytosol. The following is a necessarily
triggered apoptosis (Section 10.4.1.1), perhaps by restricting inter- brief and incomplete discussion of several techniques and issues
cellular passage to nanorobots traveling single-file through a relatively involved in penetrating the plasma membrane, and by extension, in
small number of channels. penetrating other intracellular membrane structures including the
doubled-walled nuclear envelope and the multilayer outer membranes
9.4.4.4 Nanorobot Conjugation and Partition of Gram-negative bacteria (Section 10.4.2.5). Micron-size siliceous
Occasionally it may be necessary for two or more motile diatoms and “nanobacteria” with calcium shells2149,3096 and will
nanorobots to dock, or conjugate,3617-3632 during histonatation (e.g., require additional penetrative mechanisms that are not described here.
Section 8.3.3). Assuming the existence of in vivo communication and This discussion also is applicable to the insertion of sensory
navigation networks (Sections 7.3 and 8.3), two nanorobots that appendages or manipulatory devices through cell or organelle lipid
are attempting to dock can exchange positional information until membranes.
the two devices are within a range of ~3 microns. Once within
such close range, the devices switch to ~GHz chirps which, from 9.4.5.1 Transmembrane Brachiation
Eqn. 4.52, attenuate ~0.001%/nm in 310 K plasma. Using an acoustic One simple approach to cytopenetration is to insert a narrow
receiver sensitive to 10 -6 atm pressure changes, and 0.01-atm manipulator arm through the plasma membrane, perhaps assisted
transmitted pulses, and assuming that no other nanorobots are by a wall-breaching tool tip analogous to the T4 lysozyme enzyme
present and chirping in the immediate vicinity at the same time, that opens a hole in bacterial cell peptidoglycan walls,3150-3152 or
the two nanorobots can locomote up the attenuation gradient to the T4 DNA-injection system that is specifically designed for lipid
within ~10 nm proximity, approximately the minimum scale of the bilayer penetration.1179,1180 The terminus of the manipulator firmly
docking mechanism (e.g., metamorphic bumpers; Section 5.4). attaches to an actin or microtubular fixed component of the interior
Conjugating microbes employ chemical communications to similar cytoskeleton, then retracts, towing the nanorobot through the lipid
effect.3628,3629 bilayer surface. Metamorphic reshaping of the nanorobot aspect
Once physical contact is made, nanomechanical communication at minimizes the total number of noncovalent lipid bilayer bonds that
~1 GHz transfers ~1000 bits during a ~1 microsec contact event must be disturbed during transit. Cell surfaces tolerate forces up to
(Section 7.2.4), sufficient to mutually validate identity. A universal ~1 nN per 100 nm2 before breaking, so a ~1 nN arm tip smaller
clamp may be used for unrestricted docking among devices of any than 100 nm2 in cross section should be able to push itself through
machine species that meet in any orientation. Device shape or surface the cellular plasma membrane and into the interior of the cell. As a
features can be used to control docking orientation (Section 5.4.1). very crude estimate of the penetration energy required, taking the
Docking clamps can also be designed to connect in only one way if membranolytic limit as 3 x 106 N/m2, then a 1-micron long, 1-nm
the spatial or rotational positioning of the conjugated pair is an
important mission requirement; from Eqn. 3.1, Brownian motion
provides ~4000 random docking trials per second for two 1-micron
nanorobots maintaining a mean 10-nm separation in 310 K interstitial
fluid. Docking clamps may serve a purely adhesive function,3630-3632
or may additionally provide communicating junctions that transfer
fluids, power, or data between conjugated devices. Similar procedures
permit three or more nanorobots to conjugate in vivo, and may
allow a growing nanorobot aggregate to sequentially add new members
to the collective at specific locations in the developing structure.
Partition,3617-3619 or separation of linked nanorobots, requires a
defined procedure in which all transtegumental openings in
nanorobots are sealed or valved shut prior to release of docking
clamps and physical separation. Once separated, and depending
upon their mode of locomotion and the timing of their release,
partitioned nanorobots must temporarily observe a dense-traffic
protocol involving slower and lower-amplitude motions of motive
appendages or rotating elements in order to:
wide tear can be opened up by applying ~3000 pN of force through 9.4.5.4 Vesicle Fusion and Endocytotic Entry
a distance of ~10 nm (typical plasma membrane thickness) costing A nanorobot may also gain entry to a cell by releasing amphipathic
~30,000 zJ of energy, a ~0.003 pW power demand during a ~10 lipid molecules from its surface, which will self-assemble into a thin
millisec transit time at a ~100 micron/sec transit speed. It may also lipid bilayer coat, enveloping the entire nanorobot. Natural
be possible to reduce entry forces by inducing lipid bilayer membrane viruses1721 and synthetic carriers1722 use similar methods to convey
demixing using a tangentially-applied electric field.1613 extracellular DNA across outer cell plasma membranes and nuclear
membranes. The materials comprising a 10-nm thick lipid bilayer
9.4.5.2 Metamorphic Screw Drive surrounding a spherical object ~1 micron in radius can be stored in
A nanorobot with a hydrophobic (e.g., diamondoid) metamorphic a ~0.1 micron3 internal tank, occupying only ~3% of total internal
surface may locally reconfigure its prow in the shape of a screw device volume. The fusion of two distinct lipid bilayers is energetically
having two traveling raised ridges, with a thread width at least as unfavorable in the absence of specialized proteins.1530 Thus after
wide as the plasma membrane plus the plasma membrane skeleton approaching the target plasma membrane, the enveloped nanorobot
or cell cortex, perhaps 30-50 nm thick (Section 8.5.3.11). After the must emit specialized plasma membrane fusion proteins, known as
screw has initially penetrated the surface and the first thread course fusogens,1587,3658 similar to the sperm protein PH-30α−β that
is locked in place (Section 9.4.5.1), the thread pattern may then be allows sperm and egg to merge,1082 the HIV virus envelope protein
translated toward the rear of the nanorobot, allowing the device to gp120-gp41 with a typical contact area of ~8 nm2,1531,1587 the
screw itself into the cell’s interior (Fig. 9.29). A ~100 micron/sec envelope glycoprotein H employed by the herpesvirsuses,3657 and
transit speed requires <0.001 pW for a 1 micron2 cross-section
nanorobot to overcome viscous drag (Section 9.4.2.4) and ~0.01
pW to operate a 100-nm wide section of metamorphic surface
assuming ~0.35 micron2 of surface dissipating ~0.03 pW/micron2
(Sections 5.3.1.4 and 5.3.6). Cell entry is completed in ~10 millisec.
the hemagglutinin protein found on the surface of influenza a tighter seal during transit using a dynamic ring pattern of lipophilic
virus.1532 (Nonprotein fusogens also are well-known, including lipids semaphores at the nanorobot surface (Section 9.4.5.3) that tracks
such as N-acyl phosphatidylethanolamines (NAPEs),3659 fatty acids the device’s passage through the plasma membrane. In some cases
such as arachidonic acid,3660 carbohydrates such as polyethylene such as nerve cells, significant ionic leakage could produce depolariza-
glycol, 3661 and simple solvents such as dimethyl sulfoxide tion and thus should be avoided.
(DMSO).3662)The nanorobot lipid bilayer, now fusion active, can
join with the plasma membrane layer and unfold, bringing the 9.4.5.6 Breach Sealing and Intrusiveness
formerly fully enclosed nanorobot into direct sealed contact with the Some cytopenetration techniques involve tearing the lipid
cytosol with a negligible energy expenditure (Fig. 9.31). This process bilayer. This breach must be resealed after transit. A fractured lipid
will add 0.5%-1.0% new lipid, by volume, to the existing ~14-24 membrane presents two “greasy” surfaces to water; it is thermody-
micron3 plasma membrane volume (Table 8.17) of a 20-micron namically favorable for these two cut surfaces to fuse together so as
tissue cell. Added lipids that don’t exactly match the native lipids of to eliminate the unfavorable water-fat interface.27,2316 Such fusion
the cell might disrupt the normal protein/lipid membrane ratio and may be encouraged mechanically by the passing nanorobot (Section
modify membrane fluidity, possibly altering signal timing and other 9.4.4.3), although the edges of the tear will attempt to round off
cell behaviors. If this is a problem, nanorobots employing this entry and self-seal, without rejoining.
technique could be designed to reabsorb and recycle the foreign Nevertheless, it is not uncommon to observe rapid natural
lipid, once inside the cell. resealing of plasma membranes with little loss of intracellular contents,
Other means of cell entry, such as “induced uptake,” are well a useful property given the many transient plasma membrane
known. Like bacterial invaders, a nanorobot may emit cytochemical disruptions that commonly occur in cells that experience significant
“entry mediator” signals (e.g., the outer wall membrane protein mechanical stress, such as gut, skin, endothelium, and
invasin, in Yersinia bacteria) to induce the target cell to form an muscle.1534,3665 In one experiment, tissue cell plasma membranes
endocytotic vacuole around the device and suck it into the interior were punctured using 2-3 micron diameter micropipettes and a 300
of the cell. A membrane fusion-type tool may subsequently be used millisec transit (wounding) time, and the torn plasma membrane
to escape from the resulting endosome. Macrophages ingest up to spontaneously resealed in 10-30 sec with relatively little visible loss of
~25% of their volume per hour,996 a volume equivalent to hundreds of injected dye.1534 Exocytosis-based resealing3666-3668 of a microneedle
micron-sized nanorobots. Many bacteria1012,1561 and viruses1530,1533 puncture through the fibroblast plasma membrane occurs in 5-10
gain entry to cells by this means, and phagocytosis is mechanically sec,3667 but a second puncture at the same site heals faster than the
similar. Both are initiated by ligand-receptor interactions that activate initial wound3668—at first wounding, the cell uses existing endocytotic
host signaling, with the actin cytoskeleton providing the necessary compartment to add membrane necessary for resealing, but Ca++ entry
force to internalize the particle into a membrane-bound vacuole.1012 at the first wound stimulates vesicle formation from the Golgi
Invasive bacteria utilize two major types of induced uptake: apparatus, resulting in more rapid resealing of the second membrane
disruption. 3668
1. a “zipper” type mechanism involving direct contact between Watertight breach sealing might even be possible for nanorobots
bacterial ligands and cellular receptors that sequentially encircle trailing narrow, untensioned tethers with lipophilic coatings,
the organism (e.g., Yersinia, Listeria); and; although such tethers may cause other problems (Sections 6.4.3.6
and 7.3.3); 0.1-micron optical fiber tips have been poked through a
2. a “trigger” mechanism in which bacterial signals to the cell
cellular plasma membrane to measure the pH of the
induce dramatic plasma membrane ruffling and cytoskeletal
cytoplasm inside, in single cells and in single rat embryos, without
rearrangements resulting in macropinocytosis with virtually
ill effect on these large cells.577 In small cells (2-15 micron diameter),
passive entry of the bacterium (e.g., Salmonella, Shigella) into
“stab” microinjection at high pressure (0.1-0.2 atm) is problematic
the cell.1012,1561,3191
because the nucleus-to-cytoplasm ratio is higher so the nucleus is
more likely to be damaged during the stab. In one experiment, less
9.4.5.5 Cytosolic Leakage During Transit than 5% of neutrophils survived the high-pressure stab intact, but a
If the nanorobot-membrane interface is not tight, some leakage low-pressure (~0.01 atm) injection through a lipid bridge produced
of material into or out of the cell (depending upon relative hydraulic a ~100% survival rate.2346
and osmotic pressures) may occur during nanodevice transit. For How many nanorobots (or other pieces of exogenous matter)
example, from Eqn. 3.1 the Brownian diffusion distance during a can safely squeeze into a living cell? This question is addressed further
ttransit ~ 10 millisec transit time is ~3 microns for small molecules in Chapter 15, but an extremely conservative volumetric injection
like amino acids (MW ~ 100 daltons), ~1 micron for large protein limit is ~50-100 micron3 per tissue cell (0.5-1% of typical cell volume)
molecules (MW ~ 100,000 daltons). An annular leakage ring of without any significant observed effect on cell viability1192—
width hleak ~ 10 nm around the circumference of a nanorobot of equivalent to ~3-100 bloodborne nanorobots, depending upon
radius Rnano ~ 1 micron may pass Vleak ~ 2 π Rnano hleak vleak ttransit ~ object size. Individual lymphocytes (~200 micron3)777 have also been
0.006 micron3 of cytosolic fluid during each transit (~0.00008% of observed circulating for hours inside large living cells, with no evident
cell volume), assuming vleak ~ 10 microns/sec for random hydrody- ill effect (Section 8.5.3.12).
namic flows induced by thermal fluctuations inside a cell (Section In some nanorobotic system configurations and applications, it
8.5.3.12). Alternatively, modeling the leak as a ring of Npipe = 2 π may be useful to deploy smaller intracellular probes tethered to larger
Rnano / rtube = 1257 nanopipes each of radius rtube ~ hleak/2 and extracellular command centers. For example, axonal “cleanout” could
length ltube ~ 10 nm, and taking ∆p ~ 0.001 atm for the interstitial/ be an important anti-aging activity, given the evidence that axonal
cellular pressure differential (Section 4.9.1.2), then from Eqn. 9.25 transport slows with age presumably due to debris accumulation or
the total leakage volume from the ring of nanopipes is Vleak ~ Npipe a decline in energy supplies; yet full-size nanorobots might not
VHP ttransit ~ 0.03 micron3 of cytosolic fluid during each transit, or conveniently fit inside some neural axons. Transmembrane tethers
~0.0004% of cell volume. Leakage may be reduced by encouraging
324 Nanomedicine • Volume I
(tipped with relatively small unfurlable mechanisms) may be passed venting it from diffusing backwards while permitting forward
into the cell’s interior by threading them through an anchored diffusion; thus the tail doesn’t actually “push” the bacterium forward.1203
transmembrane sleeve device. Fluid leakage between tether and inner Actin-based motility is mediated by a single bacterial protein—
sleeve wall, either into or out of the cytosol, can be minimized if ActA (610 amino acids) in Listeria and IcsA/VirG (120,000
both surfaces are hydrophobic. There are, of course, many important daltons) in Shigella—localized in the polar regions of the bacterium.1012
drawbacks to the use of tethered systems generally (Sections 6.4.3.6 Actin microfilaments (and tubulin) typically self-assemble at
and 7.3.3). ~0.1-1 micron/sec;942 actin polymerization gives a stall force of
~10 pN per fiber, sufficient to drive a 1-micron object at ~1.5
9.4.5.7 Nuclear Membrane Penetration micron/sec against a ~1 pN load in free fluid cytoplasm.1203 This
Most of the methods proposed for plasma membrane penetration probably defines the top speed for actin-based bacterial mobility.
can also be applied to the nuclear membrane, with several important To progress through dense cytomatrical regions, motile
differences. First, the entry procedure should proceed at a much nanorobots of similar size to bacteria must cut or detach
slower velocity, to preclude any possibility of damaging the chromatin cross-bridged cytoskeletal elements lying across the path ahead, then
(Section 8.5.4.7). Second, chromatin is attached to the nuclear cortex attempt to reattach or reconstruct those elements after the nanorobot
away from the nuclear pores, and also in specific chromosomal has passed through the breach, because these elements lack sufficient
territories, so special care must be taken to avoid disturbing these elasticity (and grid sizes are too small) to be pushed completely out
configurations. Third, the region to be traversed is much deeper— of the way. Such cytoskeletal elements will most commonly include
two lipid bilayer membranes separated by a perinuclear space, and intermediate filaments and actin-based microfilaments. This procedure
lined on the nucleoplasmic side by a nuclear cortex of varying width is crudely analogous to the process employed by fibroblasts transiting
(Fig. 8.46)—which may require a somewhat different design than the ECM during wound repair. Fibroblast movement into
systems used for single-membrane bilayer penetration. cross-linked fibrin blood clots or tightly woven ECM requires an
active proteolytic system that cleaves a pathway for migration; known
9.4.6 In Cyto Locomotion enzymes serving this purpose include plasminogen activator,
Once inside a cell, a motile nanorobot must navigate a cluttered interstitial collagenase (MMP-1), the 72 kilodalton gelatinase A
and highly viscous cytomatrix-rich environment (Section 8.5.3). (MMP-2), and stromelysin (MMP-3).1537
(When microscopic iron particles are introduced into the cytoplasm, For an average filament grid size of Lgrid ~ 100 nm for the cortical
they move erratically (rather than smoothly) under the influence of actin cytogel1203 and a nanorobot of radius Rnano ~ 1 micron, a
external magnetic fields.938) Any of the methods described for minimum of two long diagonal cuts each of length 2 Rnano (simplisti-
cytoambulation (Section 9.4.3), histonatation (Section 9.4.4), or cally, making four triangular flaps) to allow passage requires Ncut =
cytopenetration (Section 9.4.5) may also be employed in modified 4 Rnano / Lgrid = 40 transected grid segments in order to advance a
form within the cell. From Eqn. 9.65 and the data in Table 9.4, and distance Lgrid, or νcut = 4 Rnano vnano / Lgrid2 = 400 cuts (or reattach-
assuming a top speed of v ~ 10 microns/sec (Section 9.4.4.2), then ments) per second at vnano ~ 1 micron/sec. This compares favorably
the Reynolds number of an L ~ 1 micron object inside a red blood
cell (a nucleus-free floppy bag filled with hemoglobin solution) is
NR ~ 10-6. For a nanorobot inside a free leukocyte, NR ~ 10-9;
inside an E. coli bacterium, NR ~ 10-11, taking the higher viscosity
into account.
There are many natural transport mechanisms inside
cytomatrix-rich cells which may serve as analogs for in cyto
nanorobot locomotion. For example, vesicles and granules ~100 nm
in diameter or larger are carried at a peak speed of up to
~2 microns/sec (although mean unloaded kinesin motor speed is
usually 0.5-0.8 microns/sec) on the back of a 60-nm kinesin transport
molecule (Fig. 9.32) that takes 8-nm ATP-powered steps along
microtubule tracks running throughout the cell1535,1536,3202-3204 with
a stall force of 5-7 pN;3201,3202 typically kinesin takes ~100 steps
along a microtubule, then lets go. Nanorobots could be designed to
brachiate along these tracks as well. Inside giant amoebas, mito-
chondria measuring 1-3 microns in length are carried along micro-
tubules at speeds up to 10 microns/sec,453 and the pseudopods of
fibroblasts (and amoebas) can also extend at ~10 microns/sec.1252
Faster speeds may be possible for well-designed nanorobots, but an
upper limit of ~10 microns/sec through fluid-rich intracellular clear
channels seems reasonably conservative.
It is well-known that several pathogenic bacterial species, once
free in the cytoplasm of a human cell, propel themselves through
the cytosol using a continuous actin polymerization process that
takes place at one pole of the bacterium.1012 Actin assembly is
visible as a tail of polymerized F-actin that remains stationary in
the cytosol while the bacterium moves ahead. The polymerizing
tail rectifies the random thermal motions of the bacterium, pre- Fig. 9.32. Vesicle carried along microtubule track by kinesin transport
molecule (schematic only, modified from Travis1535).
Basic Capabilities • Manipulation and Locomotion 325
with the νbrach ~ 500 Hz estimated earlier for a manipulator arm used 9.4.7.1 Objectives of Cytocarriage
for ECM brachiation, where chemopositional validation is required One of the most important utilities of cytocarriage is the “cell
at every step (Section 9.4.4.2), and is well below the νdetach ~ 10 herding” function.9 Nanorobots can marshall significant resources
KHz estimated for intercellular passage where such validation is drawn from the body’s natural immune and wound repair systems,
not required (Section 9.4.4.3). An important additional design issue and redirect them to particular sites that are in urgent need of
for in cyto brachiation systems is to minimize accidental mechanical assistance. In this role, medical nanorobots may act as immune
signal transduction into the nucleus, which may trigger unwanted system or wound repair homeostatic accelerants, regardless of the
cytological responses. nanorobots’ own additional inherent reparative functions, which
Power requirements for intracellular mobility are typically modest may be considerable. Nanorobots may also seize control of pathogen
but vary widely, depending mainly upon velocity, the type of cell, and parasite mobility systems, then guide them to natural disposal
and the path chosen. In highly fluidic clear channels, viscosity should sites within the body.
more closely resemble that of the red cell interior (η ~ 10-2 kg/ While nanorobot control of the natural motility apparatus might
m-sec), so from Eqn. 9.74 and taking Rnano = 1 micron and vnano slightly improve its performance, as a practical matter the maximum
~ 10 microns/sec, then Pnano/e% ~ (0.00002 pW)/e% for pure speed of cytovehicles being driven through tissues is probably limited
cytonatation. Nanorobots traversing pathways through filament-rich to near the maximum observed natural speeds of in vivo progression of
regions of the cell will experience much higher effective viscosities, uncontrolled cells (e.g., ~1-10 microns/sec). This will normally be
on the order of η ~ 10-1000 kg/m-sec (Table 9.4), but will also considerably slower than the maximum transtissue speeds available
travel more slowly (e.g., vnano ~ 1 micron/sec), giving a viscous to self-propelled medical nanodevices (e.g., 100-1000 microns/sec).
resistance power requirement for the nanorobot body of Pnano/e% ~ Also, cytocarriage is usually energetically inefficient compared to
(0.0002-0.02 pW)/e%, from Eqn. 9.74. A telescoping manipulator self-propelled medical nanorobots. However, in some circumstances
arm measuring 500 nm in length, performing the filament cuts and a strategy of cytocarriage may avoid the need to include certain
joins at νcut ~ νjoin ~ 400 Hz with ~2.5 microns of tool-tip travel per propulsive mechanisms in the nanorobot design for some segments
cycle, moves at a tip speed of ~1 mm/sec, producing ~0.025 pW of of the mission pathway, thus reducing nanodevice design complexity
mechanical losses under no-load conditions (Section 9.3.1.4); there and freeing up scarce onboard storage volume for additional
are at least two operational arms, one fore and one (or more) aft. consumables or mission-critical machinery. Cytovehicles (e.g., leuko-
Multiple arms may be needed in a dense filament network. Another cytes) engineered to display organ-specific tissue homing could be
~0.025 pW is required to overcome the viscous resistance against preloaded with passenger nanorobots prior to injection into the
each moving arm (using Eqn. 9.75), giving a total power cost of patient. Once injected, the nanorobots would be delivered to the
0.1-0.3 pW for transfilamentary intracellular locomotion at vnano ~ intended destination with acceptable reliability. Of course,
1 micron/sec assuming locomotive efficiency e% = 0.10 (10%). surface-placed antigen semaphores (Section 5.3.6) may directly confer
Some of the difficulties and limitations of in nucleo locomotion a similar homing ability on bloodborne nanorobots, with equal or
have already been mentioned in Sections 8.5.4.7 and 9.4.5.7. The superior reliability.
most important constraint is to observe a maximum speed limit Due to the small size of most readily available cytovehicles,
that avoids mechanical chromatin damage. Although a 500 conservatively only one or at most a few nanorobots may be able to
kilodalton protein would diffuse from one side of a 5-8 micron safely enter and occupy the interior of each commandeered motile
nucleus to the other in only ~5-6 sec (~1 micron/sec average), normal cell without triggering unwanted cellular responses (Chapter 15).
chromosomal movements during interphase have been estimated However, additional nanorobot passengers may adhere to the exterior
by observing the motions of individual centromeres, typically of the plasma membrane of the cytovehicle (after disabling certain
0.002-0.003 microns/sec,1529 and peak chromosome transport natural haptotactic reactivities), or may be towed by the motile cell,
speeds during mitosis are ~0.1 micron/sec.1463 A strict in nucleo allowing the motile cell to serve as a “pack animal” or “biological
speed limit of ~0.1 micron/sec on all nanorobot bodies and most tractor.” Interestingly, protozoa called mixotrichs that are present
exposed appendages appears prudent. A force limit of ~50 pN for in the termite gut are propelled by several thousand bacterial spiro-
intranuclear locomotion should also be observed (Section 8.5.4.7)— chetes attached to the protozoan as obligate symbiotes;2025-2027
a 1-micron nanorobot picking its way through a filament-rich S. Vogel observes that “the protozoa have adopted bacteria as
medium of net viscosity ~10 kg/m-sec requires the application of engines the way a human might use a team of horses.”2022
~20 pN to overcome viscous drag at a travel speed of ~0.1 micron/sec. Even heavily burdened cytovehicles operate at very low Reynolds
numbers (Section 9.4.2.1), so the total mass of passengers (Mpass,
9.4.7 Cytocarriage determining the inertial load) is relatively unimportant compared
The commandeering of natural motile cells by medical to the total surface area of the passengers (Apass, determining the
nanorobots, known as cytocarriage, offers an alternative mode of in viscous load); Mpass ~ Npass (the number of passengers per cell), but
vivo transport. During cytocarriage, one or more medical nanorobots Apass ~ Npass2/3 for efficiently packed passengers. Given a towing
may enter a motile cell, ride or steer the cell to a desired destination strength of 165 nN for the human fibroblast,1461 a properly harnessed
inside the human body, then vacate the cell upon arrival. The single fibroblast cell traversing interstitial fluid at a speed of 10
discussion here is a necessarily brief overview of the objectives of microns/sec can in theory tow behind it a 20-micron wide,
cytocarriage (Section 9.4.7.1), cytovehicle selection (Section 9.4.7.2), 1000-micron long cylindrically-packed aggregate of Npass ~ 300,000
initiating cytocarriage (Section 9.4.7.3), steering and control during 1-micron3 nanorobot passengers with a towing force of only FnanoP
the journey (Section 9.4.7.4), cytocarriage navigation and sensing = 0.01 nN (Eqn. 9.75). (A fibroblast pulling 165 nN at 10
(Section 9.4.7.5) and cytovehicular behavioral control (Section microns/sec consumes ~2 pW of power.)
9.4.7.6).
9.4.7.2 Cytovehicle Selection
Which motile human cells may be the most appropriate
cytovehicles? Since almost all cells exhibit migratory behavior at the
326 Nanomedicine • Volume I
embryonic stages of development, in theory all cells can probably established. This is readily accomplished by biochemical means. For
be mobilized, given access to the nuclear chromatin and the ability example, when leukocytes are placed in an isotonic solution con-
to manipulate it (Chapter 20). However, it is a safer and simpler taining EDTA, active spontaneous movement stops and the cells
matter to choose cells which are exclusively or at least facultatively respond passively to external loads.362 Excess zinc immobilizes
motile in the human adult. The obvious candidates include white macrophages.359 Integrins respond to intracellular messages, altering
cells (e.g., neutrophils, monocytes, dendritic cells, eosinophils, both selectivity and binding strength: the α2β1 integrin can be
basophils), lymphocytes (up to ~0.5 microns/sec848), macrophages, inactive, a receptor for collagen, or a receptor for both collagen and
and fibroblasts—the speediest and most widely distributed laminin, depending on the type of cell that produces it and the
cytovehicles—as well as Kupffer cells, osteoblasts and osteoclasts, signals received from inside the cell.1511
endothelial cells, smooth muscle cells, sperm cells, malignant Once inside a 10-micron diameter leukocyte, a nanorobot traveling
tumor cells (after safing), neuronal cells, and some migratory epithelial at ~1 micron/sec may require ~5 sec to migrate to an appropriate
(e.g., Langerhans’ cells) and mesenchymal cells. Motions analogous location near the center of the cell and establish control. Leukocyte
to crawling transform blood platelets from smooth disks into spiny towing harnesses may be quite simple in design but must be non-
spheres to plug vascular leaks after injury.1564 Most bacteria are too destructive. A required towing force of 0.01 nN (Section 9.4.7.1)
small for whole-device entry, although their motility could be requires only ~5 noncovalent bonds (breaking strength ~2 pN/bond;
controlled by spoofing the external chemosensors, perhaps making Section 9.4.4.2) to the glycocalyx or plasma membrane; a single
them useful for piggybacking or towing (Section 9.4.7.1), or for 100 nm2 footpad (Section 9.4.3.3) can provide up to 0.3 nN of
steering to disposal sites. Other possibilities include parasites such harness anchoring force.
as Entamoeba histolytica (found in the gut during amoebic dysentery,
the liver during hepatic amebiasis, the bloodstream, and elsewhere), 9.4.7.4 Steering and Control
Giardia lamblia (an intestinal parasite), Plasmodium (a bloodstream A complete understanding of motile cell mobility biological control
parasite producing malaria), and so forth. systems is not yet available. However, present knowledge1564 is
Erythrocytes are a special case. Though not motile, red blood sufficient to support the conclusion that virtually complete command
cells are plentiful in the body, flow to within ~50 microns of virtually of cellular mobility systems by in cyto medical nanorobots should
every tissue cell in the body, and have a tough, floppy outer plasma be feasible. Such control may be effected by either biochemical or
membrane. Experimentalists often replace the hemoglobin solution mechanical means.
of red cells with an isotonic aqueous solution, producing “ghost The “amoeboid” movement (Section 9.4.3.7) of leukocytes and
cells” that mechanically behave much like the original cells minus fibroblasts relies primarily upon temporary extensions of the cell
the respiratory functions. In theory, nanorobots could enter an surface rather than major movements of cytoplasm. These temporary
erythrocyte ghost cell and erect an artificial internal cytoskeleton extensions, such as the small filopodia and the larger lamellipodia,
to control cell shape, rotation, and possibly simulate amoeboid are surface evaginations involving bundles of actin filaments or
motions. However, naturally motile cells such as white cells already microtubules* in parallel array, often comprising a large fraction of
possess hardwired programs for creeping, diapedesis, object engulfment, the total surface area of the cell. Motion is made possible by an
etc. that can be triggered mechanically or biochemically with a internal system of bracing which is built or modified according to
minimum of effort (Section 9.4.7.6), hence these cells are much the needs of the cell. Immediately below the plasma membrane is a
more attractive cytovehicles. region of densely packed and interconnected actin microfilaments
Passive cytocarriage is widely practiced in the microscopic world. called the cell cortex (Section 8.5.3.11). A leukocyte moves by
Dengue-2 virus enters macrophages and B lymphocytes, hitching a breaking down actin filaments and rebuilding them in the proper
ride;3082 bacteria stably associated with human cells (e.g., E. coli in orientation, pushing the cell in a new direction and allowing the
the intestinal mucosa) are well known. Larger microbes such as the posterior regions to retract.312
tuberculosis bacterium also employ opportunistic cytocarriage.1558 Fiber bundles isolated by microlaser surgery from a glycerinated
These bacteria are specially adapted to recognize and lock on to the fibroblast have been shown to contract with the addition of ATP.938
large macrophages distributed throughout pulmonary tissue, and Focal attachments between substrate and cell are modulated both
then to induce these cells to ingest them. Once inside the macrophages, the by external chemotactic gradients on the substrate and by internal
microbes get a free ride into the blood or the lymphatic system, biochemical regulatory pathways (second messenger molecules;
enabling them to reach destinations all over the human body.384 Section 7.4.5.1); similar signal transduction pathways control the
polymerization and disassembly of filaments and microtubules
9.4.7.3 Cytocarriage Initiation comprising the podial extensions. Regulatory proteins that bind
There are ~7000 leukocytes/mm3 in adult human blood (Appendix actin monomers and filaments, some of which function in response
B) with a mean separation of ~50 microns, providing numerous to transmembrane signaling, include ADF, adseverin, caldesmon,
and readily-available cytovehicles. A white cell that is cytoambulating cap Z, cap 100, cofilin, gelsolin, MCP, phospholipase C-γ, profilin,
at ~10 microns/sec moves only ~0.02 micron during the ~2 millisec and severin.1564 Manipulation of the internal concentrations and
required to establish identity (Section 8.5.2.2), and another ~0.1 spatial distributions of appropriate intracellular messenger molecules
micron during the ~10 millisec required for the piloting nanorobot and ATP should permit in cyto medical nanorobots to command
to penetrate the plasma membrane (Section 9.4.5). Nevertheless, it these biochemical pathways and to regulate localized polymerization
may be desirable to temporarily halt the progression of the processes,1943 thus controlling the speed and direction of motile
cytovehicle during the period in which nanorobot control is being cell locomotion.
** PDGF concentration in human serum is 50 ng/cm3 (Appendix B); optimum concentration is 1-20 ng/cm3 ,3153 or ~1 molecule/micron3, for chemotactic response of neutrophils
and monocytes during wound repair (Chapter 24). Fibroblasts need the higher concentration in this range (~20 ng/cm3); PDGF stimulates a full mitogenic response.1554
Basic Capabilities • Manipulation and Locomotion 327
As another example of an intracellular mediator system that may are transduced into biochemical signals via mechanosensory plasma
be subject to direct nanorobotic control, consider the Ras superfamily membrane channels1506 and by other means.
of small guanosine triphosphatases (GTPases). One member of this How fast can cytovehicles be driven? Even using supranormal
superfamily, known as Rho, can be activated by the addition of concentrations of biochemical control molecules combined with
extracellular ligands (such as lysophosphatidic acid), leading to the close placement to active sites in order to minimize diffusion time
assembly of contractile actin-myosin filaments (stress fibers) and delays, a purely biochemically-mediated control system is probably
associated focal adhesion complexes.1538 Rho acts as a molecular limited to the maximum speeds of actin polymerization or osmotic
switch to control a signal transduction pathway linking plasma inflation, or ~1-10 microns/sec. However, purely mechanical
membrane receptors to the cytoskeleton.1539 Rac, another member cytovehicular control systems can be cycled at much higher speeds,
of the Rho subfamily, can be activated by a distinct set of agonists at least in tension. Individual actin microfilaments will tolerate a
such as platelet-derived growth factor (PDGF)** or insulin, leading maximum tensile stress of ~108 pN (Section 8.5.3.11); the binding
to the assembly of a meshwork of actin filaments at the cell periphery force between cytoskeleton and cell cortex at focal adhesions is of
to produce lamellipodia and plasma membrane ruffles.1540 Activation similar magnitude. Let us assume that the piloting nanorobot
of Cdc42, another Rho subfamily member, induces actin-rich manipulates just a single fiber to drive each ~1 micron diameter
filopodial surface protrusions that are also associated with distinct lamellipodium, and that this single fiber is not driven beyond 10%
integrin-based adhesion complexes.1541,1542 There is significant of its theoretical failure strength, a very conservative limit. Using
cross-talk between GTPases of the Ras and Rho subfamilies—Ras Eqn. 9.73 to crudely approximate the viscous drag force on the
can activate Rac (thus Ras induces lamellipodia), Cdc42 activates protuberance as it moves through interstitial fluid, each
Rac (thus associating filopodial and lamellipodial formation), and lamellipodium can be flexed at speeds up to ~500 micron/sec.
Rac can activate Rho.1540,1541 Members of the Rho GTPase family Manipulating more fibers adds to the margin of safety. (Cyclosis in
appear to be key regulatory molecules linking surface receptors to the mature plant cells such as Nitella and Chara produces circular
organization of the actin cytoskeleton.1539 By 1998, about 10 motions of some cell components as fast as 100 microns/sec.938)
GTPase-activating proteins and 3 guanine nucleotide dissociation Similar manipulation of the much stronger intermediate fiber (IF)
inhibitors (both potential down-regulators of GTPase activity), and at cytoskeleton (Section 8.5.3.11) would in theory permit speeds up
least 20 cellular effector targets with relevant protein-protein interac- to ~0.1 m/sec, but such aggressive forces might rip the IF fibers
tion domains, had been described.1539 Local cytoplasmic injections or loose from their intracellular moorings. Another potential concern
extractions of nanomolar concentrations of these second-messenger is that rapid cycling will stimulate unwanted peripheral actin
substances should permit full control of cytovehicular direction and polymerization or depolymerization reactions unless they are
speed. actively suppressed.
Less subtle biochemical methods of cytoskeletal manipulation Electric fields may also drive leukocyte motion (Section 4.9.3.1).
are also available to nanorobotic pilots. For example, the drugs For example, a mild electric current induces lymphocytes to travel
colchicine and taxol disrupt microtubule function in distinctly in the same direction of the current (“electrotaxis”) at speeds up to
different ways. Colchicine binds to tubulin, strongly inhibiting its ~0.3 microns/sec.848 Small electric gradients have been shown
further assembly into microtubules and fostering the disassembly experimentally to stimulate leukocyte diapedesis (Section 4.9.3.1),690
of existing microtubules;939 two other alkaloids, vinblastine and though multiple nanorobots would probably be required to generate
vincristine, also reversibly inhibit microtubule assembly. 936 the necessary currents.
(Microtubules are always losing and reacquiring tubulin dimers, and
these three drugs prevent reassembly, so eventually the tubules would 9.4.7.5 Navigation and Sensing
disappear entirely.) Colchicine diminishes neutrophil migration into The nanorobotic pilot can directly access the high-resolution
inflammatory foci.936 By contrast, taxol binds tightly to microtubules, extracellular acoustic navigational grid (if such has been installed
stabilizing them and causing much of the free tubulin in the cell to in the patient; Section 8.3.3) to establish absolute position and
assemble into microtubules.939 Similarly, the drug phalloidin (e.g., orientation of the cytovehicle within the human body, or may
~5 nanomoles/cm3)1557 blocks the depolymerization of actin, thereby employ alternative positional or functional navigational cues as
stabilizing microfilaments, whereas cytochalasin B inhibits the may be provided by the attending physician (Chapter 8).
polymerization of actin microfilaments.939 Drug molecule diffusion Chemosensory data (including tissue- and cell-recognition events)
time over ~1 micron ranges is ~1 millisec, consistent with ~KHz reaching the exterior surface of the piloted cell trigger natural internal
cycling. S. Smith notes that the use of oncogene products like members biochemical cascades which are readily monitored and interpreted
of the Ras supergene family, coupled with cytotoxins and genotoxins by in cyto nanorobots. Extracellular and ECM-related
like phalloidin and vinblastine for steering, could transform a leuko- mechanosensory data and plasma membrane stretch sensor data
cyte. The risk of generating a leukemia must be avoided, perhaps by produce similar recognizable internal biochemical and
implanting a timed self-destruct signal in the cytovehicle before cytomechanical effects.
initiating cytocarriage. Eavesdropping on natural chemotactic signals is particularly
Cytovehicles may also be piloted by palpating the cytoskeleton effective. For instance, after leaving the blood vessels, neutrophils
mechanically—for instance, by applying tension to selected parts recognize biochemicals produced by bacteria and migrate toward a
of the cytoskeleton using nanorobot manipulators. ECM-mediated rising concentration. Laboratory demonstrations of neutrophil
mechanical forces can pull cells into square and rectangular shapes chemotaxis often use a concentration gradient of fMLP (n-formyl
with sharp 90˚ corners.718,1555 Mechanical manipulation may also methionine-leucine-phenylalanine), a peptide chain produced by
be needed to drive cells into places they will not normally go. For some bacteria, at ~0.1 nanomole/cm3.1554 Chemotaxis also occurs
instance, cells parked on experimentally-created micropatterned among human T-lymphocytes in the presence of a 0.01-1 picomole/
adhesive islands surrounded by nonadhesive (PEG-coated) boundaries cm3 gradient of Met-enkephalin or β-endorphin.1512 Chemotactic
cannot be induced to step off the islands even when stimulated with cytokines for leukocytes, macrophages, and fibroblasts—many of
high concentrations of soluble growth factors.1555 Mechanical signals which are tissue-specific (and thus additionally serve as an aid to
328 Nanomedicine • Volume I
navigation) or condition-specific (e.g., inflammation)—are of elements in the promoter region of the β-casein gene.1550 Release
well-studied.767,1516,1565-1570 of Sr++ inside cytolytic T lymphocytes induces degranulation—the
Similarly, E. coli has chemosensory receptors (three different trans- emission of cytotoxic granules containing granulysin that can
membrane methyl-accepting chemotaxis proteins or MCPs 531 inhibit growth in a broad spectrum of pathogens, including bacteria,
located mostly in clusters at one pole of the cell.1544 At least two fungi, and parasites, and can directly kill the tuberculosis bacterium.2165
cytoplasmic signaling proteins, CheA and CheW, are known to Most integrins bind to their ECM ligands via the tripeptide RGD
interact with chemosensors in vitro.1544,1545 Various intracellular (Arg-Gly-Asp), so the nanorobotic pilot can release RGD as an
mediator protein molecules convey chemoreceptor signals by diffusion antagonist to moderate or to prevent cell-ECM interactions.1551
(across one cell length in ~200 millisec)1546 to the flagellar motors, Alternatively, ECM-integrin binding can be enhanced by specific
which drive the bacterium forward in 20-40 micron/sec bursts.437 cytoplasmic molecules such as the cell adhesion regulator (CAR), a
MCPs respond to attractants and repellants in the extracellular myristoylated protein that can connect the plasma membrane to
environment. All these signals can be detected in cyto by an eaves- the cytoskeleton.1552 ECM molecules interact with their receptors
dropping “piggybacking” nanorobotic pilot equipped with at the cell surface, transmitting signals directly or indirectly to second
appropriate (membrane-penetrating) cytoplasmic chemosensors. messengers which in turn unravel a cascade of events leading to the
The nanorobotic pilot may also deploy loosely-tethered coordinated expression of a variety of genes involved in cell adhesion
nanosensor remotes and insert them into the cytovehicle’s plasma and release, migration, proliferation, differentiation, and death.1553
membrane, during or after cytopenetration. These nanosensors may By intercepting and regulating specific second messenger pathways,
employ simple mechanical plasma membrane locking (Section or by artificially triggering them mechanically, the pilot can exercise
9.4.5.2) or a stationary solvation wave pattern (Section 9.4.5.3) to considerable control over cell behavior.
straddle the plasma membrane, mimicking natural transmembrane The nanorobotic pilot must inhibit certain natural cell behaviors
integral proteins (Fig. 8.37), or could anchor one end of their trans- that might distract the cytovehicle from its imposed mission. For
membrane structure to the underlying cellular cortex. Such sensors example, emission of Rap1-GTP protein into the cytoplasm of a
could gather whatever extracellular thermal, mechanical, acoustic, Jurkat T cell renders the cell anergic (unresponsive) and incapable
chemical, or electromagnetic data might be required by the pilot of transcribing the gene encoding interleukin-2 when stimulated
for proper navigation and steering. The nanosensors are retrieved with antigen.1562 Intracellular kinesin molecular motors (Fig. 9.32)
when the nanorobotic pilot exits the cytovehicle at the destination. are inhibited by adociasulfate-2 (AS-2; MW = 738 daltons), a molecule
When macrophages and other leukocytic cells become infected, that targets the kinesin motor domain.1563 Activated macrophages
they express B7 (a co-stimulator molecule) on their plasma membrane themselves secrete chemoattractant factors that may draw a crowd
surface which can be recognized by a T-cell CD28 receptor protein, of leukocytes, fibroblasts, and other macrophages toward the flight
triggering an immunologic response in the presence of path, impeding mobility and possibly triggering a natural granulo-
surface-displayed antigen.1556 Nanorobotic pilots should inspect the matous (encapsulation) reaction. These processes may be desirable
cell surface of all prospective cytovehicles for B7 and similar patho- to stimulate at the destination, but they should be suppressed en route.
genic flags prior to cytopenetration, so as not to unintentionally choose Unwanted cytovehicular responses due to nanorobot intrusion
an infected cell for cytocarriage which could then spread the infection should also be suppressed, much as pathogens such as M. tuberculosis
or become subject to immunosystem attack. If the cell subsequently resist or inhibit oxidative killing, attack by defensins,
becomes infected and begins expressing B7 or other warning substances phagosome-lysosome fusion, and formation of the electron-transparent
during the journey, the nanorobotic pilot should abort the mission zone that impairs lysosomal enzyme diffusion, thus ensuring their
and steer the cytovehicle to a nearby disposal site, or implement survival inside macrophages for long periods of time.1558,1559
immediate cytotherapeutic measures. Failing this, the pilot should Cell behavior can also be mechanically regulated by altering cell
abandon the vehicle at once. shape, because cells can detect when a mechanical strain is placed
upon them.942,1020 In one experiment, stretching a fibroblast by
9.4.7.6 Cytovehicular Behavioral Control 1% for 180 sec triggered large-scale changes in cell shape, including
Besides simple steering and chemotaxis, many stereotypical cell retraction of pseudopods and cell elongation.1557 Other experiments
behaviors may be triggered biochemically as well. Diapedesis, ECM show that very flat cells, with their cytoskeletons stretched, sense
brachiation with a preference for a particular ECM ligand, particle that more cells are needed to cover the surrounding substrate (as in
engulfment, transitions between migratory and profibrotic pheno- wound repair) and that cell division is needed. A rounded shape
types in fibroblasts,1537 cell volume and shape changes, cell cycling indicates that too many cells are competing for space on the matrix
and growth, and epithelial-mesenchymal transformations1547 may and that cells may be excessively proliferating; some must die to
be initiated, amplified, or suppressed by regulating the flows and prevent tumor formation. Normal tissue function is established and
maintained between these two extremes.1021 Certain mechanical
distributions of various cytoplasmic signal molecules which may
stresses on cells, such as might be generated by a nanorobotic pilot
include proteins or nonproteins (such as Ca ++ or GTP).
inside the cytovehicle or dense cytovehicular traffic near the destina-
Motility-stimulating factors such as autocrine stimulating factor1548 tion, may trigger unwanted reactions that should be avoided.
and migration stimulating factor1549 are produced by fibroblasts
and act in an autocrine (Section 7.4.5.1) fashion. Leukocytes keep
9.5 Ex Vivo Locomotion
rolling over vascular endothelium until a neutrophil activator (e.g., In this final Section of Chapter 9, our attention turns to
a selectin) is encountered, whereupon they stick tightly and locomotion across, through, and around the external surfaces of
undergo the shape change characteristic of neutrophil diapedesis978— the human body. The most important of such surfaces are the teeth
a process that nanorobotic pilots should be able to monitor and (Section 9.5.1) and the skin (Section 9.5.2). Another important
control. Mammary epithelial cells receive mechanical signals from consideration is aerial locomotion near the human body (Section
the ECM via a tyrosine kinase (biochemical) signal transduction 9.5.3). These discussions are necessarily incomplete; more com-
pathway through the β1 integrin receptor leading to the activation
Basic Capabilities • Manipulation and Locomotion 329
prehensive treatments are beyond the scope of this introductory the entire diamond block radius, probably causing the enamel to
text. fail) produces a 3.6% deformation across the diameter of the block,
slightly below the conservative tolerance limit for diamondoid fracture
9.5.1 Dental Walking strain. In the case of a 50-gram jaw moving at the maximum 0.1 m/sec
The exposed surfaces of natural dentition consist of a ~500 clenching velocity that is suddenly brought to a halt via enamel
micron thick layer of enamel coating the exposed crown of each deformation to a depth equal to a ~1 micron nanorobot radius across
tooth inside the mouth. Enamel is a composite structure containing a 1 cm2 enamel contact area, the jaw decelerates at ~1000 g’s producing
~96% inorganic material similar to hydroxyapatite, a dense bone a kinetic force of ~500 N and a contact force of 5 x 106 N/m2 (~50
mineral, embedded in an organic matrix of glycoprotein and a atm), well below the ~1011 N/m2 failure strength of solid diamond.
keratin-like protein. The mineral forms crystallites oriented into However, nanorobot crushing strength is an explicit design
hexagonal cylinders with a horseshoe-shaped cross-section wrapping parameter which is normally significantly lower than for solid diamond
around the dentin, forming enamel prisms ~5 microns in diameter if the device has large unbraced internal voids or diameters that are
stacked in parallel congeries.646,854,1571 These prismatic columns are weak in compression. Such nanorobots may not be regarded as solid
directed vertically at the summit of the crown and horizontally along diamond structures as assumed above. For example, the Euler buckling
the sides of the tooth, pursuing a generally wavy course. There are force for a solid cylindrical rod of outer radius R is proportional to
no nutritive channels permeating the enamel and leading into the R4 (Eqn. 9.44), but for a hollow cylinder with inner radius r the
dentinal layer below, although dentinal tubules (nutritive channels) buckling force is proportional instead to (R 4-r4) during axial
do extend from the pulp chamber into the dentin which may get compressions.364 Hence a trapped, thin-walled cylindrical nanorobot
extremely close to the occlusal (enamel) surface of the tooth, and of radius R with r/R = 0.90 buckles at only ~34% of the force needed
may be exposed by receding gums. However, ~0.4-micron-wide to buckle a solid rod of radius R, and thus could probably be crushed
fissures separating enamel prisms are filled with an interprismatic by static compression of the teeth. The oral cavity appears to be the
substance of much higher organic content. The entire enamel only place in the human body where thin-walled medical nanorobots
surface is pockmarked by numerous micropores of irregular but might plausibly be destroyed by mechanical grinding. Such destruc-
generally oval shape, ranging from 0.1-2 microns (average ~0.5 tion is avoided by nanorobots with composite diamondoid shells
micron) in diameter and spaced ~1-2 microns apart. Thus a 10% R thick at a maximum allowable strain 10%, or by
dental-walking micron-size nanorobot encounters a spongelike nanodevices possessing maps of mastication contact spots that
topography with holes and fissures comparable in size to the actively avoid those spots during nanorobotic perambulations.
nanorobot diameter, and with gently rolling hills ~2 device diameters
in height and ~5 diameters across. (There is also a thin layer of 9.5.2 Epidermal Locomotion
salivary proteins coating the tooth enamel surface.)3669,3670 The epidermis is a modified cellular surface, so most of the
Nanorobots may traverse tooth enamel using ambulatory techniques techniques described for cytoambulation (Section 9.4.3) are applicable
previously described in other contexts (Section 9.4), including legged to epidermal locomotion as well. There are so many special situations
walking, rolling, or amoeboid locomotion using footpads for and obstacles to motility on skin that we can only mention a few of
anchorage. Teeth may be clenched with a force up to 300-500 them here:
N,1296,3671-3673 although forces of ~50 N are more common during
normal mastication of soft foods. Assuming ~1 cm2 of dental contact A. Flaky Corneum—Desiccated stratified epidermal cells crack,
surface, shear forces at that surface during chewing or clenching are chip, or flake off entirely when rubbed or jostled with too much
0.5-5 x 106 N/m2, close to the limit for noncovalent anchorage force. Nanorobots traversing a dead cell could find themselves flaked
(Section 9.4.3.3). Nanorobots seeking further refuge from shear forces off into the air or onto the floor, especially if the surface is rubbed
may congregate in the valleys between enamel prisms or can seat by the patient.
themselves in the irregular micropores. E. Reifman notes that ~90%
of U.S. adults have multiple occlusal surface restorations composed of B. Steep Topography—Many physical features of the skin are huge
many different materials such as resin composites of various hardness in scale compared to a micron-size nanorobot and thus must be
coefficients, porcelain or gold crowns, amalgam fillings, composites, carefully circumnavigated. Dermal fingerprint ridges are ~500
and the relatively newer but very popular glass polymer crowns, microns wide and 20-50 microns deep. Hair follicle shafts are 50-100
representing a substantial percentage of all exposed dental surfaces microns in diameter. Scent-secreting apocrine glands are ~200
with which oral nanodevices must cope; yield strength of these microns in diameter; eccrine (sweat) glands are only 20 microns
materials at 0.1% strain deformation typically ranges from wide. Skin-dwelling fungi (e.g., athlete’s foot) grow into irregular
110-10,000 atm.3271 globs 5-20 microns in size. The tongue surface includes taste buds
Are the forces of dental grinding sufficient to crush medical ~150 microns wide and tiny papillae measuring 30 microns wide
nanodevices? Tests of sized jeweler’s grinding powders by the author and 80 microns long. Other surface features are described in Section
confirm that even irregularly-shaped diamondoid particles ~3 8.6.1. At the micron scale, the topmost layer of the epidermis is
microns and smaller apparently roll smoothly out of the way when littered with obstacles and protrusions, with electron micrographs
ground between the teeth, whereas particles larger than ~3 microns showing a surface that closely resembles a flaky puff pastry in
cannot roll sufficiently and retain a sensible grittiness. In the case of appearance.1571
a trapped nanorobot-size diamond block slowly being squeezed
between opposed enamel surfaces (static force), the Young’s moduli C. Constant Motion—The skin is almost always in motion at
for enamel and diamond are 7.5 x 1010 N/m2 and 1.05 x 1012 size scales up to ~1000 microns, folding and unfolding, stretching
N/m2, respectively (Table 9.3), so the enamel deforms ~14 times and tightening, twisting and curving, with normally distant surfaces
more than the diamond. Crystalline diamond can deform at least being brought into and out of contact as the patient moves about
~5% before fracturing, diamond composites (Chapter 11) much normally.
more; a 50% strain in each enamel surface (an indentation equal to
330 Nanomedicine • Volume I
D. Dust Mites and Bacteria—In eyelashes and eyebrows, the hairs What about dislodgement forces? Assuming a headwind of v ~ 1
of the upper lip, in the ears, and elsewhere on the body, dust mites m/sec and a d ~ 10 micron boundary layer, then from Eqn. 9.58 the
measuring 150 microns x 300 microns survive by chewing up dead shear stress (and shear force) on a 100-micron wide nanorobot is
skin cells. Epidermal-walking nanorobots must be able to identify mite F/A ~ 100 N/m2 (1000 nN) in water, 2 N/m2 (20 nN) in air. A
surfaces, and avoid climbing aboard them by mistake. Everyone single 10 micron2 footpad with a conservative adhesive pressure of
inhales a few mites now and then; mite excrement (to which some 105 N/m2 (Section 9.4.3.3) provides a 1000 nN anchorage force,
patients are allergic) is concentrated into fecal packets so small and allowing the nanorobot to remain adhered to the skin even in the
light that they float in the air and may settle back onto the skin. strongest water currents (e.g., white water rapids, showers, or spas
Many other surface-dwelling ectoparasites and microfauna similarly at ~1 m/sec per anchored footpad used) and air currents (e.g., up to
must be avoided.3253 Bacterial density over most of the body surface is ~50 m/sec (~110 mph) winds per anchored footpad used). A finger
quite low, ~103/cm2; the count ranges from ~102/cm2 on the palms rubbed hard against the skin with the objective of dislodging
and dorsa of the hands, up to 10 4 -10 5 /cm 2 on the hairy adhered epidermal-resident nanorobots may apply up to 10 N of
axilla, scalp, perineal regions, and beneath the distal end of the nail force over a ~1 cm2 area, giving a ~105 N/m2 shear force (~ 1,000,000
plate.360 nN) which may be resisted by ten 100 micron2 footpads each having a
maximum adhesive pressure of ~106 N/m2 (Section 9.4.3.3).
E. Obstructions—The skin may be covered with dirt, or grease, What about epidermal penetration? Complex and subtle
or cooking oils and fats, or sebaceous gland oils, which may be many low-speed methods are readily imagined (Section 9.4.4), but let us
tens or even hundreds of microns thick. Another potential obstacle consider here a simple brute-force approach. Failure strength of
is the sweat wash—the skin can pour out up to 2 liters/hour of human skin is ~107 N/m2 (Table 9.3), so a 1 micron2 rod may be
perspiration. Nanorobots can easily crawl underneath the driven through the skin with a force of ~10,000 nN. A 100-micron
tightest-fitting clothing or rubber gloves, although a patch of long telescoping manipulator arm with stiffness ~25,000 nN/nm
superglue stuck to the skin could provide a formidable obstacle can apply 10,000 nN to the rod at 1 cm/sec producing an elastic
requiring overpassage. deflection in the arm of less than 1 nm, drawing ~100,000 pW of
power (manipulator arm power density ~106 watts/m3) at the
F. Itching/Crawling Sensations—Tickling sensations attributable moment of penetration (Section 9.3.1.4). Bruising and other
to isolated nanorobots traversing the skin are unlikely. Skin-crawling biocompatibility issues related to dermal penetration are deferred
~2-mm ants are readily detected; ~100-micron mites are not. Absolute to Chapter 15.
epidermal pressure stimulus thresholds, as measured by a laboratory The surfaces of toenails and fingernails have 2-20 micron features
esthesiometer, range from a low of 2000 N/m2 at the tongue- and and longitudinal striations with 10-15 micron valleys, and are usually
finger-tip, up to 12,000 N/m2 on the back of the hand, 26,000 littered with dirt, bits of skin, and other surface debris as small as
N/m2 on abdomen, 48,000 N/m2 on the loin, and a high of 250,000 1-2 microns in size. The nail surface is heavily keratinized, with a
N/m2 on the thickest part of the sole of the foot.773 By comparison, failure strength about 20 times higher than that of skin (Table 9.3).
the weight of a (100 micron)3 nanorobot, if distributed across a Similar considerations apply as with the skin, in regard to nanorobot
(100 micron)2 contact surface, is only ~1 N/m2, quite undetectable locomotion.
on the skin. At a velocity of 1 cm/sec, the inertial force required to What happens if the nanorobot falls off, or is otherwise removed
propel a 100-micron nanorobot is ~1 nN (Section 9.4.2.1). This from, the epidermal surface? Solem1982 has analyzed the case of
additional force, if distributed over 10 footpads each of area 100 nanorobots walking on walls and ceilings. Setting the electrostatic
micron2, gives a shear pressure of ~1 N/m2 across all contact surfaces, image force (Eqn. 9.11) equal to the gravity force ρnano Lnano3 g for
also undetectable; the sensible threshold velocity for such a nanorobot a cubical conducting-surface nanorobot of edge Lnano, the voltage
is ~45 cm/sec. Skin sensor frequency response is << KHz (Table required to cling to the ceiling without falling off is:
7.3), whereas skin walkers 10 microns in size may employ νleg 1/2
KHz leg motions; the weight of a 1 micron3 nanorobot produces 2 ρ L g
Vplate = z sep nano nano (volts) {Eqn. 9.83}
only ~0.01 N/m2 of contact pressure. ε0 κ e
Nanorobots of large size can also step over most of the obstacles Taking zsep = 0.5 microns, ρnano = 2000 kg/m3, g = 9.81 m/sec2, ε0
described above. Consider an Rnano = 50 micron walking nanorobot = 8.85 x 10-12 farad/m, κe = 1, and Lnano = 10 microns, then Vplate ~ 0.1
with N leg = 10, Lleg = 100 microns, Rleg = 15 microns, and vleg = volt. Similarly, the largest nanorobot that can cling to the ceiling using
1 cm/sec as defined for Eqn. 9.82, with νleg ~ vleg / 2 Lleg ~ 50 Hz. an adhesive contact surface of strength S has a characteristic
From Eqn. 9.75, the viscous force per leg is Fleg ~ FnanoN ~ 5 nN in dimension:1982
a 20˚C water bath, 0.1 nN in 20˚C air. From Eqn. 9.73, Fnano
~9 nN in water, 0.2 nN in air. Thus the total driving force Ftotal = 59 S
L max ~ {Eqn. 9.84}
nN in water, 1.2 nN in air, assuming a still medium. ρnano g
Another way to avoid obstacles is to hop over them in the manner
of a jumping flea, an insect that subjects itself to an acceleration of For S = 10-100 N/m2 (typical for weak adhesives such as Post-It
~200 g’s while leaping ~130 times its own dimension. 739 notes), then Lmax ~ 500-5000 microns. By wetting the contact area
Diamondoid saltators could tolerate much higher accelerations, with water having surface tension γ ~ 73 x 10-3 N/m at room
although it is important not to disturb the takeoff surface; also, temperature (Section 9.2.3), a cubical nanorobot clinging to the
airborne ex vivo trajectories may be only poorly controlled. The ceiling may have a maximum characteristic dimension of:1982
approach is interesting1982,2385,2386 but will not be considered further 1/2
in this book. 4γ
L max ~ ~ 3900 microns {Eqn. 9.85}
ρnano g
Basic Capabilities • Manipulation and Locomotion 331
9.5.3 Nanoflight and enter the atmosphere,* or vice versa, using the same propulsive
Perhaps surprisingly, aerobotics has many useful applications in mechanisms, though operated at a modified speed or pitch angle.
nanomedicine. Examples include monitoring and diagnostic systems,
since flying nanorobots can transit the length of a patient’s body in ~1 9.5.3.2 Nanoflight and Gravity
sec or less (Chapter 18); sterile fields (Chapter 19); personal defensive In addition to forward progression through the medium, atmospheric
systems (Chapter 21); and accident recovery systems (Chapter 24). flight requires active and continuous support against the pull of
Unfortunately, in 1998 the aerodynamics of micron-scale flight gravity. For small spherical objects of radius R = Rnano in the laminar
systems was only lightly studied347,348,1573-1576,1982 and aerial robotics flow (low NR) regime, the rate of fall in a still medium is approximated
was still considered an exotic sport2995 or a military curiosity.3175 by Stokes Law for Sedimentation (Eqn. 3.10).** For nanorobots
near the Earth’s surface that are falling in air, with g = 9.81 m/sec2,
9.5.3.1 Nanoflight and Reynolds Number ρparticle ~ 1000 kg/m3, ρfluid = ρair and η = ηair, then terminal velocity
It has been observed that a 30-cm paper airplane will glide slowly vt = 1.2 x 108 Rnano2 (m/sec). An Rnano = 1 micron nanorobot falls at
and stably, but a 3-cm paper airplane made from thinner paper vt = 120 microns/sec; an Rnano = 10 micron nanorobot falls at
requires a much higher velocity/size ratio to remain airborne, and vt = 1.2 cm/sec, requiring a rather modest power expenditure of
with a noticeable lack of stability—sometimes the plane flies well, only Pnano/e% = (0.5 pW)/e% to remain aloft (Eqn. 9.74).
sometimes not. If size is further reduced into the millimeter range, Note also that in free atmosphere only the largest particles ever
the plane almost cannot fly.1573 settle out by gravity alone. Thermal and dynamic turbulence keeps
As in the case of swimming, this transition can be explained in most of the smaller particles in suspension long beyond the period
terms of the Reynolds number NR (Section 9.4.2.1), the ratio of indicated by Eqn. 3.10. For example, nanorobot thermal velocity
inertial to viscous forces acting on a body that is passing through a vthermal (Eqn. 3.3) exceeds nanorobot terminal velocity vt (Eqn. 3.10)
fluid such as air. Generally speaking, microscopic organisms (e.g., for a nanorobot radius Rnano 2 microns in sea level air at 20˚C
NR ~ 10-5) or flying nanorobots with NR << 1 move by utilizing with ρnano ~ 1000 kg/m3. The energy required to raise a 1-micron
viscosity, while macroscopic objects such as aircraft (e.g., NR ~ 108) nanorobot a height of ~1 micron in a 1 g gravity field equals ~kT.
with NR >>1 use inertia to generate lift. Millimeter-size airfoils with Random indoor atmospheric eddies of 1-10 cm/sec caused by the
NR ~0.1-100, as typified by flying insects, occupy a transitional movements of people, animals, doors, and heating and air con-
regime. Insects make use of both inertial and viscous forces, often ditioning systems equal or exceed the Stokes terminal velocity for
employing unusual wing flapping patterns1577,1578,1585 and elastic particles of R 10-30 microns.
energy storage systems1578,1582 to remain aloft. The smallest known
flying insect1579 that can make any use of aerodynamic lift (inertial) 9.5.3.3 Buoyant Nanoballoons
forces is the four-winged parasitic chalcid wasp Encarsia formosa, Gravity may also be overcome by reducing density relative to the
which has a total wingspan of ~1.4 mm.1578 Aerobotic machines surrounding medium. An object has neutral buoyancy when its
with wingspans smaller than ~100 microns probably must make density equals that of the medium in which it is suspended,
almost exclusive use of viscous propulsive forces.363 becoming “weightless” within that medium. For example, a
A nanorobot of dimension L flying at velocity v through 20˚C nanorobot whose interior volume consists 90% of vacuum has a vt
sea-level dry air (ρair = 1.205 kg/m3, absolute viscosity ηair = 0.0183 ~10 times smaller than a completely solid object of equal size.
x 10-3 kg/m-sec)763 has a Reynolds number NR = 66,000 v L (Eqn. What is the tiniest possible lighter-than-air balloon? J.S. Hall
9.65). Viscous forces dominate when NR < 1, or when: notes that for a one-atom-thick graphene shell the out-of-plane
bending stiffness of the C-C bond is much lower than the in-plane
15 stretching stiffness. This is why hollow fullerenes of submicron
v< (m / sec) {Eqn. 9.86}
L micron diameter are experimentally observed to collapse (and remain collapsed
due to van der Waals forces) even when their interiors are not
where Lmicron is characteristic nanorobot size expressed in microns. evacuated. Simple internal bracing sufficient to stabilize an evacuated
Thus a 1-micron nanorobot remains in the viscous regime up to structure outweighs the lift. For example, applying the Euler buckling
~ 15 m/sec flight velocity (34 mph), a sufficient speed for most medical formula (Eqn. 9.44) to three diamondoid orthogonal
applications. Note that formulas involving viscous forces may not diametral stiffening rods inside a spherical evacuated nanoballoon
apply to aerobotic airfoils with L λgas (Eqn. 9.23), indicating gives a scale-invariant total beam mass ~6 times the mass of the
transitional or ballistic flow (Section 9.2.4). displaced air, hence net lift is impossible for any device radius using
The main implication of Eqn. 9.86 is that conventional aeronautics this minimal crossbeam design although macroscale geodesic
technologies such as rigid wings and jets are usually inappropriate trusswork-stabilized vacuum balloons cannot be ruled out. (See also
for micron-size flyers. Instead, aerial nanorobots may more profitably Section 10.3.5.)
employ natation mechanisms as described in Section 9.4.2.5, Hall also observes that pressurizing nanoballoons to atmospheric
including surface deformations (e.g., flexible oars or wings, cilia, pressure removes most shell stress. This strategy also eliminates the
invaginating doughnuts, rotating spheroids, traveling waves), need to thicken the single-atom shell walls, up to a nanoballoon
inclined planes (e.g., screw drives, corkscrews, flagella), volume radius of at least σw twall / ∆p ~ 100 microns, taking wall thickness
displacement, and viscous anchoring. Specific aeromotive mechanisms twall = 0.17 nm, a conservative diamondoid wall working stress σw =
are of great interest but will not be considered further in this Volume. 1010 N/m2 (Table 9.3), and allowing a maximum environmental
In many cases, a viscous-regime nanorobot may exit the bodily fluids
* From Eqn. 9.14, the capillary force will restrain a 1-micron diameter nanorobot with a force of ~440 nN in pure water at the liquid-air interface due to surface tension, but
this attraction may be reduced at least to ~4 nN by discharging small aliquots of the appropriate surfactants into the local aqueous environment; Section 9.2.3.
** In sea level pressure dry air, particles of 100 nm diameter will fall about twice as fast as estimated by Eqn. 3.10; 10-nm diameter particles fall about 12 times as fast as
Stokes’ sedimentation formula predicts.1572
332 Nanomedicine • Volume I
* The first well-documented report of maximum insect flight speed was by Tillyard,3157 who used a stopwatch to time the flight of the dragonfly Australophlebia costalis along
a downhill slope at 27 m/sec; Hocking3158 subsequently calculated that the maximum speed of A. costalis would only be 16 m/sec on a level surface. Unpublished slow-motion
cinematography research by Butler3159 reported an unconfirmed 40 m/sec burst of speed by the male Hybomitra hinei wrighti during an Immelmann Turn maneuver3160 at the
beginning of female pursuit.
Basic Capabilities • Manipulation and Locomotion 333
Table 9.5. Conservatively Estimated Force, Power, and Power Density for Hovering and Flying Spherical Nanorobots as a
Function of Size and Velocity
0.1 µm 1.2 µm/sec Fnano (N) 4.1 x 10-17 3.5 x 10-13 3.5 x 10-12 3.5 x 10-11 3.5 x 10-10
Pnano (W) 5.0 x 10-22 3.5 x 10-14 3.5 x 10-12 3.5 x 10-10 3.5 x 10-8
Dnano (W/m3) 1.2 x 10-1 8.2 x 106 8.2 x 108 8.2 x 1010 8.3 x 1012
1 µm 120 µm/sec Fnano (N) 4.1 x 10-14 3.5 x 10-12 3.5 x 10-11 3.5 x 10-10 3.8 x 10-9
Pnano (W) 4.9 x 10-17 3.5 x 10-13 3.5 x 10-11 3.5 x 10-9 3.8 x 10-7
Dnano (W/m3) 1.2 x 101 8.2 x 104 8.2 x 106 8.3 x 108 9.1 x 1010
10 µm 1.2 cm/sec Fnano (N) 4.2 x 10-11 3.5 x 10-11 3.5 x 10-10 3.8 x 10-9 7.2 x 10-8
Pnano (W) 5.0 x 10-12 3.5 x 10-12 3.5 X 10-10 3.8 x 10-8 7.2 x 10-6
Dnano (W/m3) 1.2 x 103 8.2 x 102 8.3 x 104 9.1 x 106 1.7 x 109
100 µm 68 cm/sec Fnano (N) 4.1 x 10-8 3.5 x 10-10 3.8 x 10-9 7.2 x 10-8 4.1 x 10-6
Pnano (W) 2.8 x 10-7 3.5 x 10-11 3.8 x 10-9 7.2 x 10-7 4.1 x 10-4
Dnano (W/m3) 6.6 x 104 8.3 x 100 9.1 x 102 1.7 x 105 9.9 x 107
1 mm 3.2 m/sec Fnano (N) 4.0 x 10-5* 3.8 x 10-9 7.2 x 10-8 4.1 x 10-6 3.8 x 10-4
Pnano (W) 1.3 x 10-3* 3.8 x 10-10 7.2 x 10-8 4.1 x 10-5 3.8 x 10-2
Dnano (W/m3) 3.0 x 105* 9.1 x 10-2 1.7 x 101 9.9 x 103 9.1 x 106
1 cm 10 m/sec Fnano (N) ---* 7.2 x 10-8 4.1 x 10-6 3.8 x 10-4 3.8 x 10-2
Pnano (W) ---* 7.2 x 10-9 4.1 x 10-6 3.8 x 10-3 3.8 x 100
Dnano (W/m3) ---* 1.7 x 10-3 9.9 x 10-1 9.1 x 102 9.0 x 105
* aerodynamic lift forces available for hovering at this size scale
then the power consumption of the collective can be held to the the air used as reaction mass, then propulsive efficiency is e%
original 0.4 milliwatts and power density remains constant at ~108 ~ KEnano / KEtotal and total power consumption is Pnano ~ Pdrag +
watts/m3. Facultative aggregation may permit stationkeeping over a (KEtotal / e% taccel). In the examples below we take Rnano = 1
wide range of velocities without significantly increasing power. micron, vnano = 1 m/sec, Pdrag ~ 3500 pW (Table 9.5), ρair = 1.205
(Other power-conserving behaviors, such as preferential migration kg/m3 for dry air at 20˚C and 1 atm, and ρnano = 1000 kg/m3; here
into the downwind slipstream of a rapidly-moving tracked object, the Reynolds number is near unity.
are not considered further here but may be useful.) A 1 micron3 high-density (~1012 W/m3; Chapter 6) powerplant
How fast can nanoflyers accelerate? The answer is highly develops Pnano ~ 1 million pW. At this high power level, a nanorobot
design-dependent but a crude generalization may be made. Consider a can accelerate at anano ~ 12,000 g’s for taccel ~ 9 microsec, reaching
spherical nanorobot of radius Rnano that uses circumferential wings vnano = 1 m/sec after crossing a running distance of Xaccel ~ 4.4
of similar size to impart momentum to a nearby mass of air by microns with an efficiency of e% ~ (0.016) 1.6% and vair ~ 64 m/sec.
speeding up that mass of air to a higher velocity. The wings sweep As an alternative approach, note that a 5-microsec gas discharge
air from a circular cross-section of radius 2Rnano. The nanoflyer from a simple pressure-release pump (Section 9.2.7.1) of volume
accelerates with constant acceleration anano = vnano2 / 2 Xaccel from a vreservoir ~ 0.1 micron3 having a pressure differential of 1000 atm
standing start to a final velocity vnano in a time taccel = vnano/anano and (storing ~108 J/m3; Section 6.2.2.3) produces a mean discharge
a running distance Xaccel. The mass of the swept-out air is Mair = 4 π power of Pnano ~ 2 million pW, which allows anano ~ 15,000 g’s of
ρair Xaccel Rnano2 and the mass of the nanorobot is Mnano = (4/3) π acceleration with e% ~ (0.01) 1% for a maximum gas exit velocity
ρnano Rnano3. To conserve momentum, Mair vair = Mnano vnano, hence of vmax ~ 70 m/sec using a nozzle of length ltube = 1 micron and
vair = ρnano vnano Rnano / 3 ρair Xaccel; vair < vsound = 343 m/sec in dry radius rtube ~ 10 nm (Eqn. 9.36).
air at 20˚C and 1 atm to remain subsonic (Section 9.5.3.5). The At a more modest Pnano ~ 4500 pW, the nanoflyer accelerates at
kinetic energy imparted to the swept-out air is KEair = (1/2) Mair anano ~ 1100 g’s for taccel ~ 96 microsec, reaching vnano = 1 m/sec
vair2 and to the nanorobot is KEnano = (1/2) Mnano vnano2, with KEtotal after crossing a running distance of Xaccel ~ 48 microns with an
= KEair + KEnano. Neglecting drag losses (e.g., ~3500 pW for Rnano efficiency of e% ~ 0.15 (15%) and vair ~ 6 m/sec.
= 1 micron and vnano = 1 m/sec; Table 9.5) and assuming negligible Attitude control of flying machines is a problem often mentioned
losses within the air-accelerating mechanism itself and any drag on in MEMS aerobotics work;1576 airborne nanorobots may employ
334 Nanomedicine • Volume I
gravity-based dynamic stabilization (Section 8.3.3), gyrostabilization Thus for example, the common honeybee Apis mellifera (NR ~
(Section 9.4.2.2), or other means. In 1998, the energetics and control 1900) has M = 100 milligrams, Lwing = 1.0 cm, wwing = 0.43 cm,
of steering maneuvers in highly-maneuverable insects was being τ = 0.27 (half-ellipse), CD = 0.09, νwing = 240 Hz, and ϕwing = 2.09
investigated.1581,1582 rad, giving Phover = 1 milliwatt with a dynamic efficiency of e% = 30%*;
during level flight at peak speeds near ~6 m/sec, 739
9.5.3.5 Hovering Flight experimentally-measured honeybee metabolic demand is 20-60
In large helicopters, thrust is produced by imparting a downward milliwatts.1580 Honeybees can also carry a ~40 milligram payload
velocity to the mass of air flowing through the rotor, with lift of honey. At the lower extreme of the transitional flight regime, the
proportional to the change in momentum. In 1997, engineers at parasitic chalcid wasp Encarsia formosa (NR ~ 15) has M = 25 µg,
the Institute for Microtechnology in Mainz, Germany, constructed Lwing = 620 microns, wwing = 230 microns, τ = 0.50 (rectangle),
a 3-cm long, 1-cm tall mini-helicopter weighing 0.3 gm with two CD = 3.20, νwing = 400 Hz, and ϕwing = 2.36 rad, giving Phover = 0.4
blades turning at ~1700 Hz, and flew it to a hovering altitude of microwatt. Wingspeed vwing > 1.5 m/sec during the downstroke.1578
13 cm, then landed it safely. I. Kroo at Stanford University has built From the conservative assumption that biological wing muscles
and flown a “mesicopter” whose motor is 3 mm in diameter and are limited to ~200 watts/kg (~300,000 watts/m3), Weis-Fogh1577
5 mm long, weighing ~0.3 gm, that turns the oddly-shaped rotors estimates than no flying animal with a mass larger than ~100 grams
at ~50,000 rpm.3246 can hover continuously by means of wing flapping and wing twisting
As helicopter size shrinks through the transitional regime, drag alone.
grows at the expense of lift and the rotorblade microhelicopter For artificial nanorobotic flyers near the edge of the design
becomes increasing inefficient. However, the viscous-lift helicopter envelope, maximum wingbeat frequency νmax vwing / Lwing. To
(Fig. 9.22) is estimated to be able to hover by rotating its four wheels avoid supersonic turbulence, vwing < vsound ~ 343 m/sec in air at
at a frequency of νwheel ~ 3 ρnano g Rwheel / 32 ηair ~ 1 KHz, taking 20˚C and 1 atm, giving νmax 10-100 MHz for Lwing = 3-30
ρnano = 2000 kg/m3, g = 9.81 m/sec2, and Rwheel = 10 micron.1982 microns and 100 KHz for Lwing = 3 mm. For each small-wing
In the general case, the terminal velocity vterminal of a compact cycle at 100 MHz, the boundary layer after an impulsive start is at
nonaerodynamic body of any size falling through fluid may be most (modified from Prandtl1584) δlayer ~ (ηair / ρair νmax)1/2 ~ 0.4
approximated by setting: micron ~ λgas ~ 0.2 microns, the mean free path of air molecules at
1 atm (Eqn. 9.23); faster cycling would allow insufficient time for
4 mechanical coupling to the medium. Note also that vsound is sig-
Fviscous + Finertial = π R 3nano g (ρair − ρnano ) {Eqn. 9.93} nificantly slower than the torsional deformation propagation
3
velocity vtorsion ~ (G / ρwing)1/2 ~ 12,000 m/sec along the wing
and solving the resulting quadratic for vterminal (= vnano), using Fviscous structure, taking G ~ 5 x 1011 N/m2 and ρwing ~ 3510 kg/m3 for
and Finertial for spherical bodies from Eqns. 9.89 and 9.90. This diamondoid materials. For comparison, the slowest insectile
velocity may then be used in Eqns. 9.88 through 9.92 to conservatively wingbeat frequency is ~5 Hz for the swallowtail butterfly (Papilo
estimate Fnano, Pnano, and Dnano for hovering. Representative values machaon); the fastest is ~1046 Hz for the tiny midge Forcipomyia in
are given in Table 9.5, assuming flight in dry sea-level air and natural conditions, up to ~2200 Hz at 310 K in laboratory
powerplant efficiency e% = 0.10 (10%). Hovering power Phover scales experiments with truncated wings.739,2033
as ~Rnano5 for Rnano 10 microns and as ~Rnano3.5 in the Rnano
~ 0.1-1 mm range; for Rnano 1 mm, aerodynamic lift forces are 9.5.3.6 No-Fly Zones
available, the computation of which is beyond the scope of this Most circumcorporeal aerial nanorobots should take care to avoid
book. For Rnano = 1 micron in air, vterminal = 120 microns/sec (Section certain well-defined zones near the human body. Perhaps the most
9.5.3.2) and Phover ~ 0.00005 pW (e% = 0.10 (10%)); for Rnano = 10 important medical issue is that particles under 5 microns in diameter
microns, vterminal = 1.2 cm/sec and Phover ~ 5 pW (e% = 0.10 (10%)). are dangerous to inhale. Concentrations of >108 m-3 of free silica
In the special case of flapping winged aerobots in the transitional particles <5 microns in size are usually considered hazardous.1572
flight regime (e.g., 100 microns R nano 10 cm) during Airborne nanorobots may be deployed in number densities of ~1012
steady-state hovering, T. Weis-Fogh1578,1583 calculates that the average m-3 or higher (Section 7.4.8), so anti-inhalation, inhale-safe, and
aerodynamic power needed for small winged objects to remain airborne post-inhalation extraction protocols are essential in this application.
is: (Particles larger than 2-5 microns that are inspired through the nose
2 become trapped on the nasal mucus membrane and do not reach
Phover = π 2 ρair τ CD ν3wing ϕ 3wing w wing L4wing (watts) the lower airway; Section 8.2.2.)
3
{Eqn. 9.94} At rest, inhalation velocity at the trachea is vinhale rest ~ 0.3 m/sec.
During the heaviest exercise, turbulent airflow into the trachea peaks
where ρair = 1.205 kg/m3 at 1 atm and 20˚C, τ is a shape factor that near ~3.3 liters/sec at a maximum inhalation airspeed of vinhale max ~
equals 0.5 for a rectangular wing, 0.1 for a triangular wing attached 5 m/sec (Section 8.2.2 and Eqn. 9.30). Nanorobots capable of flying
at the base, and 0.4 for a triangular wing attached at the apex; CD = at vnano vinhale max can outrun even the fastest inspired air by simply
0.07-0.36 for bats, birds, and insects with wing length of Lwing = reversing course. Nanorobots restricted to slower speeds can also
0.25-13 cm and wing width (chord) of wwing = 0.7-55 mm (flight avoid inhalation by promptly initiating lateral motion immediately
mass M = 0.001-20 gm); wingstroke frequency νwing ranges from upon entering either of two hemiellipsoidal no-fly zones which are
15 Hz at L wing = 13 cm (large hummingbird) to 600 Hz at Lwing very conservatively estimated to be of major-axial radius:
= 0.25 cm; and stroke angle ϕwing is the angle subtended by each
flapping wing in the flapping plane during a complete stroke cycle, R oral v inhale max {Eqn. 9.95}
R clear ~ (meters)
typically 2-3 radians (120˚-180˚). 2 v nano
* A few other dynamic efficiency figures for hovering flight include the hornet wasp (31%), hummingbird (51%), mosquito (70%), fruit fly (95%), and butterfly (97%).1578
Basic Capabilities • Manipulation and Locomotion 335
ρ L v2
X scratch (meters) {Eqn. 9.96}
centered on the vestibule of the mouth and on the anterior nares of 2 q 2 σ tear
the nose, where Roral ~ 2.5 cm is the radius of the oral orifice. Thus
Taking ρ = 2000 kg/m3, L = 100 microns, v = 10 m/sec, q/L =
a nanorobot with maximum airspeed vnano = 1 m/sec must observe
0.1, and σtear = 107 N/m2, then Xscratch 100 microns—potentially
a perifacial no-fly major-axial radius of Rclear ~ 6 cm.
leaving up to a 100-micron long, 10-micron deep scratch on the
The second most important no-fly zone is the surface of the
skin. Long scalp hair, which often waves randomly in the wind,
skin, including (in special circumstances) the oral mucous (tissue)
should also be avoided (or actively managed; Chapter 28) by the
membrane, tongue, soft palate, larynx, trachea, and nasal passages.
aerial nanorobot cloud. Nanorobots with 10-100 micron-long wings
It is theoretically possible for diamondoid nanorobots with rigid
operated at 0.1-1 MHz (avoiding subharmonics to ensure buzzless
protrusions that accidentally impact the epidermis at high speeds to
performance) can have transverse wingtip velocities up to 1-10 m/sec,
irritate or even tear the skin. Consider a nanorobot of density ρ and which could damage soft tissues upon impact.
dimension L with a rigid appendage of dimension q L, that impacts Another possible no-fly zone is the interior of the auditory
an epidermal surface of tearing strength σtear at a velocity v, coming canal, especially immediately adjacent to the tympanic membrane. In
to a halt in a distance Xscratch. If the impact energy is transferred theory (Section 7.4.8), a very dense nanorobot cloud using acoustic
exclusively through the appendage, then the skin tears if: communications at high bandwidth could generate a pressure
intensity at the eardrum that exceeds the threshold of pain, although
this is unlikely in practice. (More interestingly, such a cloud could enter
the ear canal and emit coordinated audible subharmonics in the
100-1000 Hz range, thus “speaking” directly to the user; Section 7.4.6.3.)
Optical communication intensities are equally unlikely to
exceed safe limits in the vicinity of the human eye (Section 7.4.8).
However, entirely aside from the epidermal no-fly zone (above),
general-purpose aerial nanorobots should especially avoid all contact
with the surface of the cornea, the conjunctiva, and the inner surfaces
of the eyelid, in order to prevent irritation, or serious scoring and goug-
ing (e.g., corneal ulcer, conjunctivitis, or superficial punctate keratitis),
or embedment in these much softer, exposed mucosal tissues.
CHAPTER 10
Other Basic Capabilities
T
his final Chapter describes a miscellany of important technical clock is normally reset by natural sunlight, which is much brighter
capabilities that may prove useful in some or all medical than indoor lighting. The clock, in turn, sets the cadence for most
nanodevices, in various scenarios or theaters of operation. Any of the other 24-hour body rhythms—for example, sleep/wakefulness
one of these subjects deserves an entire chapter to itself, but cycles (e.g., melatonin1676), urine production,1677 body temperature,
unfortunately there is only space in this introductory text for a blood cortisol and ACTH cycles1677 (Appendix B), and the diurnal
brief survey of each area. The most important of these topics is rhythm of mitosis in epidermal epithelium (e.g., greatest during
computation (Section 10.2), including nanomechanical, sleep or inactivity, least during wakefulness or activity).359 The
nanoelectronic, and biological computing, as well as nanoscale data circadian clock stability (variation in free-running period) is ~1%
storage technologies. However, the fields of organic and fullerene in Drosophila1683 and ~0.2% in humans.3434
nanoelectronics, biocomputing, and quantum computing are Mammalian circadian rhythms are regulated by a master pacemaker
advancing so fast that whatever is written here will quickly become within the suprachiasmatic nuclei (SCN) of the hypothalamus (just
obsolete. Thus our coverage in this Volume is limited to a broad above the point at which the optic nerves from each eye cross in
overview. Interested readers are strongly advised to consult the current mid-brain).1678 In humans, the SCN is comprised of ~10,000 special
literature for the latest results. cells that send out electrochemical signals in a 24-hour timing pattern.
Other important basic capabilities covered in this Chapter Entrainment of the clock to light-dark cycles is mediated by photo-
include timers and nanoclocks with long-term nanosecond stability receptors in the retina,1679 with light information conveyed directly
(Section 10.1); high-pressure materials storage (Section 10.3); from ganglion cells of the retina to the SCN via the
defensive cytocidal and antiviral weaponry to allow the efficient retinohypothalamic tract.1680 Mammals and other vertebrates have
destruction of pathogenic intruders and unrepairable tumor cells another independent circadian clock in each retina, possibly driven
(Section 10.4); and the effects of very hot or very cold temperatures by the retinal cryptochromes CRY1 (also made in the SCN) and
on nanorobot materials and operations (Section 10.5). CRY2, producing rhythms in local physiology1676 such as the diurnal
renewal cycles of rods and cones.1664 CRY1 is also abundant in skin
10.1 Nanochronometry tissues. Clock-resetting photoreceptors have been found in the
Nanorobots will use clocks in many applications. Computer human popliteal region (behind the knees),1675 and such photo-
gating,* navigation, and high-speed sensor applications may require receptors may exist in many different tissues throughout the
repeatable timing in the 1-1000 nanosec range, or 1-1000 microsec human body.1673,1675
for lower-speed chemical and chemotactic sensing, although The current model for a core circadian oscillator comprises, in
long-term clock stability is not especially critical for computing. part, a transcription/translation-based negative feedback loop in
Neuron-mediated signals and muscle motions are monitored and which clock genes are rhythmically expressed, giving rise to cycling
controlled on a 1-1000 millisec timescale, while conscious human levels of clock RNAs and proteins (negative elements). The proteins
action and most human biorhythms occur in the 1-105 sec range. then feed back, after a lag, to depress the level of their own transcripts,
This Section briefly introduces human chronobiology (Section perhaps by interfering with positive elements that increase transcrip-
10.1.1), then describes possible nanoscale oscillator systems that tion of the clock genes.1681 In 1998 this genetic network was still in
could be useful in nanorobotic clocks (Section 10.1.2), basic principles the discovery process.1667-1672 One ~100,000-base-pair gene, aptly
of pre- and post-infusion nanorobot chronometer synchronization named “clock,” was known to produce an 855-residue protein
(Section 10.1.3), and dedicated chronometer organs (Section (mCLOCK in mice, 115.7 kD) that serves as a major regulator of
10.1.4). the ~10 other, still unidentified, genes thought to affect circadian
rhythm.1671,1672 (One portion of mCLOCK is the same as in a
10.1.1 Human Chronobiology related 1023-residue clock protein, dCLOCK, found in Drosophila
The human body incorporates numerous biological fruit flies1672). Circadian rhythms will almost certainly be made up
clocks.1665,1666 The best-known and most-studied example is the of many interconnected feedback loops that interact with the
daily (24-hour) endogenous circadian oscillator.1665 This internal CLOCK-related core pathway.1681 It is believed that this interconnected
* Clocks are not strictly required for computation. D.E. Muller pioneered attempts1880,1881 in the late 1950s to eliminate all time dependencies in digital logic circuits, including
fundamental mode circuits,1882 speed-independent circuits and delay insensitive circuits (generally considered the most difficult, expensive and elusive circuits to design1883).
Traditional asynchronous control designs1884 employ considerably more circuitry than is required by a functionally equivalent clocked Boolean logic circuit; K.M. Fant and S.A.
Brandt1885 have devised a more parsimonious and theoretically complete approach to delay insensitive circuits called Null Convention Logic.
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
338 Nanomedicine • Volume I
ensemble will ultimately determine all of the classical circadian Hz during a neutrophil-mediated cytolytic attack, matching the
properties—period length,1665,1666 temperature compensation,1682,1683 nicotinamide-adenine dinucleotide phosphate and superoxide
and resetting by light or temperature.1684,1685,1963 In 1998, most release periods for neutrophils.3663 By 1998 there was a growing
chronobiologists believed that many of these outer loops would be belief that many, if not most, of the cells in an animal may possess
organism specific and that only the core loop would be more individual biological clocks;2015 fruit flies were already known to
universal.1681 have clocks distributed throughout their wings, legs, and abdomen.
In addition to the 24-hour circadian oscillator, many other The human brain also possesses an interval timer1691,3686-3688
biological clocks have been identified in humans. For example, the that allows a person to gauge the passage of seconds or minutes to
28-day menstrual cycle is timed by two ovarian clocks, each delimiting a mean accuracy of ±15%. The interval timer functions like a
a period of 14 days.1686 One of these two clocks is the Graafian stopwatch and resides in the basal ganglia, a region of the brain
follicle and its production of estradiol, while the other clock is the that coordinates voluntary muscle movements. A population of
corpus luteum and its secretion of progesterone. Both are obligatorily neurons in the substantia nigra releases regular pulses of dopamine into
dependent upon the proper functioning of a third clock located in an accumulator, called the caudate-putamen, a major part of the
the arcuate region of the hypothalamus, known as the GnRH pulse basal ganglia. These pulses are then read via neural pathways to the
generator,1687,3675-3678 which ensures the rhythmic production and cerebral cortex which are known as striato-cortical loops. Other
release of the gonadotropic hormones into the peripheral circulation internal “alarm clocks” that reliably allow waking from sleep at
with a cyclical period of ~1 hour (±25% stability), coincident with desired times* have been described.2693
a 1-hour cycle of hypothalamic electrical activity (±12% stabil- In vivo nanorobots should be able to eavesdrop on most of these
ity).1686,1687 A 90-minute clock paces the development of the somites, active chronobiological channels, gaining complete knowledge of
blocks of tissue that form in regular arrays along the spinal cord of the oscillator frequencies and phase settings of virtually all of the
vertebrate embryos. One regulatory gene, named “chairy,” undergoes human body’s biological clock systems. For example, blood plasma
repeated 90-minute activity cycles and is known not to require cortisol typically peaks in the morning (e.g., 6-23 x 10-8 gm/cm3 at
protein synthesis; gene expression follows the repeating pattern 8 AM), then declines throughout the day (e.g., 3-15 x 10-8 gm/cm3
even when protein synthesis is biochemically blocked.1688 A much at 4 PM, then ~50% of 8 AM value at 10 PM). Melatonin (also
longer half-weekly (circasemiseptan) pattern has been observed in detectable in saliva) cycles in the opposite direction, normally peaking
mitotic activity in cancer patients.3326 at 6-7 x 10-11 gm/cm3 at night and then falling to 1.4 x 10-11 gm/
Other biological clocks abound. The stomach produces rhythmic cm3 during the day (Appendix B). Longer cycles are easily tracked
contractions of ~3/minute during digestion. Rhythmic segmentation too. For instance, blood viscosity in healthy young women shows
contractions of the bowel at ~0.2 Hz (Section 8.2.3) are driven by a the rhythmic variation of the menstrual cycle, probably due to
thin layer of specialized pacemaker cells called the intestinal cells of changes in serum fibrinogen and globulin levels which can be
Cajal, which demonstrate electrical oscillations at about the same measured more directly.1325 These nanorobot-accessible readings
rate as the contractions.1725 Cardiac pacemaker cells in the sinoatrial may be used either to measure “body time” or to control it, and in
node emit a cyclical pulse that triggers a heartbeat at a ~1 Hz basal some cases can recalibrate relevant onboard nanochronometers.
rate. The respiratory centers in the medulla oblongata produce an Environmental time cues may also be detected by in vivo
autonomic contraction cycle of the diaphragm at ~0.3 Hz. The nanorobots (e.g., temporal macrosensing), such as the level of
human eye produces many spontaneous rhythmic dilations and illumination penetrating the epidermis (sometimes permitting
constrictions, including high-frequency ocular microtremors present inference of day or night) or the all-pervasive 60/50 Hz (U.S./Europe)
in all people (mean frequency ~84-88 Hz),3679 accommodation electromagnetic hum generated by alternating current electrical supply
microfluctuations (~1-2 Hz)3681-3683 with the pupil varying <300 systems in common use throughout the world, a crude frequency
microns in diameter,3680 and low-frequency pupillary oscillations (e.g., standard whose voltage can sometimes display time-of-day
~0.2 Hz “hippus”).3683-3685 Electrical rhythms generated by the brain load-related fluctuations.3026
that are detectable by an electroencephalograph include alpha waves
predominantly in the occipital region at 8-13 Hz, beta waves in the 10.1.2 Artificial Nanoscale Oscillators
frontal and central areas at 18-30 Hz, delta waves at <4 Hz during Nanorobot clocks must perform at least two critical functions:
deep sleep or abnormal function, and theta waves in the temporal (1) Interval timing (measuring elapsed time between two or more
and parietal areas at 4-7 Hz.1689 sequential events) and chronometry (maintaining an onboard
Individual cells display a number of oscillatory biochemical calendrical “standard time” in good calibration with an external time
pathways as well, including calcium ion oscillations, cyclic AMP standard such as Coordinated Universal Time3027,3302). Complete
signalling, and various other cell cycles.1666 For instance, the glycolytic clock design, including clutches, feedback mechanisms and governors,
enzyme oscillator, controlled primarily by phosphofructokinase, may dampers and filters, triggers and strikers, amplifiers and mixers, phase
mediate various rhythmic physiological behaviors such as slow waves detectors and counters, regenerative frequency dividers and frequency
of contraction in smooth muscle, electrical activity in neurons, and multipliers, and antivibration housings, is very complex and quite
insulin release from β islet cells of the pancreas. In one experiment,1690 beyond the scope of this text. However, both timing and chronometry
this oscillator mediated a 55 mV voltage change in guinea pig require a high-frequency oscillator of known and stable frequency,
cardiomyocytes at 0.010 Hz (±10% stability) in an almost perfectly whose oscillations can then be counted for clocking purposes. If
sinusoidal pattern, although a few cells displayed oscillations with frequency multipliers can be built, then the primary oscillator need
irregular phase, amplitude, or both. In another experiment, not be high frequency; the requirement for frequency stability is
fluorescently-labeled puffs of tumor-cell cytoplasm were observed more fundamental. Timing accuracies of 1-1000 nanosec are typically
being released through plasma membrane ruptures, regularly at ~0.05 needed for sensor (Chapter 4), navigation (Section 8.3.3), and
*Long ago, native American Indians of the Sioux tribe learned, after carefully controlled experiments, that they could use a full urinary bladder as a kind of alarm clock. By
drinking a certain amount of water at bedtime, they found they would awaken in a specific number of hours—drink more fluid, and they would awaken earlier from the urge
to urinate; drink less, and they would awaken later.2223
Basic Capabilities • Other Basic Capabilities 339
computational (Section 10.2) applications, with operating frequencies Numerous alternative mechanical oscillators are readily conceived:
up to νosc ~ 1 GHz and durations ranging from 1 microsec up to
105 sec (~1 day) between timed events or between clock recalibrations A. Tuning Fork — A diamondoid tuning fork with tines of length
(Section 10.1.3). This Section presents a brief survey of several useful Lfork = 100 nm, half-thickness Rfork = 10 nm, density ρfork = 3510
nanoscale oscillator systems. kg/m3 and Young’s modulus Efork = 1.05 x 1012 N/m2 has a natural
vibrational frequency of:1697,1698
10.1.2.1 Mechanochemical and Photochemical Oscillators
A chemical oscillator involves transitions between two R fork E1/2
fork {Eqn. 10.1}
well-defined chemical, energetic, or conformational states. For νosc = 1/2
~ 6 GHz
π ρfork L2fork
example, repetitive room-temperature protein folding such as
α-helical coiling may occur in ~10-6 sec (e.g., νosc ~ 1 MHz).467 In 1998, Sandia National Laboratories began offering a product
Turnover number (molecules of substrate converted to product per line of electrostatically-driven ~1 MHz polysilicon “tuning fork”
active site per unit time) for catalase, one of the fastest known microresonators.
enzymes, is kcat = νosc = 40 MHz.759 Reversible gas phase reactions
may occur at up to 5 GHz.390 However, chemical-based clocks are B. Helical Spring — A helical spring with spring constant ks = 10
expected to display poor frequency stability. Most chemical reactions N/m and mass mspring ~ 2 x 10-19 kg (~40-nm-edge diamond cube)
display ~e-1/T rate dependence, giving a frequency stability of ∆ν / ν has a natural vibrational frequency of:
~ 1% for a ~1 K temperature (T) variation in the oscillator near 310
1/2
K. Chemically-driven mechanical oscillators such as biological 1 ks
νosc = ~ 1 GHz {Eqn. 10.2}
cilia display a similar temperature dependency and frequency 2 π m spring
stability.1695 Time measurements that depend on the rates of thermally
activated bulk reactions also suffer Poisson noise in the reaction rate ignoring gravity and spring mass.
from the statistics of interaction of many random independent
molecules. C. Circular Membrane — A flexible, thin circular membrane of
Some molecular transitions are even faster. Molecular dynamics radius Rmembrane = 100 nm, uniform density ρmembrane = 3510 kg/m3,
simulations of carbonmonoxy-myoglobin show periodic openings and thickness hmembrane = 10 nm, if clamped at its boundary and
and closings of internal voids on a time scale of ~100 picosec,1693 stretched by a tension Fmembrane (the force per unit length anywhere in
giving νosc ~ 10 GHz. The torsional isomerization of the retinal the membrane), has characteristic frequencies of
chromophore in rhodopsin from the 11-cis to the 11-trans structure, a vibration of :1698
~0.5 nm physical motion detectable by displacement nanosensors
1/2
(Section 4.3.1), occurs within ~0.2 picosec of the absorption of the β Fmembrane
500 nm photon (~420 zJ/molecule), potentially allowing event timing νosc = ~ 8 GHz
2 R membrane h1/2 1/2
membrane ρmembrane
at νosc ~ 5 THz. The frequency of decomposition of activated
complexes in classical reaction rate theory is given by Eyring1694 as {Eqn. 10.3}
νactive ~ kT / h ~ 6 THz, approximately the characteristic timescale
for molecular vibrations. The frequency stability of these transitions is where Fmembrane ~ 100 N/m for a 10-nm thick diamondoid sheet
unknown. stretched to near a conservative working stress of ~1010 N/m2, and
β is a constant of order unity, derived from the roots of Bessel functions
10.1.2.2 Mechanical Oscillators for various diametral and circular vibrational nodes.
The most accurate macroscale mechanical clock was the Shortt
pendulum clock, the primary timekeeper at the Greenwich and U.S. D. Torsional Pendulum — Another oscillator is the torsional
Naval observatories until the late 1940s. The Shortt clock consisted pendulum, wherein a diamondoid rod of radius Rrod = 35 nm, length
of a pendulum swinging freely in near-vacuum at constant tempera- Lrod = 1900 nm, density ρrod = 3510 kg/m3, and shear modulus
ture, driven by another identical clock slaved to the first; frequency Grod = 5 x 1011 N/m2, is clamped at one end and the other end
stability was ∆ν / ν ~ 4 x 10-8.1696 twists around the longitudinal axis in vacuo at a characteristic
In the nanoscale realm, Drexler10 proposes a νosc ~ 1 GHz oscillation frequency:1164
mechanical clock intended to drive a nanomechanical computer
1/2
CPU (Section 10.2.1). In this clock, a DC electrostatic motor (Section G
6.3.5) turns a crankshaft that converts rotary motion into sinusoidally νosc = 2 2rod ~ 1 GHz {Eqn. 10.4}
oscillating linear motions of a drive rod. A cam surface on the drive 4 π L rod ρrod
rod forces a follower rod into up or down positions, generating regular If the end of this rod twists through an amplitude ∆X, then the
clock pulses with intervals determined by the position of the follower time averaged power loss due to shear radiation10 is Prad = π Rrod6
with respect to the mean position of the ramp on the cam surface. ∆X2 Grod3/2 / 256 Lrod6 ρrod1/2 ~ 26 pW for ∆X 95 nm, a rod strain
Clock stability is limited by the stability of the crankshaft rotation rate. of ∆X / Lrod 5% and an oscillator power density of Drod = Prad / π
The proposed DC electrostatic motor has radius Rmotor = 195 nm, rim Rrod2 Lrod ~ 4 x 109 watts/m3. The stored torsional energy is Erod =
speed vrim = 1000 m/sec, and output power Pmotor = 1.1 microwatt, (1/2) ktorsion θ2 = π Grod ∆X2 Rrod2 / 4 Lrod, so the characteristic
giving a developed torque of τmotor ~ 2 x 10-16 N-m. From Eqn. 4.23, decay time for the oscillation in the exemplar system is:
the minimum detectable force (e.g., to establish feedback control, such
as a Watt governor) for a 195-nm force sensor with 99% reliability is at
most ~0.4 pN, giving a minimum detectable torque of τmin = 8 x 10-20 E rod 64 L5rod ρrod
1/2
N-m. At constant torque, variation in crankshaft angular velocity ∆ω t decay ~ = ~ 0.1 sec {Eqn. 10.5}
Prad 4 1/2
/ ω (= ∆ν / ν) ~ τmin / τmotor = 4 x 10-4. R rod G rod
340 Nanomedicine • Volume I
giving plenty of access time for clock resonance driver mechanisms. nanorobot. Such diamondoid acoustic power transmission lines are
Aside from exogenous noise sources, which can be considerable in essentially lossless (Section 7.2.5.3). If a complete set of lines
magnitude but may be filtered out by good design, one important containing all nline delays is not required, any desired single delay
endogenous source of uncertainty in νosc is the elastic longitudinal time may be obtained by connecting up to nline segments end to
displacement (∆L) for the end of a thermally excited rod that end, or by bouncing a pulse off of the ends of a single line up to nline
randomly alters rod length, slightly changing the frequency. For times.
bulk diamond at T ~ 300 K, and ignoring entropic contributions Aside from the many potential frequency instabilities inherent
which become important only in longer, narrower rods than in this in pulse detection, signal re-initiation, and acoustic interferometry
example, ∆L ~ 10 -16 Lrod1/2 / 2 Rrod (Tables 5.8 and 5.16 in mechanisms, two fundamental sources of frequency instability
Drexler10). Since νosc ~ Lrod-1, then ∆ν / ν ~ ∆L / Lrod and so: include:
1/2
∆ν k elast 1. changes in the velocity of sound due to thermal variations, and;
= ~ 1 x 10−6 {Eqn.10.6}
ν L rod R 2rod 2. changes in acoustic path length due to elastic longitudinal
-33 3 displacements of thermally excited transmission rods.
for kelast ~ 2.5 x 10 m , Lrod = 1900 nm, and Rrod = 35 nm.
Another systemic source of uncertainty is rod length variation due First, the speed of transverse sound waves in an isotropic elastic
to the slowly temporally- and spatially-varying ambient human body medium having Poisson’s ratio cPoisson (~0.1 for diamond) is given
temperature. Given a coefficient of volume expansion β = 3.5 x by:10
10-6 K-1 for diamond,567 a typical variation of ∆T ~ 3 K per tcirc ~ 60 1/2
1/2
sec circulation time for bloodborne nanorobots, and a thermal E 1 − c Poisson
recalibration time of trecalib ~ 1 sec (to correct for temperature v sound = ~ 17,300 m/sec
ρ (1 + c Poisson )(1 − 2 c Poisson )
dependence), then ∆ν / ν ~ trecalib ∆T β / tcirc ~ 2 x 10-7. J. Soreff
notes that yet another limitation on oscillator accuracy is the 1/Q
resonance width, which is a function of the design details. {Eqn. 10.8}
Clock accuracy may be defined by a time measurement error
over a single observation cycle (Nobs = 1) of ∆terror = tactual - tclock, where Young’s modulus E = 1.05 x 1012 N/m2 and density ρ = 3510
where tactual = (νosc)-1 and tclock = (νosc (1 + ∆ν / ν))-1. Time measure- kg/m3 for diamond. In addition to the thermal dependency of E, ρ
ment errors over multiple cycles (e.g., Nobs = νosc tobs > 1), spanning varies as (1 + βthermal T)-1 where T is temperature, because volume
a total observation time tobs between clock recalibrations, are randomly changes according to the volume coefficient of thermal expansion
distributed around zero but do not sum to zero, constituting βthermal = 3.5 x 10-6 K-1 for diamond, 1.56 x 10-5 K-1 for sapphire. In an
instead a random walk with a maximum excursion of: uncorrected oscillator system, ∆ν / ν ~ ∆vsound / vsound ~ (1/2) βthermal
∆T ~ 10-5 for diamondoid transmission lines, assuming that ∆T ~ 6 K
1/2
t obs ∆ν/ν {Eqn. 10.7} temperature variations are typically encountered inside the human
t error ~ N1/2
obs ∆t error = body ( Table 8.11). Correcting oscillator timing using
νosc 1 + ∆ν/ν
independent temperature sensors accurate to ∆Tmin / T ~ 10-6
This assumes that the errors are uncorrelated—e.g., for thermal (Section 4.6), and ignoring other possible sources of frequency
fluctuation errors, individual observation times must lie at least instability (which may be significant), could reduce measurement
tEQ apart, where tEQ is the time required for thermal equilibration ∆T to ~310 microkelvins at T ~ 310 K, thus improving ∆ν / ν
with the environment (Eqn. 10.24). For the exemplar oscillator with significantly for this source of frequency instability.
∆ν / ν ~ 10-6 at νosc = 1 GHz, accumulated terror ~ 1 nanosec during Second, longitudinal displacements ∆L / Lrod ~ 10-4 - 10-5 at
a continuous (uncalibrated) observation time of tobs ~ 1000 sec. 300 K for rods of length Lrod = 1.73-17.3 microns and cross-section
Arod ~ 30 nm2 (Figure 5.8 in Drexler10); J. Soreff observes that
∆L / Lrod ~ (kT / E Lrod Arod)1/2 ~ 10-6 for ~0.01 micron3-volume
10.1.2.3 Acoustic Transmission Line Oscillators
systems. For the zeroth longitudinal vibrational mode,10 these dis-
Drexler10 describes a diamondoid acoustic transmission line in
placements occur on a timescale νosc-1 = 4 Lrod (ρ / E)1/2 = 0.4-4
which a ~2 nN force pulse is initiated at one end, travels to the far
nanosec, comparable to signal transit times, taking ρ and E for
end at vsound ~ 17,300 m/sec, then is received by a mechanical diamond as above and Lrod = (1730 n) nm with n = 1, 2, ..., nline.
displacement probe, possibly with significant energy recovery. Such This may restrict ∆ν / ν to ~ 10-6 unless transmission lines can be
lines may also be used to generate precisely delayed acoustic signal further rigidized by end-clamping, sheathing, or latticed bracing at
sets suitable for clocking applications. Consider a “starter” pulse intervals, all of which, in effect, enlarge Arod.
applied to a short feeder line that symmetrically bifurcates into a set
of nline = 10 lines each of length ln = (1730 n) nm (n = 1, 2, ..., nline), 10.1.2.4 Quartz Resonators
requiring a total length Lline = (1730) nline (nline + 1) / 2 = 95,150 Piezoelectric quartz crystals, when cut in a predetermined manner
nm of transmission line to obtain a set of lines having all nline time and mounted so that two opposing faces have electrical contacts,
delays. The bifurcated pulses arrive at the end of each line in 0.1 will compress or expand when an oscillating electric field is applied
nanosec (n = 1), 0.2 nanosec (n = 2), ..., 1.0 nanosec (n = 10); any across the faces.1701,1702 The amplitude of crystal vibration falls off
of these pulses may be drawn off and used for diverse clocking very rapidly as the applied electric field frequency deviates from the
purposes, or may be fed back into the initiation mechanism and resonant frequency of the crystal. (Cyclical mechanical compressions
used either to trigger the next starter pulse or to achieve more at the resonant frequency also induce oscillating electric fields of
robust error correction. If acoustic lines have a cross-sectional area maximum amplitude.) In 1998, most high-precision timing devices
of ~30 nm2, then the total volume of all ten lines is ~3,000,000 were based on quartz crystal resonators, with ~2 billion resonators
nm3, which may be coiled into ~0.3% of the volume of a 1 micron3 manufactured annually worldwide for oscillator, clock, and filter
Basic Capabilities • Other Basic Capabilities 341
applications.1699 Commercially-available off-the-shelf GHz devices In 1998, the miniaturization of rubidium AFS for space
(e.g., Micro Networks’ M101 resonator) typically displayed ~10 ppm applications was being actively studied,1704,1705 along with newer
stability, or ∆ν / ν ~ 10 -5 , readily improved to ~10 -7 in approaches such as optically-pumped cesium AFS using solid state
temperature-controlled ovens. diode lasers (thus eliminating the bulky magnets), 1706 diode
The fundamental mode resonant frequency of a quartz crystal laser-pumped rubidium AFS in which the Rb discharge lamp is
plate of thickness dquartz ~ 1 micron (~2000 molecular layers thick), replaced with a ~100% efficient diode laser tuned to the correct
density ρquartz ~ 2650 kg/m3,763 and elastic (Young’s) modulus Equartz transition frequency,1707,1708 and Hg+ “optical clocks.”1709 Optical
~ 1.1 x 1011 N/m2 (Table 9.3) vibrating in thickness mode is:1699 pumping methods using diode lasers defined the NIST-7
atomic-beam standard of ∆ν / ν 5 x 10-15, starting in 1993.
1/2
1 E quartz A detailed analysis of micron-size atomic clocks is beyond the
νosc = ~ 3 GHz {Eqn. 10.9}
2 dquartz ρquartz scope of this book. The possibility cannot be ruled out, but in 1998
the feasibility was unknown. From Eqn. 4.50, the minimum sensor
The resonant frequencies of the highest-quality, lowest-noise capable of detecting a spin transition requires Nmin ~ 7 x 106 Cs
quartz macroresonators can be measured with a precision of 14 atoms (~0.001 micron3 of Cs), taking transition frequency νL =
significant figures,1699 e.g., the noise is ∆ν / ν ~ 3 x 10-14 at the 9.192,631,770 GHz and electron spin angular momentum Lelectron
optimum measurement times.1700 However, each variable in Eqn. = Lproton. However, many problems must be overcome including
10.9 is temperature dependent. For instance, the thermal expansion of interactions involving spontaneous decay, measurement-induced
quartz (affecting density) and the temperature coefficients of Equartz transitions, phase changes due to gas molecule collisions, spatial
(ranging from positive to negative values) are highly dependent on confinement effects, the use of symmetries and cancellation of
the angles of cut of the plate relative to the crystallographic axes. couplings. J. Soreff [personal communication, 1998] suggests
Quartz resonator frequency may vary monotonically with temperature consideration of an oscillator structure in which a phosphorus
at 10 -5 - 10 -4 K -1 ; the noise floor (i.e., the Allan deviation atom is covalently bound to a tetrahedral support of carbyne rods
floor1702) for quartz microresonators has been estimated1699 as extending to the ends of an evacuated chamber. The fifth valence
∆ν / ν ~ (1.2 x 10-19 Hz-1) νosc ~ 10-10 for νosc ~ 1 GHz. Atomistic electron on the phosphorus atom should have a hyperfine interaction
simulation of submicron quartz oscillators by Broughton2669 suggests with the P31 nucleus, but it is presently unknown how tightly coupled
that such oscillators must have at least ~106 atoms to display bulk the thermal vibrations in the rods are to the hyperfine state transition,
elastic constants, and that differences from continuum mechanical since many coupling modes may vanish by symmetry.
frequency predictions are observable for 17-nm (or smaller) devices,
and that nanoscale devices with even a single defect may exhibit 10.1.3 Nanorobot Synchronization
dramatic anharmonicity. Ideally, the clocks of all nanorobots present in a patient’s body
will be synchronized to some universal time. This time setting may
10.1.2.5 Atomic Frequency Standards be defined by the patient, by the physician, or by reference to some
The most accurate oscillators are the Atomic Frequency Standards external standard. As part of a chronometry-critical nanorobot
(AFS) used in “atomic clocks.” In these “clocks,” an atom flips installation procedure prior to infusion, an initializing signal can be
between two slightly different configurations—one in which the transmitted throughout the infusate volume, allowing each individual
electron spin and the nuclear spin point in the same direction, and nanorobot present therein to receive the signal and set its clock.
another configuration in which the two spins point in opposite Acoustic synchronization pulses are appropriate if ~microsec
directions. In its original form,3028,3029 a beam of cesium (Cs133) precision will suffice. Sound waves passing at vsound = 1500 m/sec
atoms is emitted from an oven and passes through an evacuated through an L vial = 1.5 cm wide container of well-stirred
(~10-11 atm) chamber, where the atoms are focused by one fixed aqueous-suspended nanorobots restricts synchronization error to
magnet, then defocused by a second fixed magnet. Between the two ∆terror ~ Lvial / vsound = 10 microsec; from Eqn. 10.7, repetition of
fixed magnets, the beam passes through a microwave field. When Nobs = 100 synchronization pulses can reduce synchronization
the frequency of this oscillating field exactly matches a natural atomic error to ~1 microsec.
resonance ground-state hyperfine transition frequency of Cs For the highest pre-infusion synchronization accuracy, optical
(~9.192,631,770 GHz), the spin energy state can switch polarity, (Section 4.7.3) or rf (Section 4.7.1) pulses will be employed. Electro-
allowing “flipped” atoms to focus, rather than defocus, at the second magnetic energy travels at c ~ 3 x 108 m/sec across the container
fixed magnet. Atoms arriving at the focus are ionized by a hot-wire volume until intercepted by a nanorobot optical sensor, giving
ionizer target, then directed onto an electron multiplier by a mass ∆terror ~ Lvial / c = 0.05 nsec. Allowing 100 green photons (360 zJ/
spectrometer to be counted. The microwave frequency is adjusted photon at 550 nm) per nanorobot at a nanorobot number density
until the electron multiplier output current is maximized, constituting of 1012 cm-3, the flash injects ~40 J/m3 of energy into the container,
the measurement of the atoms’ resonance frequency. raising the water temperature by ~10 microkelvins after this energy
Early cesium AFSs were used to recalibrate a quartz oscillator about is fully thermalized. A 1-nsec flash produces a peak intensity of
once a day, achieving ∆ν / ν ~ 3 x 10-11. In 1998, the best non-cryogenic ~4 x 1010 watts/m2, comparable to monochromatic optical tweezers
laboratory Cs or Rb (rubidium) AFS had ∆ν / ν ~ 2 x 10 -14, with which are tolerated by biological macromolecules.1630,1631 Some
a temperature stability of ~10-13 K -1 between 263-313 K and a nanorobots inevitably will miss the signal and may later synchronize,
magnetic stability of ~10-12/gauss.1703 The smallest non-cryogenic Rb prior to infusion, via close or direct physical contact with others
AFS was a space-qualified system with mass of 1.3 kg and power con- who received the signal, or else multiple synchronization pulses can
sumption of 11 watts (~104 watts/m3), achieving ∆ν / ν 5 x 10-13. be used.
Another system that achieved ∆ν / ν 5 x 10-14 had mass ~5.5 kg Onboard nanorobot clocks can also be synchronized
and drew 39 watts.1703 Laser-cooled low-temperature clocks using post-infusion. For example, a pressure cuff inflated around the
Bose-Einstein condensates were expected eventually to demonstrate patient’s arm can administer acoustic synchronization pulses to
∆ν / ν ~ 10-18. ~microsec precision as bloodborne nanorobots pass through the
342 Nanomedicine • Volume I
blood vessels within; after signaling for several mean blood circulation information) that is added to most contemporary television broadcast
times (e.g., a few minutes), most bloodborne nanorobots should be signals. Hard connectors, centimeter-scale rf wireless antennas, and
properly synchronized. Whole-body acoustic transmissions at 0.1-1 other types of links are possible (Sections 6.4.2 and 7.2.3). In 1998,
MHz may be generated by operating tables, vibrating chairpads, a desk clock could be purchased for $50 that automatically
wristwatch transmitters and the like (Section 6.4.1). Such methods recalibrated itself by picking up WWVB radio signals anywhere in
may produce synchronization errors of ~100 microsec over 15-cm North America, several times a night, using a few centimeters of
anteroposterior path lengths, reducible to ~1 microsec error using rod antenna.1711 WWV’s carrier frequency is regulated to ∆ν / ν
Nobs = 10,000 repetitions of the calibration signal (Eqn. 10.7). For ~ 5 x 10-12, ultimately providing a time synchronicity at the
higher precision, the physician transmits ~MHz radio wave pulses receiver of ~100 microsec/day. With a slightly larger in vivo antenna,
into the body; such pulses may be detected by appropriate onboard satellite GPS signals may be received, providing 20 nanosec time
receivers (Section 6.4.2). Such waves have only ~75% attenuation error.1711 If buildings and vehicles are rewired to permit dissemination
over 15-cm anteroposterior path lengths (Eqn. 6.32), producing of time synchronization pulses and other useful information via
0.5 nsec synchronization accuracy. Optical photons applied to the continuous rf or IR channels, chronometer organs could employ
skin surface are subject to scattering, producing signal pulse broaden- smaller in vivo antennas and still achieve very precise results.
ing which increases synchronization error, and to absorption, which Although it has been informally speculated3025 that nanorobots
makes signal reception difficult or impossible beyond tissue depths could use biological nerve fibers as rf antennas to receive electromag-
of a few centimeters (Section 4.9.4). netic time recalibration signals from outside the human body, such
Another approach is to inject a relatively small number of as from WWV, this concept is probably unworkable for several
chronocytes—mobile communicytes (Section 7.2.6) modified to reasons. First, the axoplasm is only ~10-7 as electrically conductive
include an onboard nanoclock of high precision (e.g., a portable as a metal wire of equivalent size, because axoplasmic charge carrier
frequency standard) and the ability to transmit clocking synchro- density and mobility are much lower than for electrons in a wire.799
nization signals to calibrate neighboring nanorobots. These signals Second, passively conducted axonal currents are quickly attenuated
may be transmitted acoustically at close proximity to the nodes of a by leakage through ion channels in the membrane, which is a very
mobile communications network (Section 7.3.2), subsequently poor insulator. From cable theory applied to neurons,799,3022 the
allowing all nanorobots within 100 microns of a calibrated node to length constant λn is defined as the distance over which an applied
synchronize to within 67 nsec. Averaging algorithms can be potential depolarizes to 1/e (~37%) of its maximum value; λn =
employed to synchronize uncalibrated nodes in the system that were (dneuron rmem / 4 raxo)1/2 ~ (0.04 dneuron)1/2, where dneuron is axonal
not recently visited by a chronocyte. Bloodborne chronocytes will diameter in meters, rmem is the specific membrane resistance (~0.2
normally be carried from the capillary vasculature to within ~100 ohm-m2 in human neurons) and raxo is the specific resistance of the
microns of most tissue locations, thus allowing 67 nsec single-pulse axoplasm (~1.25 ohm-m in human neurons). For a typical human
acoustic synchronization even in the absence of an installed communi- axon with dneuron ~ 1 micron, then λn ~ 200 microns (~internodal
cations network (Section 7.3). distance between nodes of Ranvier) and an external signal is >99%
attenuated in ~1 mm of longitudinal travel. Third, short pulses (e.g.,
10.1.4 Dedicated Chronometer Organs rapidly-oscillating rf signals) are severely distorted and attenuated
Just as the hypothalamus is the physical locus of the natural by the electrical capacitance of the cell membrane. The capacitive
circadian clock (Section 10.1.1), it may be convenient to establish time constant in human nerves and muscle cells ranges from 1-20
artificial chronometer organs inside the human body for various millisec,799 thus limiting any possible electromagnetic reception to
purposes. Dedicated nano-organs have been described previously frequencies under 50-200 Hz, although pulsed microwaves directed
in connection with power (Section 6.4.4), communication (Section through the brain can induce auditory effects in animals and
7.3.4), and navigational (Section 8.3.6) systems. humans.3473-3481
Chronometer organs, which would likely be millimeter-scale or
smaller, could be used as endogenous clocks to regulate the precise 10.2 Nanocomputers
administration of time-release substances or devices. Such organs Many important medical nanorobotic tasks will require com-
could serve as highly accurate timers to improve the natural human putation during the acquisition and processing of sensor data, the
interval timing sense from ±15% accuracy in biological systems control of tools, manipulators, and motility systems, navigation and
(Section 10.1.1) to parts per million accuracy, or better, using artificial communication, and during the coordination of collective activities
systems. If linked to the patient or user through various outmessaging with neighboring nanorobots. Ex vivo computation has few theoretical
channels (Section 7.4.6), chronometer organs can provide a limits, but computation by in vivo nanorobots will be subject to a
continuously-available, consciously-accessible unfailing “time sense” number of constraints such as physical size, power consumption,
of extraordinary precision for time of day, calendar date, and other onboard memory and processing speed.
time-related information. The memory required onboard a medical nanorobot will be strongly
Dedicated chronometer organs can be used to synchronize mission dependent. Recognizing and manipulating molecules is
chronocytes or mobile communication networks at the nodes (Sec- fundamental. A very simple mission might demand only the identifi-
tion 7.3.2). For example, chronocytes with lower-stability crystal cation or handling of perhaps ~10 different molecules. For example,
oscillators could be repeatedly recalibrated as they passed near larger basic respiratory gas transport nanorobots such as respirocytes1400
embedded chronometer organs during each blood circulation cycle (Chapter 22) may require the operation of fixed-shape receptors
(e.g., once per minute). Such chronometer organs might incorporate that bind simple molecules such as O2, CO2, H2O, and glucose.
higher-stability onboard atomic frequency standards. Alternatively, Identifiers for such receptors may need only a few bits, hence this
chronometer organs could serve as transdermal data ports through memory requirement should be negligible. A toxin removal device
which timing synchronization signals can be injected into fiber-based (Chapter 19) similarly may require keeping track of only a few types
in vivo communication networks (Section 7.3.1) from external timing of fixed-shape receptors. On the other hand, a survey or assay mission
sources, similar to the autoclock pulse (containing time and date might need to recognize N = 100-1000 distinct proteins. A spherical
Basic Capabilities • Other Basic Capabilities 343
1-micron nanorobot can have >104 fixed-shape receptors on its familiar 0-9 decimal system with each number represented by a
surface; if these will suffice, then we require N log2 (N) ~ 104 bits discrete position of a rotating gear wheel, Fowler’s machine was
to identify each of N = 1000 different receptor types. This seems more fully digital, using as its active element not rotating wheels
more efficient than using more advanced reconfigurable receptors but sliding “trinary” rods which could occupy only one of three
(Section 3.5.7.4), which might need >104 bits per receptor-pattern positions at any time, the first known example of “rod logic.” (By
to specify each binding site geometry to the necessary atomic-scale reducing the number of distinct physical states, parts could be made
resolution (Section 3.5.7.5), thus imposing a total memory require- less precisely.)
ment of >107 bits for an onboard library of N = 1000 different By 1834, Babbage had also conceived detailed plans for his
receptor types. Consequently, simple missions involving basic process Analytical Engine, intended as a general-purpose programmable
control with limited motility may require no more than ~105-106 computing machine but based entirely on 19th century mechanical
bits of memory, comparable to an old Apple II computer (including technology. The Analytical Engine was to have a random-access
RAM plus floppy disk drive). At the other extreme, a complex cell memory consisting of 1000 words of 50 decimal digits each
repair mission might require the onboard storage of a substantial (~175,000 bits), with separate memory and central processing unit
fraction of the patient’s genetic code, representing ~109 bits of (CPU), stored program control, data entry via punched metal cards,
memory including perhaps ~0.2 x 109 bits of linear sequence data and even an output printer.1728,1730,1732 This ambitious device,
for all 100,000 protein types found in the human body, again though well specified, was never built.
assuming 300 amino acids per protein. (Most amino acids are folded The mechanical computing tradition was not entirely abandoned.
into the protein’s interior and are not readily accessible to surface Vannevar Bush built his analog mechanical computer, the Differential
probing unless the protein is unfolded, which usually is not desirable Analyzer, in 1930 at MIT.1736 In 1954, M. Minsky and R. Silver289
or convenient. On the other hand, binding sites for large molecules used hydraulic logic elements to build a mechanical “hydroflip
should be physically easier to construct than small-molecule receptors; computer” which was operated at ~30 Hz and powered by a 3-inch
Section 3.5.9.) An onboard memory of 109-1010 bits would be in high column of water. (Section 9.2.7.6 describes the basis for a
the same range as the 1985 Cray-2 (2 x 1010 bits) or the 1989 Cray-3 mechanical fluidic computer operating at ~5000 Hz.) In 1975,
(6 x 108 bits) supercomputers.1 D. Hillis and B. Silverman1738 built a special-purpose all-mechanical
Computational speed will also be strongly mission dependent. computer ~2 meters in size, entirely out of Tinkertoys, and powered by
However, extremely simple process control systems in basic factory a hand crank, that was able to play tic-tac-toe. In 1990, University
settings may only require speeds as slow as 104 bit/sec (Chapter 12). of Minnesota engineers 1734 fabricated a complete family of
Individual natural biocomputational devices (as opposed to multiple micromechanical digital logic devices, including
such biodevices operating in parallel) generally do not exceed this electrostatically-actuated linear-sliding ~30-micron mechanical logic
speed. Examples include mRNA translation during protein manufac- elements confined to a one-dimensional track, forming NAND and
ture at ~15 Hz (~75 bits/sec assuming 5 bits/protein); 997 tran- NOR gates suitable for low-speed radiation-hard digital functions
scription from DNA by RNA polymerase at ~40 Hz (~80 bits/sec “in environments hostile to electronic devices.” Sandia’s pin-in-maze
at 2 bits/nucleotide);997 DNA replication at ~800 Hz (~1600 bits/ microlocks2356 could also be used to make a mechanical computer,
sec at 2 bits/nucleotide);997 typically 5-100 Hz (bits/sec) for neural albeit at the above-micron scale. In 1996, J. Gimzewski and col-
electrical discharges (Section 4.8.6); ~1000 Hz (bits/sec) for excitory leagues1735 at IBM Zurich used a scanning tunneling microscope
cholinergic synapses, and gated ion channels at ~104 Hz (bits/sec) (STM) probe to repeatedly reposition spherical C60 fullerene molecules
(Section 7.4.5.6). At the other extreme, a processing speed of 109 ~1 nm in diameter along a terraced copper substrate that constrained
bits/sec allows a ~109 bit genomic information store to be processed the buckyballs to move only in a straight line, operating the
in ~1 sec, the small-molecule diffusion time across an average mechanical array like beads on an abacus. In 1997, Stoddart’s
20-micron wide cell. In 1998, personal desktop computers capable of group 2540 described a mechanical XOR gate based on their
~109-1010 bits/sec (~108 operations/sec) were commonly available. “molecular shuttles.”
This Section describes possible nanomechanical (Section 10.2.1) Perhaps the best-characterized (though not yet built) mechanical
and nanoelectronic (Section 10.2.2) computers, biocomputers nanocomputer is Drexler’s rod logic design.10,2282 In this design, one
(Section 10.2.3), and briefly examines the ultimate limits to computa- sliding rod with a knob intersects a second knobbed sliding rod at
tion including reversible and quantum computing (Section 10.2.4). right angles to the first. Depending upon the position of the first
Computer architectural issues are not explicitly addressed here. (For rod, the second may be free to move, or unable to move. This simple
example, advanced architectures, especially large CPU systems, may blocking interaction serves as the basis for logical operations. Figure
employ distributed clocks and a distributed computing network.) 10.1 shows a nanomechanical implementation of a Boolean NAND
“interlock” gate, using clock-driven input and output logic rods 1
10.2.1 Nanomechanical Computers nm wide which interact via knobs that prevent or enable motion,
Electronic computers were evolutionarily preceded by purely all encased in a housing, allowing ~16 nm3/interlock. (Any logic
mechanical computational devices, starting with the venerable abacus function, no matter how complicated, can be built from NAND or
(hand-operated movable beads on rods) in ~3000 BC,1726,1727 the NOR gates alone.1736) Figure 10.2 is an exploded diagram of the
Pascaline (the first hands-on algorithm-executing machine) in moving parts of a thermodynamically efficient class of register
1642, 1728 and the Difference Engine (the first hands-off capable of mechanical data storage, using rods ~1 nm in width with
algorithm-executing machine) designed in 1821 by Charles 0.1-nanosec switching speeds, allowing ~40 nm3/register. The
Babbage.1728-1731,1744 A 2000-part working subsection of the activity sequence depicts a simplified version of Drexler’s register,
brass-geared Engine was demonstrated in 1832; an entire working omitting the reading mechanism.1743 Initially the register shows a 0
Difference Engine was reconstructed by historians in 1991, proving (black ball position in A) or a 1 (B). Then the barrier is lowered and
that Babbage’s design was sound.1732 In the 1840s, Thomas Fowler the ball wanders freely (C); entropy increases. The register is then
built and exhibited a calculating device using sliding rods made of reset to 0 by spring-rod compression, converting ~kT ln(2) joules
wood instead of metal.1733 Whereas Babbage’s engines used the of work into heat (D). To write a 0, the barrier is raised (E). To write
344 Nanomedicine • Volume I
a 1, the input rod at right is first extended and then the barrier is
raised (F); the input rod does work compressing the ball into the
spring, but this energy can be retrieved when the spring rod is Fig. 10.2. Schematic of nanomechanical rod logic data storage registers
retracted. Finally, the spring rod is retracted, returning the device to (modified from Drexler10 and Hall1743).
state (A) or (B).
Figure 10.3 illustrates a programmable logic array (PLA) using
knobbed rods (omitting several drive and spring systems for clarity)
to implement nanomechanical logic, which, in combination with
rod-based registers, can be used to build much of the control circuitry
for a CPU in a 1 GHz clocked computer system. For details of
operation, see Drexler.10 While a PLA system requires three successive
rod displacement cycles to compute a set of Boolean functions, the
functions AND, OR, and NOT can also be computed in a single
displacement cycle by employing a linkage in which any input rod
can displace the output rod without displacing any other input rod;
Figure 10.4 illustrates this alternative approach for an
asynchronous-input OR gate.
Drexler’s benchmark mechanical nanocomputer design has 106
interlock gates, 105 logic rods, 104 registers, an energy-buffering
flywheel and other components with total cubic volume (~400 nm)3,
mass ~10-16 kg, and total power ~ 60 nW, giving a power density of
~1012 watts/m3.10 Power dissipation per logic operation is ~0.013
zJ per gate per cycle, giving (including register dissipation) ~2 x 104
operations/sec-pW.10 Processing speed is ~109 operations/sec (~1
gigaflop) or ~1028 operations/sec-m3; assuming one bit per register,
processing speed is ~1013 bits/sec or ~1032 bits/sec-m3. In 1998,
the typical desktop PC operated at ~108 operations/sec. Cooling
is provided by a refrigerant fluid flowing through an integral fractal
plumbing system at near the speed of sound.10 Fig. 10.3. Schematic of programmable logic array (PLA) finite state
The most primitive 4-bit Intel 4004 microprocessor, introduced in machine implementing rod logic for a nanomechanical central
1971 for early-generation pocket calculators, had 2300 transistors. A processing unit (modified from Drexler10).
comparably simple early mechanical nanocomputer with 2000
interlock gates, 100 registers, and a 1 KHz clock speed could have a
volume as small as 36,000 nm3, a (~33 nm)3 cube, assuming 16 One major disadvantage of mechanical nanocomputers is that
nm3/gate and 40 nm3/register, and could process ~105 bits/sec. they will almost certainly be slower than nanoelectronic systems,
Basic Capabilities • Other Basic Capabilities 345
series of difficult and sensitive experiments1765,1767,1800 and theoretical off-resonance and reducing current ~50%. Although the STM tip
investigations1758-1761 during the 1990s answered this question could be replaced with a small in-situ piezoelectric gate, the ideal
affirmatively. Single molecule conduction was demonstrated by actuator would be a molecular-scale electromechanical actuator akin
Tour1766,1767 using a conducting molecule characterized by repeating to a logic rod; the major fundamental limit to the speed of this
structures—in this case, a series of benzene-like rings connected by switch is the natural mechanical vibrational resonance frequencies
acetylene linkages—each part of which is linked to the next by of a buckyball, ~1013 Hz.
bonds including many π-electrons above and below the plane of
the structure. These electrons in the π orbitals1818 conjugate with B. Linear Atomic Relay — Researchers at Hitachi Corporation1823
each other, or interact, to form a single large orbital throughout the simulated a two-state electronic switch wherein a mobile atom that
length of the wire to permit mobile electrons to flow.1778,1831 Thiol is not firmly attached to a substrate moves back and forth between
(-SH) functional groups at either end adsorb well to gold surfaces two terminals (Figure 10.5). If the switching atom is in place, the
and act as “alligator clips” for attaching molecular electronic units device conducts electricity; if the switching atom is displaced from
to metal substrates.1819,1764,1867-1870 Tour’s polyphenylene wires can the two wires, the resulting gap greatly reduces the current that can
carry ~nanoampere currents. Such molecular wires also have the flow through the atom wire. A small negative charge placed on the
desirable property that they can be made quite long, if necessary, third atom wire “gate” near the switching atom moves the switching
because they can be lengthened systematically using chemosynthetic atom out of its place in the wire; the switching atom is pulled back
methods.1766,1820 Another experiment using a single benzene ring into place by a second “reset” gate after each use of the switch.
attached between two gold electrodes through thiol groups across a Actual experiments approximating this design created a bistable atom
0.846-nm gap found a single-ring threshold resistance of ~20 switch using a xenon switching atom moving back and forth
megohm and a capacitance on the order of ~0.1 e2 / kT ~ 10-19 between an STM tip and a substrate,1807,1808 demonstrating that
farad.1811,1812,1837 the movement of a single atom can be the basis of a nanometer-scale
Fullerene carbon nanotubes (Section 2.3.2) or “buckytubes”1821 switch. In a more mature device, relays could be ~10 nm2 in size
are hollow cylindrical tubes, essentially rolled-up sheets of graphite, with a speed limited only by the intrinsic vibrational frequency of
measuring 1 nm in diameter that (in many chiral and composi- atoms, typically ~100 THz, but it seems likely that atom relays could
tional forms; Section 10.2.2.4) can conduct electricity. For instance, only operate at very low temperatures because not much energy
both individual 10-20 nm diameter carbon nanotubes1822,1844 and would be required to evaporate a switching atom off the substrate
atomic wires pulled from an unraveling carbon nanotube643 can and out of the plane of the atom wires, destroying the switch.1747
conduct currents of ~1-10 microamps (vs. nanoamps via tunnel-
ing). Maximum nanotube current density is ~1010-1011 amp/m2 C. Rotational Molecular Relay — A more reliable two-state
over a 0.2-6.0 volt range,1844,1857 superior to the ~109 amp/m2 typi- device based on atom movement uses the rotation of a molecular
cally achieved in superconductors. Nanotube resistivity measures group to affect an electric current. The switching atom is part of a
~8-20 ohm-m for straight tubes, ~38-49 ohm-m for slightly curved rotating group, or “rotamer,”1824 which itself is part of a larger
(5-30˚) tubes, and >100 ohm-m for highly curved (65-80˚) tubes.1844 molecule, perhaps affixed to the same surface as the atom wires.
Interestingly, electronic transport in carbon nanotubes is ballistic (e.g., Figure 10.6 is a conceptual diagram illustrating this approach,1747
like electron waveguides, permitting only a few propagating wherein the electric field of a nearby gate forces the switching atom
modes1308), with all waste heat being dissipated in the leads to the to rotate in or out of the atom wire. When the switching atom is
nanotube element and none in the nanotube itself.1857 Buckytubes “in,” wire conductance is high and the switch is “on”; when the
are stiff enough to serve as supports for molecular circuit elements, switching atom is “out,” a second group takes its place, hindering
and if filled with conducting metal can create one of the structur- current flow and turning the switch “off.” A third large group may
ally strongest nanowires that is chemically possible. (See also Sec- provide resistance to thermal free rotation. Alternatively, hydrogen
tion 10.2.2.4.) bonding might provide enough rotational resistance to stop the
Other 0.6-3 nm molecular wires,1767,1801,1802,1864 3-20 nm rotamer in the conducting position, but not so much that reversing
semiconductor wires,1843 and nanoscale metallic wires1740,1862,1863 the gate voltage would be insufficient to turn the rotamer. Controlled
have been studied as well. rotational state switching of a Pt-adsorbed oxygen molecule by STM
using 0.15-volt 20-microsec pulses was demonstrated in 1998.1874
10.2.2.2 Electromechanical Molecular Switching Devices While a rotating switch with a methyl-like rotamer group has
In 1998, the best-studied category of molecular electronics three distinct switch positions, a hinging switch that rotates back
device is probably the electromechanical molecular switch. This class
of switch employs electrically or mechanically applied forces to turn
a current on and off, either by changing the conformation of the
molecule1768 or by moving a switching molecule or group of atoms
in the manner of a gate.1805,1806 These switches are promising
because they could be laid down in a dense network on a solid
substrate, or in some cases in three-dimensional arrays; unfortunately,
no integrated CPU-scale designs have yet been attempted, although
plans for a half-adder1769 and a molecular shift register1750 have been
published. Some examples:
and forth between two distinct states might be preferable. Fig. 10.7. Hinging molecular relay switch.1747
Cyclohexane, a simple example of this kind of molecule, can bend
into two different forms, commonly known at the “boat” and “chair”
conformations.1809,1810 As shown schematically in Figure 10.7, a densities of ~0.01 nm-3 appear plausible. Other rotaxane shuttle
voltage on a nearby gate might force the cyclohexane switch into systems have been studied.1845,1846,2487,2522,2529,2530 In 1999, the first
one of its two conformations, affecting the conductivity of a nearby chemically-assembled rotaxane-based logic gate was demon-
atom wire. The cyclohexane-type molecule attaches to a molecular strated,3541 although the gates could be opened only irreversibly.
framework while the remaining ring carbons are replaced by groups
tailored to use steric repulsions or van der Waals attractions to 10.2.2.3 Field-Controlled Molecular Switching Devices
reduce undesired switching caused by thermal energy. Switch speed A second category of molecular electronics device that appears
is limited by molecular rotational and torsional frequencies, typically promising for the development of molecular nanoelectronic digital
~1-1000 GHz, which is slower than the atom relay but more reliable. computers is the electric-field controlled molecular switching
Also in contrast to the atom relay, molecular relays could be packed devices, including molecular quantum-effect devices. These are most
in three dimensions, possibly up to ~1 nm-3 densities. closely descended from the solid-state microelectronics and
nanoelectronic devices described earlier, and promise to be the fastest
D. Molecular Shuttle Switch — A rotaxane “shuttle switch” has and most densely integrated among all of the current alternatives. A
been synthesized by F. Stoddart’s group1805 that consists of one group at Purdue University has used self-assembly to fabricate and
ring-shaped molecule that encircles and slides along a shaft-like chain demonstrate functioning arrays of molecular electronic quantum
molecule (Figure 10.8). Two large terminal groups at confinement structures connected by molecular wires.1811,1812 As
either end of the shaft prevent the shuttle ring from slipping off the another example, J.M. Tour proposes embedding a quantum well
shaft. The shaft contains two other functional groups, a biphenol in a molecular wire by inserting pairs of barrier groups that break
group and a benzidine group, that serve as natural stations between the sequence of conjugated π-orbitals (Figure 10.9), forming a
which the shuttle moves. The shuttle molecule contains four posi- two-terminal molecular RTD;1747 other structures for three-terminal
tively charged functional groups that cause it to be attracted to shaft molecules have been suggested.1825 (In February 1999, Tour reported
sites with extra negative change, so the shuttle spends 84% of its the demonstration of RTD effects in the manner proposed above;
time at the benzidine station, which is a better electron donor than at press time, the paper was still in review [J.M. Tour, personal
the biphenol station. Removing an electron from the benzidine sta- communication, 1999].) Nondissipative (adiabatic) Thouless electron
tion forces the shuttle to switch to the other station; switching may pumping has also been described at 0.33 K.3189
be controlled chemically or electrochemically.1805 A charged gate Merkle and Drexler1097 consider a hypothetical “helical logic”
could be added at one or both ends to force the shuttle to move device in which a single electron can switch another single electron,
between stations, with switch state probed by arranging for the ring
to complete an electric circuit in one of its two positions.1747 Switch-
ing speed is slow, limited by the speed of electron transfer to and
from the benzidine station and the sluggish motion of the ring which
is ~106 times heavier than an electron, but three-dimensional packing
with 1 or 0 represented as the presence or absence of individual creating a two-state “buckyshuttle RAM” storage device.1308,2849
electrons. The electrons are constrained to move along helical paths, Such a device could store one bit of information in a ~10 nm3 volume,
driven by a rotating immersive electric field (normal to the helical a storage density of ~108 bits/micron3; the C60 thermal velocity of ~100
axis) that confines each charge carrier to a fraction of a turn of a m/sec at 310 K inside a ~10 nm memory element gives a typical
single helical loop, moving it like water in an Archimedean screw. A read/write time of ~0.1 nanosec. In early 1999, Kwon and colleagues2951
logic operation involves two helices, one of which splits into two reported that finely dispersed 4-6 nm diamond powder thermally
“descendant” helices. At the point of divergence, differences in the annealed by heating in a graphite crucible under argon at 1800˚C
electrostatic potential resulting from the presence or absence of a for 1 hour produced oblong multiwall carbon nanostructures which
carrier in the adjacent helix control the direction taken by a carrier in some cases could move around inside each other, like C60 trapped
in the splitting helix; the sequence is reversible, allowing two initially within C480. Kwon noted that there are potential energy minima at
distinct helical paths to merge into a single outgoing helical path either end, so a charged buckyball (e.g., an enclosed ion) could be
without forcing a dissipative transition. Energy dissipation at ~10 shuttled with an applied electric field, which could be used for
GHz is ~10-6 zJ/gate-cycle at an operating temperature of 1 K. memory storage. Computational simulation of writing a bit showed
that the interior buckyball neatly shuttled to the correct end, then
10.2.2.4 Other Molecular Electronic Devices gently bounced to rest in ~0.01 nanosec (i.e., ~100 GHz operation)
Other classes of molecular electronic devices have been studied, dissipating only ~10 kT in the C480. Kwon proposed a high density
including picosecond photoactive or photochromic molecular memory board using aligned buckyshuttles in a hexagonal lattice
switching devices1777-1783,1835,1836 using light, and electrochemical with addressing wires above and below, not unlike a ferrite core memory;
molecular devices1803,1805 using electrochemical reactions, to change the memory would likely be nonvolatile at room temperature, with
the shape, orientation, or electron configuration of a molecule in mass production based on self-assembly.
order to switch a current. However, photoactive devices in a dense
network would require an NSOM-like emitter (Section 4.8.4) to 10.2.2.5 Molecular Electrostatic Field Computers
switch individually, since optical photon pathways are not easily In 1998, bulk semiconductor technology typically required
confined at length scales very much below optical wavelengths of ~16,000 electrons to transfer one bit of information.1981 SET and
~500-1000 nm; electrochemical molecular devices might require related techniques described above promise to reduce this to ~1
immersion in solvent to operate.1747 electron per bit. But a “traditional” molecular electronics
Fullerenes exhibit a wide range of quantized conductivities that nanocomputer with a mean gate density of ~1 nm-3 operating at
may be useful in nanoelectronic computers.1821,2120 For example, ~10 GHz and using single electrons to transport, indicate, fetch, or
chemisorption alters properties: 3 alkali dopant atoms per C60 represent a binary digit would move ~1 coul/sec of electrons (~1
buckyball gives high conductivity, while none or 6 dopant atoms amp at ~1 volt, or ~1 watt) through a 1 micron3 CPU, producing
gives an insulator.1826 Buckytube conductivity also varies with an untenable ~1018 watt/m3 power density, compared to ~1012 watts/
mechanical stress and torsion, 1844,1872 tube diameter, and other m3 for the nanomechanical CPU described in Section 10.2.1.
geometrical parameters.1852-1854,1821 Depending upon the direction In order to reclaim this factor of 106, Tour and Seminario1879,1981
of the nanotube chiral vector, carbon nanotubes may be either conclude that a molecular CPU must operate by electrostatic
metallic or semiconducting.1847,1848 Suitably-sized, doped, flexed, interactions rather than by electron currents, using intermolecular
stressed, or chiralized fullerenes could be nested to make insulated “talk” to efficiently transfer a bit using only ~10-6 electron.1517 This
wires1829 or joined to make nanoelectronic computer compo- charge-density approach is already well-known in biology, where
nents1821,1858-1861,1876-1878 including resistors with quantized “staircase” enzyme-ligand recognition is mediated by hydrogen bonding or van
resistance of nh/2e2, n = 1, 2, ... (e is electronic charge, h is Planck’s der Waals interactions, working through the electric fields of the
constant),1857 two-terminal devices such as diodes,1838,1873 three- molecules even though no formal charge transfer occurs. Similarly,
or four-terminal devices such as heterojunction, 1828,1849,1858 in an electrostatic nanocomputer the input signal is initiated by
TUBEFET,1875 or thin-film1827 transistors, and gates that introduce bringing up a charge to one end of the molecular device, thus
electric fields.641,1850 A single-molecule transistor using semicon- reshaping the local charge density. That molecular device, in turn,
ducting buckytubes has been demonstrated experimentally at perturbs the electrostatic field of an adjacent molecular device,
room temperature. 2276 rearranging its electron density in <10-15 sec,1981 and so the electro-
Carbon nanotubes have been cut to length, size-sorted by field static field perturbation is propagated without charge transfer: “These
flow fractionation, their open ends derivatized with thiol groups movements of electrons (wave-particle entities) in the molecular
and then tethered to 10-nm gold particle “junction boxes” which AFM orbitals (or circuits) are performed without any dissipation of
images show can connect together at least two separate energy (stationary states).”1981 Perturbation pulses may have an
tubes.1525,2713 If the tethering process can be spatially controlled energy magnitude similar to those of van der Waals interactions
using DNA complementarity (Section 10.2.3) or by other means, (Section 3.5.1). The hypothetical electrostatic molecular logic
then fullerene nanoelectronic circuit elements could be device shown in Figure 10.10 serves as an OR gate if the output is
assembled into three-dimensional CPU-like structures. P. Collins1873 active (as a potential) or as a NOR gate if the output is passive (as
expects an all-carbon 8-bit adder with nanometer dimensions by an impedance) if positive logic is used, or an AND or NAND gate
the year 2002, and J.C. Ellenbogen of MITRE Corp. has designed if negative logic is used.1879
a molecular half-adder that measures ~10 nm x 10 nm in size.2275 Gates at input/output interfaces must still be able to receive or
This research area was extremely active in 1998. to drive signals from standard electronic circuits, but the vast
Fullerenes may also allow compact memory devices. For example, majority of molecular gates would lie within the molecular CPU
it has long been speculated that a ~1 nm buckyball encapsulated in and could process information by controllably affecting the electro-
a ~1 nm diameter nanotube segment may glide freely back and forth, static potential of neighboring molecules. Such devices would likely
trapped weakly in each end cap by van der Waals forces. An external shift the hardware/software equilibrium towards hardware, with
voltage could nudge a charged C60 molecule to one end of the other, massively wired-logic supplanting programmed-logic computing,
Basic Capabilities • Other Basic Capabilities 349
“wires”) comprises a set of designed DNA sequences that determine research has shown that the approach can be applied to a much
which proteins are being synthesized and which combinations of wider class of digital computations.1898-1902 The well-known problem
proteins can inhibit the synthesis of others. of combinatorial explosion (e.g., even a small protein of 300 amino
In the most optimistic case, we assume operation near con- acids has a sequence space of 10390) leading to huge-volume DNA
centrations of cprot ~ 10-4 gm/cm3 (similar to most complement libraries during a complex computation may be avoided using a
factors and some clotting factors in human blood; Appendix B), recursive selection approach1899 crudely analogous to genetic algorithms.
marker proteins and gating enzymes of mass MW prot ~ 10 Some work has been done using plasmids and restriction endo-
kilodaltons, and a minimum of Nprot ~ 100 protein molecules per nucleases to implement a DNA-based Turing machine, using only
gate, giving a typical logic element size of Vgate ~ Nprot MWprot / NA commercially available restriction enzymes and ligases for every
cprot ~ 0.02 micron3/gate where NA is Avogadro’s number. Flip-flop operation with states represented as sequences of bases around a
registers may store ~50 bits/micron3. In theory, the DNA specifica- plasmid,1886 and Warren Smith has another Turing machine design
tions for this computer could be grafted onto the genome of an using the chemistry of guide RNAs in Trypanosome kinetoplasts.3701
animal cell (~20 micron3 = up to 1000 gate volumes) or a bacterial Practical challenges include finding fast, efficient, and low-noise
cell (~2 micron3 = up to 100 gate volumes), taking care to avoid any input and output techniques.1902,2331
unwanted interactions with natural biochemical pathways. Minimum DNA computation is in theory energetically efficient, requiring
diffusion-limited gating time across a biochemical gate of charac- only ~12 kT per ligation operation at room temperature, with
teristic dimension ∆X ~ Vgate1/3 is given by Eqn. 9.80 as τ = ∆X2 / 2 massively parallel operations although each ligation reaction requires
D~ 0.3 millisec assuming protein marker diffusivity ~1 sec to complete.1896 DNA data representation allows up to
D~ 10 -10 m2/sec (Table 3-3), consistent with ~KHz maximum ~1 bit/nm3 storage density.1895 However, a practical mass storage
operating frequencies when DNA is localized near the gates. For device would probably require 10-100 nucleotide-long words to
nucleoplasmic DNA with cytoplasmic computation, avoid ambiguities during the recall process,1903 thus reducing
diffusion-limited maximum switching frequency falls to ~0.1-1 Hz. maximum density to 107-108 bits/micron3, though of course some
For comparison with natural systems, genes controlling the of this reduction could be offset by reducing read rate requirements
fibroblast cell proliferation program have been observed to switch (e.g., by using multiple read heads with majority logic).
states in ~900 sec,2683 implying computation at ~0.001 Hz.
Other classes of biochemically-modulated biomolecular switches 10.2.3.2 Biomechanical Computers
have been investigated. For example, Matthews1929 incorporated an Components of mechanical computers could be constructed
artificial molecular on-off switch into an enzyme by adding a pair entirely of biologically-derived materials which in theory might be
of thiol groups into the active site of native lysozyme, replacing two fabricated using synthesis pathways accessible to engineered
amino acids on opposite side of the active site with cysteine, an microbiota. For example, Drexler’s mechanical nanocomputer 10
amino acid with a thiol-containing side chain. Thiols may form assumes diamondoid logic rods with a Young’s modulus of E = 5 x 1011
covalent bridges (-SS-) or broken bridges (-SH HS-) under suitable N/m2, but the Young’s modulus for human bone hydroxyapatite and
chemical conditions. Cycling the solution composition causes the fluoroapatite crystals is almost as high, with E ~ 1-2 x 1011 N/m2
cysteines to form a bridge across the active site (inactivating the (Table 9.3). Ignoring the significant problems inherent in
enzyme) or to break the bridge (activating the enzyme); the process noneutactic rod logic systems, apatite-based mechanical computer
is completely reversible. Another experiment1930 involved genetic structures might be laid down using engineered osteocytes, perhaps
modification to the bacterial phage lambda, a virus with two assisted by chemotactic or contact guidance techniques. Failure
behavioral states called lytic (replication-active) and lysogenic strength of apatites is ~100 times poorer than for diamond, so apatite
(replication-inactive). The NIH researchers installed a synthetic logic rod force and acceleration should be reduced by ~100 and rod
molecular switch1976 in lambda that allows the virus to be bio- vibrational energy by ~104, increasing minimum switching time by
chemically toggled between its lysogenic and lytic phases by the a factor of ~10 (to ~1 nanosec) and decreasing maximum rod speed
introduction of active HIV-1 protease. The genetic circuit that to ~1 m/sec.
controls the phage lambda lysis-lysogeny decision has been N. Seeman has constructed molecular building blocks from
flowcharted in detail using Boolean logic operators.223 The immu- unusual DNA motifs (Section 2.3.1), using stable-branched DNA
nological synapse3453—the specialized junction between a T cell and molecules with the connectivity of a cube1914 or a truncated octahe-
an antigen-presenting cell—acts as a kind of biochemical logic gate dron.1915 E. Winfree1919 has proposed using arrays of DNA crossover
with a ~0.06 Hz switching rate.3453-3455 molecules1920 in DNA-based computing, requiring the ability to
In 1998, the DNA molecule also was being actively investigated build periodic backbones with bases differing from one unit cell to
for biochemical computers. DNA-based Turing machines were first another. In addition to branching topology, DNA also allows control
proposed by C.H. Bennett and R. Landauer.296,1894 In 1994, of linking topology. DNA-based topological control has led to the
L. Adelman demonstrated the first DNA computer1895,1896 using construction of Borromean rings which could be used in DNA-based
fragments of DNA to compute the solution to a simple graph theory computing applications.1916-1918 In Borromean rings, the linkage
problem. Adleman used short DNA sequences to represent vertices between any pair of rings disappears in the absence of the third.
of a network, or graph. Combinations of these sequences were then Rings can be designed with an arbitrary number of circles; the
synthesized randomly by massively parallel chemical reactions in integrity of a link could represent the truth of each of a group of
aqueous solution using a combination of the copying and com- logical statements.1916
bination reactions applied to the artificial DNA strands, comprising DNA structural transitions could be used to drive
all possible random paths through the graph, after which a sequence nanomechanical devices via branch migration.1916 Application of
representing the designed result was biochemically extracted from torque to a cruciform leads to the extrusion or intrusion of a
the stew. cruciform.1921 A synthetic branched junction with two opposite
Initially it was thought that DNA computing would be limited arms linked can relocate its branch point in response to positive
to the solution of combinatorial problems,1897 but subsequent ethidium-induced supercoiling, representing the first experimental
Basic Capabilities • Other Basic Capabilities 351
step in developing DNA structural transitions that can achieve a polyaniline, which includes nitrogen atoms in the backbone, and
nanomechanical result.1922 The possible use of the B-Z transition polythiophene, which includes sulfur. 1833 Three-dimensional
(e.g., from right-handed B-DNA to left-handed Z-DNA) in interconnect arrays of organic conducting polymers have been
nanomechanical devices is being explored.2409 fabricated;1839 conductivity is higher along a chain than between
In 1998, Winfree and colleagues in Seeman’s laboratory1970 chains, so sheets of oriented chains can produce relative conductivity
described a simple, predictable, highly precise technique for anisotropies as high as 100-1000.1927 An all-plastic transistor has
arranging DNA molecules into two-dimensional crystals. At the been built.1935 Organic transistors have been used as the active
same time, a paper by Heath and others 1980 described a semiconducting element in thin-film transistors fabricated with
defect-tolerant computer architecture called the Teramac, a massively organic-material thicknesses ranging from 5-150 nm,1842 and
parallel experimental computer which apparently could operate organic microscale transistors and other organic devices may
normally with at least half of its most critical components failed. exploit bulk-effect electron transport just like silicon-based semi-
The authors claimed this architecture showed it would be “feasible conductor devices.1923 Conjugated polymer poly(1,6-heptadiester)
to chemically synthesize individual [molecular] electronic components was employed to make an optical correlator with a peak processing
with less than a 100% yield, assemble them into systems with rate of 3 x 1016 operations/sec.1841 Spin-transition polymers could
appreciable uncertainty in their connectivity, and still create a serve as thermal sensors or memory devices with the theoretical ability
powerful and reliable data communications network.” to store one bit in a ~4 nm cube (~2 x 107 bits/micron3 storage
One can also imagine a network of interlocking enzymelike density) with ~GHz addressing speeds at room temperature.1840
conformational switches, possibly embedded in a semirigid two- or Other organic polymers possibly useful in logic circuits have been
three-dimensional scaffolding of DNA1904,1913-1916 or protein1905,1913 investigated.2899
molecules. Enzymes may display multivalent feedback inhibition Natural biological materials may also be useful in electronic
(making a NAND gate; Section 10.2.3.1) or may have multiple computing,1777,1925,3129 particularly because of the ability of bio-
metal-ion binding sites influencing enzymatic action;1928 an enzyme logical materials to self-assemble. Biomolecular electronics is a
requiring two conformational changes to inhibit its action could subfield of molecular electronics that investigates the use of native
serve as a biomechanical NAND gate if tethered to other similar as well as modified biological molecules (chromophores, proteins,
enzymes in an appropriately structured protein array. 1905 etc.) in place of the organic molecules synthesized in the laboratory.1777
Single-device error rates will be high but might be reduced to In theory, a three-dimensional DNA or protein scaffolding could
acceptable levels by employing short multiply-redundant pathways be self-assembled, with bacteriorhodopsin, ferritin and magnetite,
for each digital computational operation, or a sufficiently parallel or related bioelectromagnetic molecules inserted into precise locations
architecture.1980 Site-directed mutagenesis optimization of antibodies within the structure to produce a crystal lattice bioelectronic or
has shown that natural proteins can be made significantly stiffer and biooptoelectronic nanocomputer. DNA already has been used as an
more stable by the mutation of just a few amino acids. Systems of atomic scaffold upon which to build silver wires ~100 nm in
reciprocating actomyosin molecular motors (e.g., as found in muscle diameter 1961 and has been decorated with fullerenes. 3024
fibers; Section 6.3.4.2) might serve as interdigitating components Self-assembly can generate membrane-based 1931,1932 and
of a push-pull mechanical logic architecture resembling rod logic or biotubule-based1926 devices, and site-directed mutagenesis is a
a three-dimensional loom. In early 1999, Viola Vogel (University of valuable tool for high-resolution protein device engineering.1933
Washington Center for Nanotechnology) and colleagues discovered, Nucleotide sequence-specific electron transfer between
via computer simulation, a tension-activated fully-reversible bio- metallic electron donor and acceptor complexes covalently or
mechanical switch comprised of a single strand of fibronectin noncovalently intercalated into strands of B-DNA has been dem-
protein—like untying a shoelace, a slight mechanical tug unravels onstrated. 1934
a folded segment, switching off the protein’s biochemical activity.3249 Perhaps the best-known bioelectronic (and biochemical) computer
Mechanical coupling of intracellular Ca++ ion release channels is the neuron cell and its congeries—the ganglia, nerve trunks, and
allows coordinated voltage gating across the surface membrane of brains. In 1997, David Stenger (NRL) and James Hickman (SAIC)
the sarcoplasmic reticulum inside muscle cells.1964 R. Bradbury were attempting to culture and link together neuronal cells to build
[personal communication, 1999] suggests that site-directed a bioelectronic cell-based sensor “computer” for performing complex
mutagenesis could produce a family of proteins that could be activated pattern-recognition tasks.1966,1967 In early 1999, W.L. Ditto at Georgia
by the release of various mono- (e.g., K+), di- (e.g., Ca++), and Tech announced the creation of a biological computer comprised
tri-valent (e.g., Al+++) ions. This would allow multivalued logic (e.g., entirely of leech neurons, that was capable of perfoming simple
K = 1, Ca = 2, Al = 4), or increased parallelism or bandwidth (e.g., sums.3245 We can certainly imagine large numbers of cultured neurons
Ca = !(K & K), Al = !(Ca & Ca), etc.); once a protein exists that can arranged in artificial three-dimensional spatial patterns to produce
be activated by a single ion, then varying its architecture to allow a synthetic bioneural computer, but such a computer would operate at
substitution of an ion of different size or charge is a relatively straight- only ~KHz frequencies and would be very energy inefficient since
forward engineering exercise. A biomechanical Turing machine each neuron consumes ~1010 kT per discharge (Section 4.8.6.2)—
design has also been reported by Shapiro.3247 thus offering few advantages.
2. maximize algorithmic efficiency (e.g., super-Turing comput- 2. eliminate entropy loss in operations that do not erase bits.
ers), 1910,3176 and
Many reviews of reversible computing have been pub-
3. minimize power dissipation per computation operation, an lished.296,713,1097,1743,1988,1989
objective which may be met using reversible computing.
10.2.4.2 Quantum Computers
It is also interesting to consider the maximum possible information
Digital computers manipulate discrete units of information, with
density in physical matter as a calibration for current and projected
data strings stored as binary digits, or bits. Any two-state physical
achievements.
system (e.g., high or low voltages in semiconductor circuits) can
represent these bits. Similarly, a quantum computer would use
10.2.4.1 Reversible Computers
quantum states of atomic or molecular systems to store data. For
Computers may be thought of as engines for transforming free
example, the states of a hydrogen atom could be assigned such that
energy into waste heat and mathematical work.296 Early pioneers of
a wavefunction corresponding to a state of hydrogen would represent a
computing theory1984,1985 believed that each step in a a computer’s
bit of data. Shining laser light on the atoms would trigger processing
binary computation required a minimum energy expenditure of ~kT
the data by inducing transitions between electronic states.
ln(2) ~3 zJ/bit at T = 310 K. In 1961, R. Landauer1986 argued that
Quantum systems, however, exhibit a peculiar phenomenon
it was the erasure of information, not computation per se, that gen-
known as superposition, in which several discrete states can be
erates waste heat. It is now known that computers can in principle do
processed by a single physical system at once, crudely analogous to
an arbitrarily large amount of reliable computation per kT of en-
the musical effect of a single note being made up of many different
ergy dissipated.296 Following Landauer’s insight, Fredkin and
harmonics.1259 Superposition gives quantum systems the potential
Toffoli1987 suggested an idealized “ballistic computer” that could,
to be enormously more powerful than conventional computers. Since
in theory, compute at finite speed with zero energy dissipation and
more than one state can be supported, quantum bits, or qubits,
zero error. A more pragmatic family of models are the “Brownian
may store a mixture of many bits of data at the same time. A
computers”296 in which thermal noise pushes system elements in a
superposition of N qubits can store 2N binary digits. An operation on
random walk throughout the entire accessible portion of the
these mixtures is massively parallel, effectively performing many
computer’s configuration space; in these models, energy dissipation
calculations simultaneously. For example, photons interacting with
trends to zero only in the limit of zero speed. Both ballistic and
an atom in a superposition of states drive all the states in the
Brownian computers require that all computations are logically
superposition, producing another superposition corresponding to
reversible, with no irreversible bit erasures and no machine state
all solutions of the original states. The advantage over conventional
having more than one logical predecessor—that is, the output
computers is not merely linear, but exponential: A conventional
uniquely specifies the input.10
processor operates sequentially on 64-bit numbers, but a quantum
One simple implementation of reversible computing is the
computer with 64 qubits would simultaneously operate on the full
retractile cascade.10,296,1743 In a retractile cascade, all inputs and all
set of 264 (~1019) binary values. An N-qubit quantum computer
intermediate states leading to a result are retained during the course
could model an N-body system in real time6; in contrast, the number
of a computation. After the computation is complete, the final
of operations required by a conventional computer to perform such
result is copied to an output register, requiring the irreversible erasure
a simulation increases exponentially with the number of bodies.
of only enough bits in the output register to hold a copy of the final
Since the early 1980s, theoretical interest in quantum computing
result, which need cost no more than kT ln(2) per erased bit. The
has developed rapidly. 6,1996-2004,2013 Many groups have begun
computation is then reversed, step by step, culminating with the
designing quantum computational architectures and constructing
original inputs; the slower the reversible steps are performed, the physical quantum gates and devices. In 1995, one group at NIST
less energy they may dissipate (but the longer the computation takes). made a controlled NOT gate of two qubits from a cooled beryllium
Schematics for a retractile AND gate, adder, shifter, and programmable ion in a radio-frequency trap,2005 while a French group used single
logic array have been published,1743 and in 1998 a reversible processor photons trapped in quantum cavities to control cesium atom
based on a modern RISC architecture was being designed.1994 A states.2006 In 1999, experiments began on an analog quantum
conventional computer architecture, implemented without regard computer using electrons floating on liquid helium.3276 Others work
to reversibility, may perform 0.1-1 bit erasures/gate-cycle; by compari- with NMR techniques,2007,2008,2014 storing data not in electron states
son, a retractile computer might average <10 -4 bit erasures/ but in nuclear spins, which are less susceptible to perturbations.2002
gate-cycle.1743 During the reversible portion of the computation, Resonance effects between proton and electron spins in hydrogen
Drexler’s exemplar rod logic design (Section 10.2.1) employs a atoms can make AND and NOT gates, hence NAND gates, from
retractile cascade that reduces room-temperature energy dissipation which all Boolean computers can be made. It has been suggested
from the “classical” minimum of ~0.7 kT down to ~0.003 kT per that by encoding the amplitudes of a couple of thousand electron
gate-cycle. In the limit of slow motion, all identified energy dissipation states in a superposition, large amounts of data could be written
mechanisms in combinatorial rod logic systems approach zero.10 onto a single atom (see Section 10.2.4.3). The discovery of certain
The Tour-Seminario electrostatic field switch might attain ~10-5 error-correcting procedures,2003 since verified experimentally,2141 was
kT per gate-cycle at room temperature; low-temperature helical logic another important breakthrough. Unlike conventional devices, it is not
(Section 10.2.2.3) could achieve ~10 -7 kT per gate-cycle. possible to simply check that qubits are in the right states,
Feynman1996 notes that the minimum free energy required for a because the act of measuring destroys the coherence. But Shor2009 proved
reversible computation may be made independent of the complexity that information can be reliably stored and read from a several qubit
or number of steps in the calculation, and may be as small as ~kT system even if one of the bits is corrupted, and it has been shown that
per bit of the output answer. error correction can be applied during the computation process itself.2010
J.S. Hall1743 suggests two principal design rules for efficient This opens the door to many-qubit systems; by 1998, two groups had
nanocomputers: already performed 4-bit sums, and one group had demonstrated a
1. erase as few bits as possible, and 2-qubit device.2329 Quantum game theory has also been investigated.2867
Basic Capabilities • Other Basic Capabilities 353
10.2.4.3 Bekenstein-Bounded Computation for $7,500 as kidnap deterrence for “the rich and famous,” that sup-
A fundamental upper limit on the number of possible quantum posedly emitted a personal tracking signal detectable by satellite.3702
states in a bounded region (e.g., the maximum number of bits that
can be coded in a bounded region)—is given by the Bekenstein 10.3 Pressure Storage and Ballasting
Bound1990 as: Storage of gases at high pressure is useful for nanorobots that
must perform physiological gas transport functions1400 (Chapters
2πER {Eqn. 10.10} 22 and 26) or emergency reactive functions (Chapter 24), for
I Bek = (bits)
h c ln(2) devices which employ gases in onboard energy systems (Chapter 6),
or for devices which require gaseous chemicals for onboard
within a spherical region of radius R containing energy E = mc2 materials processing (Chapter 19). Pressurized gases are useful in
where m is the enclosed mass, c = 3 x 108 m/sec (speed of light), and buoyancy maintenance to facilitate device exfusion from the
= h / 2 π where h = 6.63 x 10-34 joule-sec (Planck’s constant). human body (Section 10.3.6), and possibly in the deactivation of
Maximum processing speed I is then bounded by the minimum toxic biochemicals or microbial pathogens (Table 10.3). Keeping a
time for a state transition, which cannot be less than the time eutactic environment10 inside nanodevices requires the ability to
required for light to cross the region of radius R, or: draw and to maintain a vacuum (Section 10.3.5). This ability also
may assist in metamorphic bumper (Section 5.4) and buoyancy
πE {Eqn. 10.11} control.
İ Bek = (bits/sec)
h ln (2)
10.3.1 Fluid Storage Tank Scaling
Thus in theory, a single carbon atom of mass m = 2 x 10-26 kg and The ability of a vessel to store fluids at high pressure is determined
radius R ~ 0.15 nm could be impressed with up to IBek ~ 108 bits by the rupture strength of the valve and pipe systems and by the
and could process information up to IBek ~ 1026 bits/sec in an tensile strength of the tank walls. A symmetric structural shell
optimally-designed quantum computer. For a 1 micron3 computer transmitting only normal stresses in orthogonal directions may
of mass ~10-15 kg, IBek ~ 1022 bits maximum storage capacity and employ either a stressed skin or a ribbed design. The stressed skin is
IBek ~ 1037 bits/sec maximum processing capacity. These values are more efficient because the same material carries stress in both
not the least upper limits; Schiffer and Bekenstein1991 estimate that directions and there is integral resistance to secondary torsional
the Bekenstein Bound probably overestimates I and I by at least a and bending loads.2023 For a stressed skin spherical pressure vessel
factor of 100, but Likharev1992 and Margolus and Levitin2319 have of radius R with wall material of density ρwall and working stress σw,
derived similar limits. In 1998, proposed reversible quantum computer containing fluid at pressure differential pfluid, the required wall
systems would perform significantly below the Bekenstein thickness twall is given by:2023
Bound.1993,1994
p fluid R {Eqn. 10.12}
10.2.5 Dedicated Computational Organs t wall =
2 ( σ w − g ρ wall R)
Nanostructured artificial organs specializing in control,
information processing, or data storage could be permanently where g = 9.81 m/sec2 (acceleration of gravity). For all but the most
embedded within the human body. Such organs could provide a enormous macroscale tanks, the second term in the denominator is
user-accessible computational facility, or help coordinate and control negligible and so the maximum pressure differential that can be
(or even subsume) the activities of in vivo medical nanorobots or restrained by a spherical microscale tank without bursting is:
other dedicated nano-organs, including energy (Section 6.4.4),
communications (Section 7.3.4), navigation (Section 8.3.6), or 2 t wall σ w
chronometer (Section 10.1.4) systems. Computational organs could p max sph = {Eqn. 10.13}
R
also serve as embedded data repositories (library nodules), including
personal medical and experiential records,2958,2959 customized cal- Thus a tank of radius R = 1 micron made of diamondoid walls
endars and personal data banks, or as communications encryption which are twall = 5 nm (~30 carbon atoms) thick with σw = 1010 N/
and security interfaces. m2 (~0.2 times the failure strength of diamond; Table 9.3) can store
In 1998, microchips glued to honeybees3727 or implanted under fluids up to a maximum pressure differential of pmaxsph = 1000 atm.
the skin of livestock and household pets contained owner/address Empty tank mass is Mtank ~ 4 π ρwall twall R2 = (4 π ρwall / 2 σw)
information that could be retrieved by passing a reading wand over pmaxsph R3, for twall << R. A spherical fullerene nanotank with
the animal (e.g., Pet Trac, manufactured by A.V.I.D. Identification defect-free single-carbon walls (twall ~ 0.34 nm thick), pressurized
Systems; Norco, California). Read-only microchips with identification to pmaxsph ~ 1000 atm differential, must have R 67 nm or it may
numbers for individual cattle were encased in acid-resistant porcelain burst.
and inserted into an animal’s stomach ten days after birth. These Similarly, for a cylinder or pipe of radius R:
chips could be read by a handheld computer or a stationary reader;
Shearwell Data, which sold the chips for $6 each, planned to adapt t wall σ w
p max cyl = {Eqn. 10.14}
them to communicate with global positioning satellites so that farmers R
could remotely track herd movements.3037 Peter Cochrane2958 notes
that a colleague (Kevin Warwick) has had a computer chip embed- Note that a hemispherical-capped cylindrical tank, pressurized
ded under his skin,3324 bearing such personal information as medical until it explodes, will usually split its sides before blowing off its
records and bank account and passport numbers. There were also ends because pmaxsph = 2 pmax cyl. Wall stress for a cylindrical tube with
unconfirmed rumors of a subdermally-implanted bio-powered (4 Young’s modulus E, inside radius R and wall thickness twall upon which
milliamp) 16 mm2 transmitter chip called Sky-Eye, sold by Gen-Etics is imposed a pressure differential of pcyl is ~ pcyl R / twall,362 giving a
354 Nanomedicine • Volume I
wall strain of S ~ pcyl R / twall E; hence a single-walled carbon nanotube where A is a measure of intermolecular attraction and B is a measure of
with R = 20 nm, twall ~ 0.2 nm, and E ~ 1012 N/m2 pressurized to pcyl finite molecular volumes. The van der Waals gas “constants,” given
= 1000 atm stretches by S ~ 1%. (For comparison, aluminum soda pop in Table 10.1 for various gases, are known to vary slightly with tem-
cans are pressurized to ~2 atm differential, beer cans ~1 atm.)3703 perature. Nevertheless, while Eqn. 10.18 is only one of several
For a toroid tank of small meridional radius r and large circumfer- expressions commonly employed to represent real gas behavior, it is
ential (hoop direction) radius R, the burst pressure in the the simplest to use and to interpret. The van der Waals equation
meridional (pmax merid) and hoop (pmax hoop) directions are:2023 remains approximately valid even at temperatures and molar volumes
so low that the gas has become a liquid.1031 Note that the critical
t wall σ w temperature Tcrit, the highest temperature at which gas and liquid
p max merid = {Eqn. 10.15}
r may exist as separate phases at any pressure, is approximated by Tcrit
= 8 c1 A / 27 B Rgas, where c1 = 1.01 x 105 J/m3-atm and Rgas = 8.31
2 t wall σ w J/mole-K; critical pressure pcrit = A / 27 B2.390 For example, in the
p max hoop = {Eqn. 10.16} case of water, at temperatures and pressures above Tcrit = 647.3 K
r
and pcrit = 218.3 atm,763 the vapor and liquid phases become indistin-
Hence as pressure is raised, the toroidal tank fails first in the guishable.
meridional direction, much like the capped cylinder. The boiling point of a pure liquid as a function of pressure may
Spherical pressure vessels are the most efficient. The maximum be approximated by:2036
mass of gas that can be contained within a spherical tank at ideal
gas pressures (Section 10.3.2) is Mgas ~ (4 π NA mgas / 3 Rgas Tgas) p ∆H vap 1 1
ln 2 = − {Eqn. 10.19}
pmax R3, where NA = 6.023 x 10 23 molecules/mole (Avogadro’s p1 R gas T1 T2
number), m gas is the mass per gas molecule, Rgas = 8.31 J/mole-K
(universal gas constant), and Tgas is gas temperature. Thus we where T1 and T2 are the boiling points (in K) at pressures p1 and p2,
observe that the ratio of gas mass to structural mass (Mgas/Mtank) at respectively, ∆Hvap is the molar heat of vaporization for the liquid (Table
a given pressure is constant and independent of the size of the tank. 10.8), and Rgas = 8.31 J/mole-K. (This formula assumes that ∆Hvap
This ratio reaches a maximum value at maximum pressurization; is constant over the temperature range from T1 to T2.) Taking T1 =
the maximum value is independent of both tank size and the 373.16 K, ∆Hvap = 40,690 J/mole, and p1 = 1 atm for water, then at
maximum pressure selected (within the ideal gas range). In particular, p2 = 6.4 atm the boiling point has risen to T2 = 435 K. Boiling
Mgas/Mtank ~ 2 σw NA mgas / 3 Rgas Tgas ρwall ~ 21 for nitrogen gas point also is altered by the presence of solute (Section 10.5.3).
molecules (mgas = 4.65 x 10-26 kg/molecule) stored at temperature Table 10.2 shows the molecular number density achieved inside
Tgas = 310 K. That is, the tank can store up to ~21 times its weight gas storage vessels maintained at various pressures at Tgas = 310 K.
of gas. Note that there are significant (near-linear) gains in gas molecule
Other important microtank design constraints include diffusion packing density up to 1000 atm, minor (non-linear) gains up to
leakage and vessel flammability (Section 10.3.4), vapor pressure of 10,000 atm, and no significant gain at >100,000 atm as density
tank materials at high temperatures (Section 10.3.5), thermal approaches a limiting value for the liquid or solid state. Table 10.2
cycling during filling and discharging operations (Section 5.3.3), also shows that pressures calculated using the ideal gas law vary from
resistance to mechanical crushing, and susceptibility to acoustic pressures calculated using the van der Waals equation by ~5% at
resonances (e.g., the natural frequency of an rsph ~ 1 micron hollow 100 atm and ~50% at 1000 atm.*
diamondoid sphere is of order ~vsound / rsph ~ 20 GHz, fortunately One early experiment provided evidence of stably trapped (Section
much higher than most nanomedically useful frequencies). 10.3.4) room-temperature gases at ~1300 atm pressure inside carbon
where pgas, Vgas and n are gas pressure, volume, and number of moles,
respectively. However, all real gases deviate to some extent from the
ideal gas law, even at STP. Most real gases obey the ideal gas law to
within a few percent at low densities—that is, at low pressures (e.g.,
1 atm) and at temperatures well above their condensation points.
For real gases at high pressure, finite molecular volumes and inter-
molecular attractions cause significant deviation from the ideal gas
law. In 1873, J.D. van der Waals deduced an empirical equation of
state (subsequently derived from statistical mechanics using suitable
approximations1031) that reproduces the observed behavior of real
gases with moderate accuracy:
Fig. 10.11. Phase diagram for water and ice (stable phases
A n2 only).2053,2054
(p gas + 2
Vgas
( )
) Vgas − B n = n R gas Tgas {Eqn. 10.18}
Basic Capabilities • Other Basic Capabilities 355
A B
Gas Molecule Chemical Formula (m6-atm/mole2) (m3/mole)
Table 10.2. Gas Molecules Packed into a Pressure Vessel: Number Density as a Function of Pressure at 310 K,
using the Van der Waals Equation
nanotubes.1169 Single-walled carbon nanotubes have been experimen- in nanomedical systems. Perhaps the most familiar is phase change,
tally charged with trapped hydrogen gas up to 5-10% by weight,2024 as illustrated by Figure 10.11 in the case of water.2039,2040 Note that
and with argon gas at ~600 atm.2034 as pressure rises from 1 atm to 2054 atm, the temperature at which
water remains liquid dips from 273.2 K to 251.2 K (the Ice I/III/
10.3.3 Pressure-Altered Physical Properties water triple point,2962), but then the liquidity threshold returns to
It is only possible here to briefly mention the many higher temperatures as pressure rises further and a different ice phase
pressure-mediated changes of physical properties that may be relevant forms; D2O shows similar behavior.2960 At a constant 310 K (37˚C),
* For comparison, pressures of ~1000 atm occur naturally in the deepest part of the ocean (the Marianas Trench), ~10,000 atm at the crust-mantle interface (the Mohorovic
discontinuity), 3.64 million atm at the Earth’s core, and ~109 atm at the center of the Sun.
356 Nanomedicine • Volume I
isothermal static compression of pure liquid water causes crystalliza- volumes of the solution and the component substances.2048 For
tion from the liquid to solid Ice VI near ~11,500 atm. Unlike water, example, raising the pressure from 1 atm to 1000 atm only increases
most materials contract upon freezing, thus freezing point is normally the 298 K aqueous solubility of sodium chloride from 359 gm/liter
raised by higher pressure. For example, the melting point of paraffin to 370 gm/liter.2036 Room temperature liquid carbon dioxide at ~200
wax is 319.8 K at 1 atm but rises to 323.1 K at 100 atm.1697 atm pressure (~753 kg/m3 at 310 K) has been used for decades as a
At 273 K, gaseous carbon dioxide compressed to 35 atm suddenly nontoxic solvent in chemical processing, such as the process for
liquefies; at 300 K, pressurized CO2 remains liquid up to ~4500 extraction of caffeine from coffee pioneered by General Foods; a
atm, whereupon it solidifies.2035 However, Tcrit = 304.2 K for CO2, microemulsion of aqueous micelles in liquid carbon dioxide extends
so if the gas is stored in pressure vessels at 310 K (human body solvation to proteins which are normally insoluble in pure CO2.2049
temperature) > Tcrit, the physical properties change continuously, There are many other effects of elevated pressures. For example,
showing no sign that the gas has condensed to a liquid, the speed of sound generally increases with higher pressure (e.g., by
although over ~200 atm the fluid behaves like carbon dioxide liquid.2036 ~0.25 (m/sec)/atm in water near 1 atm; Section 4.5.1). As another
CO2 compressed to 400,000 atm at 1800 K forms a translucent example, very highly compressed materials may enter a metallic
quartzlike extended covalent solid that is metastable down to ~room (electrically conducting) state (e.g., room temperature cesium
temperature at pressures >10,000 atm. 3181 Other gases of iodide becomes metallic at ~1.15 million atm2052).
nanomedical interest such as oxygen (Tcrit = 154.4 K), nitrogen (Tcrit There are also significant effects of elevated pressures on biology.3218
= 126.1 K), hydrogen (Tcrit = 33.3 K), and helium (Tcrit = 5.3 K) The summary in Table 10.3 suggests that the largest biological cells
show a similar continuous progression of gas/liquid properties at are harmed by pressures under 1000 atm; small cells and viruses
310 K with rising pressure. Helium solidifies to ~1000 kg/m3 crystals may be inactivated at a few thousand atm; antigens, toxins, enzymes,
at 115,000 atm at 297 K.2037 Room temperature isopropyl alcohol and other proteins are deactivated or denatured near ~10,000 atm
solidifies into a glassy state at ~44,000 atm, while a 4:1 methanol/ of pressure.585 (See also Section 10.4.2.3.) Microbial death at >2000
ethanol mixture remains hydrostatic up to 104,000 atm. 2051 atm is considered to be due to changes in the permeability of cell
Hydrogen solidifies at 57,000 atm at 298 K, making 600 kg/m3 membranes.3106 Protein denaturation occurs at higher pressures
crystals;568 solid deuterium at 300 K compacts from ~620 kg/m3 at because noncovalent bonds are destroyed or formed as system volume
100,000 atm to ~1400 kg/m3 at 1 million atm.2038 declines.3107 Proteins, carbohydrates and nucleic acids, whose tertiary
Vessel wall materials also are subject to pressure changes. Diamond structures are composed of noncovalent bonds, change their structures
crystal plastically deforms at a pressure of only ~1 atm at ~1773 K, at pressures between 2000-10,000 atm, leading to denaturation,
but at ~1300 K, ductile flow in diamond requires pressures >60,000 coagulation, or gelatinization; covalent bonds in pure substances
atm.2041 At room temperature the diamond {111} surface compressed usually do not undergo changes at these pressures.3106 Irreversible
in the {110} direction is indented by pressures 880,000 atm; effects on biological materials are generally observed at pressures
compression of the {001} surface requires 560,000-1 million atm >1000-2000 atm.3106 Most of the challenges presented by very high
for indentation, depending upon the direction of the applied pressures as described in this Section can be avoided by conservatively
load.1597 Colorless diamond takes on a light brown coloration restricting nanomedical storage vessels to a maximum operating
between 1.0-1.7 million atm, a probable crystallographic phase pressure of ~1000 atm.
transition.2043 The equilibrium phase diagram for the carbon system
suggests that graphite could begin to be converted to diamond at 10.3.4 Vessel Leakage and Flammability
room temperature as low as 20,000 atm, although pressures of Drexler10 estimates that valve, gasket or seal mechanisms with
50,000-65,000 atm at 1600-2000 K are employed for commercial opposing faces at an equilibrium separation of 0.3 nm should
diamond production in combination with Group VIII metal cata- experience a negligible fluid leakage rate at elevated pressures for all
lysts,537,2042 and experiments show that graphite transforms to a atoms or molecules except helium. In the case of helium at 300 K,
transparent (but nondiamond) phase at ~180,000 atm at room the estimated leakage rate of ~10-15 atoms/nm-sec through a seal
temperature.2856 Fullerenes are also susceptible to allotropic change opposing a ~10-5 atm head pressure (~1020 atoms/m3) rises to ~10-7
at high pressure—nonhydrostatic compression of C60 molecules atoms/nm-sec at a ~1000 atm head pressure (~1028 atoms/m3)10.
induces a transformation to diamond above ~150,000 atm,2044 and Thus at 1000 atm, the mean waiting time for a seal of length 100
bulk C60 converts into two different metastable structures (e.g., nm to pass a single He atom is ~105 sec (~1 day), which is an
face-centered cubic at 600-700 K and rhombohedral at 800-1100 extremely slow leakage rate given that a 1 micron3 pressure vessel at
K) at 50,000 atm.2045 Computer simulations suggest that an “arm- 1000 atm contains ~1010 helium atoms (Table 10.2). Positive ions
chair” carbon nanotube can tolerate ~106 atm for ~10 years before such as Li+ and Be++ have smaller radii than helium atoms and thus
failing.2957 As for sapphire and ruby (primarily corundum or Al2O3), could in theory pass more easily than helium through a seal, but
no structural transformations were observed in an x-ray diffraction these ions will rarely be found in large numbers outside a solvating
study of ruby compressed to 1.75 million atm at room temperature,2046 liquid environment.10
a similar study found a polymorphic phase transformation at pressures Gases might also leak out by diffusion through pressure vessel
as low as 850,000 atm when the ruby was heated above ~1000 K.2047 walls. Hydrogen has the highest coefficient of diffusion of all the
Finally, while negative volume compressibility is thermodynamically gases (Table 3.3). H2 readily diffuses through porous substances
forbidden, lanthanum niobate crystals and several other materials such as clay, rubber, and even quartz and silica at elevated tem-
display negative linear or areal compressibilities—that is, they peratures. Gases may diffuse through conventional metals, which
expand in one or two directions (while maintaining constant volume) have numerous defects, dislocations and grain boundaries, and
when hydrostatic pressure is applied.1297 through silicate glasses, which have open irregular structures that
The solubility of gases in liquids strongly increases with pressure permit substantial diffusion of helium.10 Hydrogen also dissolves
(Section 9.2.6), but the effect of pressure on solubility of crystalline in and diffuses through the metals of the nickel, palladium and
or liquid substances in liquids is usually very small and may be platinum groups. For example, Pd may dissolve ~900 volumes of
predicted by Le Chatelier’s principle since it depends on the relative H2 at 293 K and 1 atm, and diffusion through a palladium thimble
Basic Capabilities • Other Basic Capabilities 357
Cell Division:
Eggs (Arbacia) 100-400 Progressive reversible solation of gelated cortical cytoplasm
Eggs (annelid, echinoderm, vertebrate) 100-500 Cleavage-inhibiting pressure, increases with temperature (5-30˚C)
Eggs, misc. marine 200-400 Reversible inhibition of cleavage
Eggs (Urechis) 300-400 Reversible solation of spindles and asters; chromosome movement stopped
Eggs (Arabacia) 400 Reversible regression of cleavage furrows and cortical plasmagel solation
Eggs (Ascaria) 800 Exceptionally resistant to pressure; division not inhibited
Cell Physiology:
Amoeba population growth 136-340 Severely depressed; reversible after >1 day at top pressure
Ciliary movement 200-400 Reversible increase in beat frequency with rise in pressure
Contraction of pigment cells (fish) 200-400 Contraction phase reversibly inhibited; totally inhibited at higher pressures
Protoplasmic streaming (Elodea) 200-400 Solation of cytoplasm; streaming slowed, stopped at 400 atm; reversible
Protoplasmic streaming (Pelomyxa) 200-400 Solation of plasmagel; streaming stopped
Amoeboid movement (A. proteus) 200-500 Reversible plasmagel solation; pseudopodia collapsed; movement stopped
Heart rate (cultured tissue, frog) 300 Retardation at lower temperatures; acceleration at higher temperatures
Cells/Tissues:
Erythrocytes 500-3000 Rounded
Carcinoma (Brown-Pearce) 1000 Resistant
Chick heart (embryonic tissue) 1000-1850 Reduction of subsequent growth in culture
Sarcoma transplants (rat) 1800 Inactivated
Carcinoma (Brown-Pearce) 1800 Transplantability destroyed
Erythrocytes 5000 Disintegrated
Bacteria/Fungi:
Staphylococci and colon bacteria 3000 Unaffected
Bacillus anthracis 3000 Partial loss of virulence; death of vegetative cells
Streptococci 3000 Killed or retarded in growth
E. coli 3800 Inactivated after 10-minute exposure
Yeast cells 4000-6000 Death, preceded by cytoplasmic flocculation or coagulation
Bacteria (various species) 5000 Vegetative cells killed
Bacterial spores 12,000 Killed
Viruses:
Rous sarcoma, Shope papilloma 1800 Tumors delayed
Staphylococci bacteriophage 2000 Inactivated
Yellow fever (monkey) 3000 Slightly attenuated
Herpes (rabbit) 3000 Inactivated
Tobacco necrosis 3000-5000 Inactivated
Rabies (rabbit) 4000 Attenuated
Papilloma Sarcoma filtrate 4000 No tumors
Avian pest (fowl plague) 4000 Inactivated, but retained antigenicity
Foot and mouth disease 4000 Inactivated
Vaccimia (rabbit) 4500 Inactivated
Rabies (rabbit) 5000 Inactivated
Bacteriophage (B. megatherium) 7000 Inactivated
Bacteriophage (B. subtilis, B. typhosa) 7000 Inactivated
Encephalomyelitis (rabbit) 7000 Inactivated
Tobacco mosaic virus 7500 Inactivated; coagulated
Antigens/Antibodies:
Tuberculin, Cobra venom 13,500 Not destroyed; lethality unchanged
Equine tetanus antitoxin 13,500 Gelated; partially inactivated
Diphtheria toxin 13,500 Partially destroyed
Tetanus toxin 13,500 Greatly attenuated or inactivated
Diphtheria toxin 17,600 Mostly destroyed
Enzymes:
Ribonucleode polymerase 6000 Reversible diminution in activity
Pepsin, Rennin 6000-7600 Inactivated or largely inactivated
Chymotrypsinogen, Trypsin 7600 Partially inactivated
Amylase, Lipase, Sucrase, Lactase 8000-15,000 Some completely, others partially inactivated
Proteins:
Gelatin 2000 Gelation accelerated
Gelatin gel 3000 Water squeezed out
Equine serum globulin 3000-13,000 Gelated
Soy protein 4000 Completely coagulated
Egg albumin 5000 Slight stiffening
Egg albumin 7000 Completely coagulated
Egg albumin 7500 Denatured and coagulated; SH groups exposed
Carboxyhemoglobin 9000 Coagulated
Insulin 10,000 Coagulated, but not physiologically inactivated
358 Nanomedicine • Volume I
is often used in the laboratory to purify hydrogen gas. H2 diffusion will not buckle. Such a hull has a mass ~60 times greater than the
through bulk metals has been widely studied.2056,2057 mass of the displaced air.
However, diffusion leakage through defect-free pressure vessel How fast can the vacuum be established? Consider a cubical
walls comprised of diamond, graphene, or corundum should be vessel of volume V box = L box 3 = 1 micron 3 containing gas at
negligible. “It is difficult to see how a molecule can pass through molecular number density ngas, which is to be evacuated. Molecular
these materials without undergoing a reactive transformation.” 10 sorting rotors (Section 3.4.2) are embedded in the six walls, with
The energy required to move atomic hydrogen from free space into each rotor mechanism of area Arotor = 100 nm2 having at least one
a minimum-energy site in diamond is thermally prohibitive (800 binding site of area Areceptor = 0.1 nm2 always exposed to the box
zJ),2055 and the required energy is even higher for molecular hydrogen. interior. There are Nrotor = (6 Lbox2 / Arotor) = 60,000 sorting rotors
Room temperature gases at ~1300 atm1169 and argon gas at ~600 in the box walls. Gas molecules of thermal velocity vthermal (Eqn.
atm2034 have been stably trapped inside carbon nanotubes, and 3.3) nearest the walls travel one mean free path λgas (Eqn. 9.23) and
confirmed by computer simulations,3212-3215and helium atoms at impact a rotor mechanism. On average, after Arotor/Areceptor impacts
energies up to ~5 eV (~800 zJ) cannot penetrate a graphene sheet. a binding site is hit; after nencounter = 10 independent hits, the mol-
Ruby (corundum) is commonly used in diamond anvil experiments ecule is finally captured by the receptor. Thus the time required
in which hydrogen is compressed to pressures >106 atm with no for a receptor to capture a gas molecule is tbind ~ nencounter λgas Arotor
apparent leakage.2043 Thus it appears that essentially leakproof pressure / vthermal Areceptor and the time required to evacuate the box is
vessel walls can be constructed, although no computational studies approximately:
of diamond/sapphire interfaces had been performed by 1998 [D.W.
Brenner, personal communication, 1999]. Double-walled structures n gas Vbox t bind n gas n encounter λ gas L box A 2rotor
with an intervening space containing either getter materials or a pumped t vac ~ =
N rotor 6 v thermal A receptor
vacuum may be used, if necessary, for added safety.10
Microscopic pressure vessels comprised of diamond and filled {Eqn. 10.21}
with compressed hydrogen or oxygen are potentially flammable, At 1 atm and 310 K, ngas = 2.4 x 10 molecules/m3 (Table 10.2)
25
even explosive. However, the chemical energy contained within a and λgas = 200 nm; for pressures <0.2 atm, λgas ~ Lbox in the ballistic
volume scales as ~L3 while the dissipation of that energy during an regime. Taking λgas ~ 1 micron and vthermal = 490 m/sec for O2 at
explosive event (e.g., pressure, heat, light) occurs across a surface 310 K gives tbind ~ 20 microsec and the box is evacuated in tvac ~ 10
which scales as ~L2, hence energy dissipation per unit area (and millisec. Note that for microscale vessels at atmospheric pressure,
thus the relative impact of an explosion on the local environment) tvac scales as ~Lbox2.
scales as ~L-1 which implies declining severity at smaller device sizes Tank wall material sublimates into the vacuum, the solid establish-
(Chapter 17). For example, a liter of nitroglycerine produces a blast ing equilibrium with its vapor at a temperature-dependent vapor
intensity of ~108 J/m2, while a spherical 1 micron3 of nitroglycerine pressure. However, this process produces negligible effluent at
gives only ~103 J/m2 upon decomposition. moderate temperatures for likely nanorobot building materials. A
Heat from operating valves is small and is rapidly conducted volumetric number density of one wall-material atom per micron3
away in a diamondoid structure. Corundum employed at all structure/ of vacuum, representing a minimum detectable contamination in a
oxidant interfaces virtually eliminates device combustibility. Even ~1 micron3 box, equals a contaminant partial pressure of 4 x 10-8
for bulk diamond in contact with pure oxygen gas at 1000 atm, the atm. To reach this vapor pressure, carbon must be heated to 2480
time required to etch a single layer of carbon atoms of thickness K, aluminum to 1040 K (liquid), silver and corundum (e.g., ruby,
~0.17 nm at 310 K may be crudely estimated from Eqn. 9.55 as sapphire) to 800 K, and even zinc (a soft, low melting point, metal)
~1011 years; at 400 K, the atomic-layer etch time is still ~400 years. to 500 K.763 At 310 K, the vapor pressure of tank-wall carbon is
Further discussion of possible nanodevice combustibility is deferred only ~10-116 atm, aluminum ~10-39 atm, corundum ~10-19 atm,
to Chapter 17. and zinc ~10-16 atm. Many organic materials evaporate or sublimate
more readily. At a vapor pressure of 0.001 atm, ethanol (C2H5OH)
10.3.5 Vacuum Pumping and Storage vaporizes at or above 241.9 K, vs. 253 K for water-ice, 259.2 K for
It will frequently be necessary to establish and maintain vacuum octane (C8H18), 313.1 K for phenol (C6H5OH), but 426.8 K for
conditions inside nanorobots. Vacuum-enclosing shells were briefly palmitic acid (CH3(CH2)14COOH), a typical fatty acid.763 A
considered in Section 9.5.3.3 and were found incapable of providing water-ice surface exposed to hard vacuum sublimates at the rate of
sufficient buoyant lift in normal air due to buckling 6.5 nm/day at 134 K, 1.4 microns/day at 152 K, and 1.2 mm/day
instabilities. However, nanoscale pressure hulls capable of retaining at 183 K.2320
vacuum may be surprisingly thin-walled. In the simplest case, consider
a circular cylindrical diamondoid tube of inside radius rtube, wall 10.3.6 Buoyancy Control and Nanapheresis
thickness htube, Young’s modulus E = 1.05 x 1012 N/m2 and Poisson’s Another design issue that may arise when operating in an aqueous
ratio cPoisson ~ 0.1.10 When the relative external pressure on the hull medium is buoyancy, which can readily be controlled by loading or
is so large that the cylinder becomes neutrally unstable, a small unloading ballast. At the extremes, a diamondoid sphere of radius 500
deformation into an elliptical cylinder is possible. The critical pressure nm and wall thickness 5 nm may range in density from ~100 kg/m3 if
of buckling is given by:361 filled with vacuum to ~3000 kg/m3 if densely packed with diamondoid
machinery. Placed in blood plasma, these spheres would rise at ~0.5
E h3tube {Eqn. 10.20} micron/sec or fall at ~1 micron/sec, respectively, relative to the local
p crit = 3
4 rtube 2
(1 − cPoisson ) gravity field, according to Stokes’ Law for Sedimentation (Eqn. 3.10),
taking ρplasma = 1025 kg/m3 and plasma absolute viscosity as ηplasma =
Taking rtube = 500 nm and pcrit 1 atm for a vacuum vessel surrounded 1.1 x 10-3 kg/m-sec at 310 K. This range of speeds lies near the low end
by normal atmospheric pressure, a hull thickness of htube 3.7 nm of cytonatation velocities (0.1-10 microns/sec; Section 9.4.6) and well
Basic Capabilities • Other Basic Capabilities 359
below the maximum sanguinatation velocity (~10,000 microns/sec; At high stress levels, including sharp pH changes or high toxin
Section 9.4.2.6), which suggests that buoyancy control is unlikely to levels (Section 10.4.1.4), or high agitation rates,2061 cells may die
play a significant role during routine in vivo nanorobot locomotion. instantly by necrosis,2291,2292 largely because they have no time to
By comparison, the small difference in density between individual respond to the stimulus. In necrotic cytocide, neighboring cells are
red blood cells (1100 kg/m3) and blood plasma at 310 K causes showered with cellular debris as the necrotic cell swells and lyses, an
them to settle out of suspension at a slightly faster 1-3 microns/sec event likely to cause wider injury and a process to be avoided in
depending on hematocrit (the volumetric percentage of blood nanomedical situations wherever possible.
occupied by red cells, typically ~46% in humans; Section 9.4.1.2) At intermediate levels of cell stress, the cell is injured but not
and degree of RBC aggregation. Free-floating natural erythrocytes killed, and so has time to activate its own suicide program.2060 The
appear unhandicapped by their faster settling rate, so active ballast contents of the dying cell are retained within sealed vesicles until
management for free-floating artificial nanorobots is probably removed through phagocytosis, thus the cell dies in a controlled
unnecessary in normal operations. and tissue-friendly way.
However, once a therapeutic purpose is completed it may be At low levels of environmental stress, cells can, for example, switch
desirable to extract artificial devices from circulation. Active ballast on the production of heat shock proteins which helps them to survive
control may be extremely useful during nanorobot exfusion from until the stress is removed,2060 largely by accelerating the refolding
the blood, particularly in the case of simpler devices which are of proteins which have been damaged by heat and some other
incapable of removing themselves from the body (Chapter 16). insults. Similarly, UV radiation activates a DNA damage response,
Blood to be cleared may be passed from the patient to a specialized cell starvation activates the proteasome protein-recycling response,
centrifugation apparatus analogous to an apheresis circuit such as a and glucocorticoids might activate responses to eliminate all
cytapheresis or plasmapheresis system. In nanapheresis, acoustic non-essential functions.
transmitters command passing nanorobots to establish neutral Of course, once a certain stress threshold is passed and survival is
buoyancy. No other solid blood component can maintain exact deemed impossible, death by apoptosis ensues. Nanomedical
neutral buoyancy, hence those other components precipitate outward bio-cytocidal instrumentalities should seek to dispose of cells by
during the gentle centrifugation and are drawn off and added back apoptotic methods (Section 10.4.1.1), or by functionally equivalent
to filtered plasma on the other side of the apparatus. Meanwhile, techniques such as phagocytic flagging (Section 10.4.1.2) or cell
after a period of centrifugation, the plasma, containing mostly division arrest (Section 10.4.1.3).
suspended nanorobots but few other solids, is drawn off through a
simple filter, removing the devices as residue. Plasma filtrate is 10.4.1.1 Apoptosis
then recombined with centrifuged solid components and returned It is believed that all nucleated (eukaryotic) cells of all multi-
undamaged to the patient’s body. cellular life on Earth incorporate an evolutionarily conserved
self-destruct mechanism called programmed cell death, cell suicide,
10.4 Cytocide and Virucide or simply apoptosis. Scattered reports on cell death have appeared
The objective of nanomedical treatment is often cell repair or in the literature (and were initially disbelieved) for more than a
replacement (Chapter 21). However, it will frequently be necessary century, but advances in cytochemistry in the 1980s and early 1990s
for medical nanorobots to destroy foreign viruses and pathogenic stimulated an explosion of interest in apoptosis, with ~2500 papers
bacteria, protozoa, or metazoan parasites. It may also become necessary published during 1989-19942062 and ~20,000 publications during
to eliminate native human tissue cells that have grown too 1994-1998.2065
numerous in a local region, cells that have adopted or developed Exactly what is apoptosis? Programmed cell death is the outcome of
major pathological, teratological or other undesirable patterns, or a programmed intracellular cascade of genetically determined steps.
which have been too severely traumatized to permit efficient repair. During apoptosis, the eukaryotic cell disassembles its DNA and
There are at least two classes of nanomedical cytocidal breaks up its contents into membrane-wrapped packets which can
instrumentalities that may be employed to rid the human body of then be cleared away without causing inflammation. Animals use
unwanted cells. The first may be termed the biochemical approach apoptosis to eliminate extraneous, virus-infected, or otherwise
(Section 10.4.1), including methods which may take up to hours or dangerous cells.2075 Apoptosis plays a central role both in development
days to proceed to completion with acceptable reliability. Biochemical and in homeostasis of metazoans. Cells die by apoptosis in the
methods can require relatively modest technological sophistication developing embryo during morphogenesis or synaptogenesis, and
to implement—an important consideration in the early years of in the adult animal during tissue turnover in the skin or gut or at
nanomedical device development. The second method may be the end of an immune response. Tight coupling of cell death and
termed the mechanical approach (Section 10.4.2), which may cell multiplication ensures in some tissues a constant, controlled
require only seconds or minutes to proceed to completion with very flux of fresh cells which are crucial to the preservation and optimal
high reliability, but which involves more sophisticated functioning of the adult organism.2065 Such tissues include those
nanomechanisms that might only be available in a mature which are environmentally exposed, inside or outside, primarily
nanomedical technology environment. epithelial tissue and severely insulted liver tissue, plus cells involved
in reproductive function.
10.4.1 Biochemical Cytocide and Virucide Apoptosis requires specialized machinery. The central component
Biochemical cytocide involves the killing of pathogenic cells of this machinery is an irreversible proteolytic system involving a
using biochemical, cytochemical, or other means which cause the family of protein-chopping enzymes now called “caspases” from
cell to die a “natural,” though perhaps highly accelerated, death. Any “cysteine-containing aspartate-specific proteases” (aka ICE or
agent or set of conditions that stresses the metabolism or normal Interleukin-1β-Converting Enzyme). Caspases are expressed as
response mechanisms of a cell may trigger the process of apoptosis, 30-50 kD proenzymes with an NH2-terminal domain, a large ~20
or programmed cell death, but the level of stress is crucial.2060 kD subunit, and a small ~10 kD subunit.2068 These enzymes
360 Nanomedicine • Volume I
participate in a cascade that is triggered in response to proapoptotic motifs.2089 For example, caspase-3 recognizes DEVD sequences and,
signals and culminates in cleavage of a set of proteins, ultimately during apoptosis, cleaves and inactivates several significant cellular
resulting in an orderly disassembly of the cell.2068 proteins in the cytosol, nucleus and cytoskeleton.2090-2092 Caspases
Such complex proteolytic systems involve a combination of participate in apoptosis “in a manner reminiscent of a well-planned
regulatory proteases, cofactors, feedbacks, and thresholds that and executed military operation;”2068 they:
converge to control the activity of an effector protease, which in
turn carries out the function of the whole process.2071 These systems 1. cut off contacts with surrounding cells, so the cell balls up;
keep the effector protease inactive but are able to rapidly activate
2. import calcium,2075 strongly complexing phosphates;
large amounts of it in response to minute quantities of an appropriate
inducer.2068 Survival signals from the cell’s environment and internal 3. shut down DNA replication and repair, interrupt splicing,
cellular integrity sensors normally hold a cell’s apoptotic machinery disrupt the nuclear structure and condense the chromatin;
in check.
Four kinds of events can trigger a suicidal cascade in a eukaryote.2069 4. induce the loss of microvilli;2093
First, if a cell loses its normal contact with its surroundings or sustains 5. destroy cellular DNA by mobilizing apoptotic-unique
irreparable internal damage, then that cell initiates apoptosis. Second, nucleases2091,2092 to cleave the double helix at regular intervals
a cell that simultaneously receives conflicting signals driving or in an orderly fashion, first into large fragments of 300-750
attenuating its division cycle also undertakes apoptosis.2074 Third, kilobases, followed by fragments of ~50 kilobases, then finally
the immune system can actively direct individual cells to self-destruct, oligonucleosomal length DNA fragments of ~200 base
an event called “instructive” apoptosis.2076-2078 Fourth, perhaps a pairs2062-2064 (giving a characteristic pattern by gel electrophoresis
majority of all apoptosis occurs during gestation and development, called “DNA laddering”2094);
probably in response to external signal molecules or to a lack of
sufficient levels of molecular signal gradients involved in biostructural 6. reorganize the cytoskeleton;
development regulation. 7. induce the cell to display signals in the outer membrane that mark
Death receptors 2069 —cell surface receptors that transmit the cell for phagocytosis by neighboring cells or macrophages;2095
apoptosis signals initiated by specific death ligands—play a central
role in instructive apoptosis. Death receptors can activate death 8. induce downstream blocking of mitochondrial respiratory chain
caspases within seconds of ligand binding, causing the apoptotic components, resulting in mitochondrial malfunction (via
demise of the cell within hours.2069 Death receptors belong to the transcriptional induction of redox related genes, the formation of
tumor necrosis factor (TNF) receptor gene superfamily. (TNF is reactive oxygen species, and finally the oxidative degradation of
produced mainly by activated macrophages and T cells in response mitochondrial components2072,2073 including dissipation of
to an infection.2079) The death receptors contain a homologous mitochondrial inner transmembrane potential and the release
cytoplasmic sequence termed the “death domain.”2080,2081 Death of cytochrome c through the outer mitochondrial membrane2162),
domains enable death receptors to engage the cell’s apoptotic with lysosomal involvement;2293
machinery, and mediate functions that are distinct from or even 9. initiate membrane blebbing (surface blisters) and cell shrinkage;
counteract apoptosis.2069 In 1998, the best characterized death and finally
receptors were CD95 (aka Fas2066 or Apo1) and CD120a (aka
TNFR1, Tumor Necrosis Factor Receptor 1, or p55), but others 10. disassemble the cell into multiple membrane-enclosed vesicles
were known including avian CAR1, Death Receptor 3 (DR3; aka called apoptotic bodies without destroying organelle membranes.
Apo3, WSL-1, TRAMP, LARD), DR4, and DR5 (aka Apo2,
In vivo, this process culminates with the engulfment and
TRAIL-R2, TRICK-2, KILLER).2069
phagocytization of apoptotic bodies by other cells, preventing
When a caspase cascade is triggered, the first task is to inactivate
inflammation and other complications that would result from a
proteins that protect living cells from apoptosis.2068 This accomplished,
release of intracellular contents. These changes occur in a predict-
caspases next begin the direct disassembly of cell structure. One
example is the destruction of the nuclear lamina (Section 8.5.4.3), able, reproducible sequence and can be completed within 30-60
the rigid structure underlying the nuclear membrane that is involved minutes.2068
in chromatin organization. Lamina is formed by head-to-tail polymers Many different ways of activating the apoptotic process are known
of intermediate filament proteins called lamins (Section 8.5.3.11). or suspected.2096 Simple detachment of tissue cells from all contacts
During apoptosis, lamins are cleaved at a single site by caspases, with the ECM1553 or manipulation of cell shape718 have been shown
causing the lamina to collapse, contributing to chromatin con- to induce apoptosis experimentally. Apoptosis can also be indirectly
densation.2082,2083 initiated by a variety of cellular insults that can damage DNA,
Caspases also reorganize cell structures indirectly by cleaving including ultraviolet- and x-irradiation, hypoxia, and chemo-
several proteins involved in cytoskeletal regulation, including therapeutic neoplastic drugs (e.g., alkylating agents such as nitrogen
gelsolin,2084 focal adhesion kinase (FAK),2085 and p21-activated mustard derivatives, antimetabolites and plant alkaloids) which
kinase 2 (PAK2).2086 Cleavage of these proteins results in deregulation inflict cell damage that is then translated via the Bcl-2 protein
of their activity.2068 Dissociation of regulatory and effector domains family2097 through several poorly understood steps into activation
is another hallmark of caspase function. For example, they inactivate of caspase-9.2068 Proteins that sense DNA damage and help trigger
or deregulate proteins involved in DNA repair (such as DNA-PKcs), apoptosis also affect the cell cycle—stopping cell division so the
mRNA splicing (such as U1-70K), and DNA replication (such as damage can be repaired or making the decision (with the activation
replication factor C).2087,2088 of tumor suppressor p53) that the damage has gone too far and the
In 1998, 13 mammalian caspases—named caspase-1 to cell must die.2074 B and T lymphocytes undergo apoptosis in
caspase-13—were known.2067,2068 Caspases cut their substrate proteins response to anti-IgM antibodies and dexamethasone (a glucocorticoid),
at tetrapeptide sites with high specificity and with characteristic respectively.2098 The cell death program can also be activated by
Basic Capabilities • Other Basic Capabilities 361
inhibition of proteasome function,2099 or by infection with a wide Other processes of programmed cell death that may be distinct from
variety of viruses.2118 either apoptosis or necrosis have been reported in lung fibroblasts,2108
Caspases can be directly activated by two distinct intracellular the caspase-free yeast Saccharomyces cerevisiae, 2097 and other
mechanisms that interact with the death receptor complexes. First, cells.2109-2112 In 1998, apoptosis had not yet been reported in
because all caspases have similar cleavage specificity, the simplest any bacterial species, nor was it expected because conventional
way to activate a procaspase is to expose it to a previously activated evolutionary logic does not favor the emergence of cell suicide in the
caspase molecule. This caspase cascade is used extensively by cells case of obligate single-celled organisms.2073,2074 Autolysis has been
for the activation of the downstream effector caspases: caspase-3, reported in bacteria in specialized circumstances,2113-2115,3704 includ-
caspase-6, and caspase-7.2068 ing addiction modules3318-3320 and phage exclusion,3320-3322 though
A second method for activating caspases is the use of apoptotic these cases, while sometimes termed “programmed cell
chaperones, which herd together inactive proenzymes to increase death,”2113,3705-3709 all involve a (messy) necrotic cytocidal outcome
their local concentration and ease them into conformations that or self-damage short of cell death, rather than a (clean) apoptotic
promote their activation. This “induced proximity” was first cytocidal outcome. Apoptosis also is not found in viruses.
observed in caspase-8 (aka FLICE, MACH), an initiator caspase It is theoretically possible that an artificial plasmid could be
that acts downstream of the CD95 death receptor.2069 Upon trimeric designed that embodies an engineered self-contained apoptotic system
ligand binding, CD95 receptor molecules are aggregated into a capable of unleashing a non-necrotic cell death process inside a
membrane-bound complex. This signaling complex recruits, via the prokaryote. A single such proapoptotic artificial plasmid (similar to
receptor-bound adaptor protein FADD (Fas-Associated protein with artificial chromosomes,2432 already in use by 1998) could then be
Death Domain; aka Mort-12100), several procaspase-8 molecules, injected into the target bacterium, giving the desired clean cytocidal
resulting in a high local concentration of procaspase-8. Under these outcome. R. Bradbury suggests the following useful components:
conditions, the low protease activity inherent to procaspases is
sufficient to drive intermolecular proteolytic activation of the 1. a restriction enzyme to fragment the bacterial DNA, that is
receptor-associated procaspase-8 molecules.2068 Proximity-induced effective against that specific bacteria;
activation may also be used to activate caspase-9.2101 Procaspase-9
2. DNase to digest the DNA entirely, if not already present;
activation involves a complex with the cofactor Apaf-1 through the
CARD (Caspase Recruitment Domain), but activation of caspase-9 3. RNase to digest the RNA entirely; if not already present;
also requires cytochrome c (released into the cytosol by mito-
chondria2073) and deoxyadenosine triphosphate, indicating that 4. one or more proteases such as trypsin, to digest internal proteins;
caspase activation may require multiple cofactors. and
Death receptors can be expressed on both normal and cancerous 5. one or more lipases to digest any lipids.
cells in the human body, so the challenge for conventional drug-based
therapy is to find some way to activate death receptors selectively A lambda-phage container holding an engineered vector with only
on cancer cells only.2068,2069 For medical nanorobots, such selectivity the first two capabilities could still effectively “neuter” the bacterium.
should be simple and routine using multiple chemosensors (Section Such a biorobot could be relatively harmless to eukaryotic cells,
4.2), a benefit that is characteristic of most nanorobot-based assuming its enzymes lacked nuclear localization targeting sequences;
therapeutics. If caspase cascade amplification is sufficient to permit cleanup could be effectively handled by the immune system.
single-site activation of the cascade, then in theory an extracellular Bradbury also suggests another approach—using a DNA replication
nanorobot intending cytocide could press onto the outer surface of blocker such as antisense DNA polymerase, in combination with a
a target cell an appropriate ligand display tool. This tool might contain mitotic promoter, to induce the cell to attempt to divide forever
suitably exposed trimeric CD95L (aka FasL2066) ligand (binds to while lacking any DNA in the progeny. Essential biomolecules would
the extracellular domains of three CD95 death receptors), TNF or eventually be diluted to such a low level that growth would radically
lymphotoxin α (binds to CD120a), Apo3L ligand aka TWEAK slow and perhaps even death would result. This second approach
(binds to DR3), or Apo2L ligand aka TRAIL (binds to DR4 and might yield a faster decline in bacterial activity than simple neutering,
DR5).2069,2070 The binding event would then activate a single death due to the diversion of bacterial resources in an attempt to regain
receptor complex, potentially triggering the entire irreversible cyto- intracellular molecular balances. In either approach (as with
cidal cascade. If necessary, multiple display tools could be employed. mechanical approaches; Section 10.4.2), it is necessary to avoid
This technique avoids the storage requirement for bulky consumables fragmenting the bacterium in a way which allows release of
onboard the medical nanorobot. superantigen molecules such as LPS which could cause an immune
As another approach, molecular sorting rotors could be used to system overreaction, leading to toxic shock.
selectively extract from the cytoplasm specific crucial molecular species
of IAPs (Inhibitors of Apoptosis2102) that can hold the apoptotic 10.4.1.2 Phagocytic Flagging
process in check. Examples include survivin, commonly found in Target cells may be flagged with biochemical substances capable
human cancer cells 2058, the transcription factor NF-κB 2142, and of triggering a reaction by the body’s natural defensive or scavenging
Akt, which delivers a survival signal that inhibits the apoptosis systems. For example, novel recognition molecules are expressed on
induced by growth factor withdrawal in neurons, fibroblasts, and the surface of apoptotic cells. In the case of T lymphocytes, one
lymphoid cells 2103. Conversely, decoy receptors (DcRs) that compete such molecule is phosphatidylserine, a lipid that is normally restricted
with DR4 and DR5 for binding to Apo2L2104-2106 could be saturated to the inner side of the plasma membrane (Section 8.5.3.2) but,
with intrinsically harmless but precisely engineered intracellular after the induction of apoptosis, appears on the outside.2117 Cells
“chaff ” ligands. With IAPs removed or DcRs blockaded, apoptosis bearing this novel surface molecule are then capable of being
may be free to proceed. recognized and removed by phagocytic cells. Seeding the outer wall
Multicellular plants and animals,2074,2075 human fibroblasts,2107 of a target cell with phosphatidylserine or other molecules with similar
and even slime molds show various forms of apoptotic cell death. action could activate phagocytic behavior by macrophages which
362 Nanomedicine • Volume I
had mistakenly identified the target cell as apoptotic. Loading the ~1 part/million by weight or ~105 molecules/cell.2119 Eukaryotic
target cell membrane surface with B7 costimulator molecules permits cell cycling may be interrupted by inhibitors of RNA polymerases
T-cell recognition, allowing an immunologic response1556 via what I, II, and III (which produce RNAs specific to different functions
has been termed the immunological synapse.2930,2931,3453 This tagging in the cell), or by inhibitors of uracil synthesis or other steps in
operation should work well against cells which have an apoptotic general RNA base production which would interfere with RNA
response which can be triggered by cytotoxic T cells—such as synthesis overall. Vincristine applied at similar dosage (e.g., ~10-18
human cancer cells and cysts. kg/cell) inhibits microtubule formation in the mitotic spindle,
Aside from false apoptosis, removal or destruction of cell-surface resulting in an arrest of dividing cells at the metaphase stage.2119
MHC class I receptors might convince the immune system that the Large doses lead to necrotic cytocide; a smaller dose may trigger
target cell was not native (e.g., “self ”), making the target susceptible apoptosis.
to attack by natural killer NK lymphocytes.2130 (Macrophages should A theoretical enzyme capable of selectively lysing DNA telomeres
be able to engulf a eukaryotic cell, as they are large enough to in the nucleus would prevent cell replication, but would probably
absorb protozoa.531) Alternatively, the target cell’s surface would be trigger apoptosis due to massive chromatin damage because
salted with a non-self antigen-containing MHC Class I molecule, TTAGGG sequences are scattered throughout the chromosome.383
or with self MHC Class I molecules with foreign peptide attached Telomere length affects eukaryotic cell division only indirectly,
(particularly one for which the patient has already been vaccinated), either because short telomeres activate a DNA damage response that
with the expectation that the cell would mistakenly be identified as blocks cell division or because genes near the ends of chromosomes
foreign, and thus be phagocytosed. Other methods of engineering which are essential for cell division may be lost or misregulated.
chemical reactivity by cell surface remodeling2127 are readily envisioned, Telomerolytic enzymes would be useless against common bacteria
such as flagging with lymphokines or oligohistidine-tagged fusion (e.g., E. coli) and viruses (e.g., SV40) which have circular DNA
proteins.2274 But the best approach may be to seed the target cell chromosomes, or viruses such as the adenoviruses that cause bronchi-
with antigens for which the patient already has a high titer of tis and pneumonia which have linear DNA locked with a terminal
circulating antibodies, which then will bind to the antigens and protein—but no telomeres in either case.383 Alternatively, R.
attract the immune system. Antibodies occur in higher concentrations Bradbury suggests the introduction of DNA (or RNA) for antisense
than B/T cells and therefore would presumably trigger a faster sequences, for genes essential for cell cycle progression or for proteases
response. As a general rule, cells with bad MHC molecules are targeted which cut or digest these same proteins, as for instance an antisense
for apoptosis, while cells with antibodies attached are targeted for gene for cyclin or one of the many cdc genes—if phosphorylation
phagocytosis. or dephosphorylation of the cyclins or cdc genes is occurring, the
introduction of a phosphatase or kinase could easily block the
10.4.1.3 Cell Division Arrest entire cell division process.
In some circumstances it may be useful to eliminate a target
cell’s ability to replicate via cell division, thus rendering it incapable 10.4.1.4 Chemical Poisoning
of further growth. For example, many prokaryotic microorganisms There are a great many (often inefficient) ways to poison a cell
respond to starvation by entering growth-free stationary or virion simply by releasing chemical agents near, on, or within it,
phases3710-3712 or by forming dormant spores;2116 nanorobot manipu- but if done incautiously this approach may lead to necrotic, rather
lation of cellular biochemical states possibly could induce stasis in than apoptotic, cell death. Here are a few examples of some
bacteria, though spore formation should be avoided. The Bcl-2 protein well-known classes of biocidal agents, many of which may be
family can modulate eukaryotic cell cycle progression; under sub- inappropriate for use by in vivo medical nanorobots:
optimal growth conditions, Bcl-2 promotes exit into quiescence and
retards reentry into cycle.2097 A gene fragment on human chromo- 1. Phagosomal Biochemicals — Both types of phagocytic cells (e.g.,
some 4, called mortality factor 4 (morf4), when added to cancerous neutrophils and macrophages) contain specialized organelles that
(eukaryotic) cells in vitro converts proliferating cells into senescent fuse with newly formed phagocytic vesicles (phagosomes),
cells that have stopped dividing.2128 Ceramide, the breakdown exposing phagocytosed microorganisms to a barrage of
product of sphingomyelins, can drive a eukaryotic cell either to enzymatically produced, highly reactive molecules of superoxide
cycle arrest, or to apoptosis, depending upon other conditions within (O2-) and hypochlorite (HOCl, the active ingredient in bleach),
the cell,2062 and p16 and p27 are known eukaryotic cell cycle called the “oxidative burst” that punctures cell walls, and to a con-
inhibitors.2059 Cytochalasins, which are derived from molds, interfere centrated mixture of lysosomal hydrolases.531 Human neutrophils
with the division of cytoplasm, inhibit cell movement, and can cause also use antimicrobial peptides such as the serprocidins (e.g., pro-
extrusion of the interphase nucleus.3718 teinase 3, azurocidin, and cathepsin G, a metabolic inhibitor) against
Eukaryotic mitosis has four distinct stages (prophase, metaphase, fungi and bacteria.2132
anaphase, telophase) and interphase (between divisions), each
associated with distinct biochemical and cytoarchitectural states. 2. Cytolytic Enzymes — Lysozymes, present in tears, nasal mucus
Thus it is not surprising that specific biochemical agents have been and sputum, destroy the cell walls of many airborne Gram-positive
found that are capable of selectively halting, accelerating, or altering bacteria by catalyzing the hydrolysis of β-1,4 linkages between N-acetyl
mitosis at any of the many stages; a few examples are in Table 10.4. muramic acid and N-acetyl glucosamine (peptidoglycan degradation)
Cell cycle control is discussed further in Chapter 12. in bacterial cell walls996—causing the bacteria to burst open, spilling
Many chemotherapeutic agents function by eliminating the cell’s their contents. Lysozyme, zymolase, glucalase and lyticase are frequently
ability to undergo mitosis. For example, plicamycin (mithramycin) used with bacteria and yeast cells to dissolve coats, capsules, or capsids.
is believed to form a complex with DNA which inhibits Granulysin released by cytolytic T lymphocytes directly kills
DNA-dependent or DNA-directed cellular RNA and enzymatic intracellular Mycobacterium tuberculosis by altering the membrane
RNA synthesis—48-hour lethal dose in human HeLa cancer cells is integrity of the bacillus.2165
Basic Capabilities • Other Basic Capabilities 363
Table 10.4. Organic Compounds Affecting Eukaryotic Cell Division at Specific Phases of Mitosis585,760
Prophase:
Aureomycin Onion root Membrane dissolution delayed
Glutathione Amoeba proteus Prophase accelerated
Nitrophenols Sea urchin egg Prophase blocked
Purines Arbacia egg Reversion to interphase
Trypan blue Rabbit fibroblast Spindle formation slowed
Urethan Rabbit fibroblast Prophase accelerated
Metaphase:
Alcohol, DDT Onion root Nucleolus neoformation
Benzene Mammal marrow Mitotic poison—blocking agent
Colchicine (0.00001 M) Chortophaga neuroblast Mitotic poison—blocking agent
Diphenyl, Indoleacetic acid Wheat root Spindle rotation
Epinephrine (0.01%) Chicken fibroblast Mitotic poison—blocking agent
Methyl naphthohydroquinone diacetate Onion root Multipolar spindle induced
Morphine (0.0001 M) Chick epithelium Mitotic poison—blocking agent
Nicotine (0.0001 M) Rabbit fibroblast Mitotic poison—blocking agent
Phenylurethan Sea urchin egg Monopolar mitotic figure induced
Podophyllotoxin (10-7 M) Echinarachnius egg Mitotic poison—blocking agent
Streptomycin Onion root Reversion to interphase
Sulfanilamide Paracentrotus egg Mitotic poison—blocking agent
Testosterone, Estrone Rabbit fibroblast Abnormal chromosome orientation
Anaphase:
Caffeine Onion root Incomplete chromosome separation
Ryanodine Sand dollar egg Incomplete chromosome separation
Trypaflavine Rabbit fibroblast Incomplete chromosome separation
Telophase:
Aureomycin Chicken fibroblast Cytoplasmic division suppressed
Carbamate Sea urchin egg Cytoplasmic division suppressed
Chloroacetophenone Chicken osteoblast Nuclear reconstruction retarded
Nicotine Pea seedling Spindle remnant persists
Rotenone Sea urchin egg Cytoplasmic division suppressed
Thiourea Chicken fibroblast Nuclear reconstruction retarded
Interphase:
Acridines Chicken fibroblast Initiation of prophase inhibited
Azaguanine Mouse tumors Initiation of prophase inhibited
Dyes Frog sperm Initiation of prophase inhibited
Hypoxanthine Chicken osteoblast Interphase shortened
Glucose Mouse epidermis Division stimulated
Nitrogen mustard Rat corneal epithelium Initiation of prophase inhibited
Trypaflavine Onion root Destruction of interphase nucleus
Multiple Phases:
Aminobenzoate, Coumarin Onion root Chromosome breaks
Cysteine Protozoan Chromosome reduction induced
Dyes, N-butyl gallate Onion root Chromosome adhesion
Ethoxycaffeine Onion root Chromosome rearrangements
Mustards Spiderwort mother cell Centromere misdivision
Urea Fruit fly salivary gland Chromosome dispersion/despiralization
3. Organelle Poisons — Certain drugs and other substances, if Oligomycin inhibits the F0F1-adenosine triphosphatase (ATPase)
injected into the cytoplasm, may interfere with the workings of specific proton pump of the mitochondrial inner membrane, and cyanide
organelles or cell subsystems. For example, the fungal metabolite poisons mitochondrial oxidative phosphorylation.2073 Nitric oxide
drug brefeldin A disrupts the Golgi, causing it to collapse back into (conc. ~60 nanomolar) inhibits mitochondrial respiration,2918,2919
the ER.2347,3441,3442 Colchicine,939 vinblastine and vincristine936 specifically by inhibiting cytochrome oxidase by outcompeting oxygen
bind to tubulin, causing microtubules to disassemble, griseofulvin at the oxygen binding site;2920 NO also prevents viral replication by
(an antifungal agent) prevents microtubule assembly,996 and taxol inactivating a crucial protease.2969 Antipsychotic drugs such as
inhibits microtubule depolymerization, while cytochalasin B inhibits chlorpromazine, thioridazine, and fluphenazine are potent peroxisome
the polymerization of cytoskeletal actin microfilaments. 939 inhibitors.3067 The nucleus of an oocyte is ejected from a cell treated
Adociasulfate-2 is a kinesin motor inhibitor.2390 High concentrations with etoposide and cycloheximide (chemical enucleation),3719,3720
of vitamin A weaken the lysosomal membrane. Proteasome inhibitors microtubule poisons such as colchicine, colcemid and vinblastine
such as vinyl sulphone2911 are usually lethal for the eukaryotic cell. cause extrusion of nuclei,3721 and EDDF is involved in erythroid
364 Nanomedicine • Volume I
* The ribosomes of eukaryotic mitochondria (and chloroplasts) often resemble those of prokaryotes in their sensitivity to inhibitors
MIC = Minimum Inhibitory Concentration
cell denucleation;3722 there is at least one report of nuclear extrusion in artificial neutrophils might also be deployed to achieve targeted
lymphocytes.3723 Selected organelle populations (e.g., mitochondria) bacterial digestion. Reaching intracellular parasites such as myco-
could also be ubiquinitized. plasmas and rickettsias might be one of the biggest challenges for
such biorobots.
4. Antibiotics — Drugs that prevent bacteria from multiplying
(bacteriostatic) or that kill bacteria outright (bactericidal) are called 6. Bacteriocins — Probably 99% of all bacteria generate at least
antibiotics; in 1998, ~100 such drugs were FDA approved for U.S. one bacteriocin, small proteins that function as narrow-spectrum
use. Major groups include the aminoglycosides, cephalosporins, antibiotics that may have developed as poisons to kill
macrolides, penicillins, polypeptides, quinolones, sulfonamides, and competing bacteria.2121,3724-2726 In 1998, ~80 bacteriocins were
tetracyclines;2119 many are naturally-derived products. All act by known, most of them produced by fermentation microbes, including
interfering with protein synthesis, cell wall construction, or DNA nisin which is used in 45 countries including the U.S. as a commercial
replication. For example, gonococci isolated in the preantibiotic food additive for pasteurized egg products. Bacteriocins seem to work
(pre-resistance) era were inhibited by benzylpenicillin by entering the outer membrane of a susceptible bacterium, con-
(C16H18N2O4S, MW = 334 daltons) in concentrations as low as ~7 gregating in groups, and forming pores that allow the unregulated
molecules/micron3;2135 in the 1990s, some highly resistant bacterial outflow of essential ions. The target bacterium begins breaking down
isolates required ~1000-fold higher concentrations. Vancomycin ATP in a vain attempt to produce enough new protons to recharge
derivatives are active against Gram-positive bacteria at 10-100 mol- the membrane, a futile cycle that quickly results in exhaustion of
ecules/micron3.3227 Antibiotics are available with protein/RNA synthesis bacterial ATP. Bacteriocins are most effective in acid and least effective
inhibition activity against either prokaryotic or eukaryotic cells (Table in salty environments. Bacteriocins of Gram-positive bacteria such
10.5). as Listeria and Clostridium botulinum are ineffective against
Gram-negative bacteria such as E. coli and Salmonella which have a
5. Bactericidal Phages — Bacteriophages (viruses that infect protective double-walled outer membrane. In 1998, several
bacteria) are capable of penetrating bacterial membranes and Gram-negative bacteriocins were known. One example is the
delivering foreign DNA which can take control of all metabolic colicins, water-soluble cytotoxins secreted by and active against
processes; in ~700 sec after penetration, the first complete virion E. coli, that form voltage-sensitive ion channels in the bacterial
particles begin appearing in the cytoplasm; at ~1500 sec, the bacterium inner membrane that kill the cell by selectively siphoning out key
bursts, necrotically liberating ~200 virus particles. These viruses are cell nutrients2150,2151 and inhibit protein synthesis.3190
often very host-specific. Still, it may be possible to design artificial
general-purpose bacteriophages that are capable of disabling or 7. Porins and Superporins — C. Sublette notes that it should be
destroying all bacterial DNA, or are capable of replicating more possible to design and insert into a cell a piece of RNA or DNA
bacteriophage particles to which only the targeted bacterial cells are designed to produce high levels of a “superporin” protein that
susceptible (see also Section 10.4.1.1). Engineered macrophages or migrates to the cell membrane, then self-assembles into a large
Basic Capabilities • Other Basic Capabilities 365
channel in the membrane several orders of magnitude larger than mean migration distance per plug of ~1 micron gives a Brownian
an ion channel, allowing a large, lethal ion influx or outflux. For diffusion time of ~1 millisec, so a micron-scale nanorobot with 0.1
example, normal cytosolic Ca++ concentration ranges from 60-3000 micron3 of onboard storage carries sufficient plug-doses to incapacitate
ions/micron3;531 blood plasma concentration is ~106 ions/micron3 ~104 bacterial cells in ~10 sec or ~102 tissue cells in ~0.1 sec, ignoring
(Appendix B), but even cytosolic concentrations as low as ~104 ions/ cell-to-cell travel time. Assuming a mean interbacterial separation
micron3 may be toxic (Section 7.4.5.3). (See also Section 10.4.2.1.) of ~100 microns (an implied pathogen number density of ~106/cm3 in
Possible templates for such subunits are the bacterial porins,2133 the tissue) and a maximum nanodevice intercellular travel speed of
minus their charged amino acid residues lining the inner passage ~100 micron/sec (Section 9.4.4.2), a nanorobot spends ~1 sec in
which produce nonspecific aqueous diffusion channels across the transit between neighboring bacterial cells, ~0.002 sec in cell-type
outermost LPS bacterial membrane, and granulysin,2165 perforin recognition (Section 8.5.2.2), and ~0.001 sec killing the bacterium
and members of the amoebapore family2166,2167 which are thought once the nanorobot arrives.
to damage target cell membranes by inducing formation of micro-
scopic pores. 10. Channel Destroyers — Some smaller number (perhaps as few
as one) of an enzyme-like toxin molecule capable of destroying
8. Ionophores — Ionophores are small hydrophobic molecules either the steric or the electrochemical specificity of each ion channel
that dissolve in lipid bilayers, thus increasing ion permeability of by permanently altering the physical structure of that channel. For
cell membranes.531 Most are synthesized by microorganisms, pre- example, in the case of the acetylcholine receptor channel, an artificial
sumably as biological weapons to weaken their competitors. There enzyme possibly could be designed to alter the ring of negatively
two classes of ionophores—(highly temperature-sensitive) mobile charged residues at the entrance to the receptor, allowing anions to
ion carriers, and channel formers—both operating by shielding the enter the pore and ultimately depolarizing the cell. Enzymes typically
charge of the transported ion so that it can penetrate the hydrophobic operate at ~1000 Hz and the diffusion time across ~20 nm between
interior of the lipid bilayer.531 (Ionophores permit net movement adjacent ion channels is ~0.5 microsec, so a single enzyme neutralizes
only down their electrochemical gradients, since no energy sources all 104 channels in a bacterial cell in ~10 sec and ~1000 artificial
are available.) Valinomycin, a ring-shaped polymer that increases enzymatic molecules would incapacitate the cell in ~10 millisec.
K+ permeability of membranes, is an example of a mobile ion carrier.
Another example is A23187, which acts as an ion-exchange shuttle, 11. Complement — The complement system is a group of ~20
carrying two H+ out of the cell for every divalent cation (such as soluble serum-resident proteins acting in combination with specific
Ca++ and Mg++) carried in. Transport rates through a mobile carrier cytolysin antibodies in amplification cascades along two separate
are ~2 x 104 ions/sec.531 A channel-forming ionophore is gramicidin pathways to initiate reactions to foreign antigens (Chapter 15).
(C 148H 210N 30O 26, MW = 2822 daltons), a 15-residue linear Complement proteins are enzymes that act on foreign cells by
polypeptide with all hydrophobic side chains. Two such molecules punching holes in their membranes by inserting lipid-soluble pores
come together in the bilayer to form a transmembrane channel that (the membrane attack complex, C5-C9), causing necrotic osmotic
selectively allows monovalent cations (most readily H+, K+ somewhat cytolysis. In addition, complement plus antibody designates cells to
less readily, Na+ still less readily) to flow down their electrochemical be engulfed by phagocytic cells.
gradients at a rate of ~2 x 107 cations/sec.531 The dimers are
unstable, constantly forming and dissociating, with average channel 12. Animal Venoms and Toxins — The bufagin from the Bufo
open time ~1 sec.531 Gramicidin is produced by Bacillus brevis and arenarum toad of Argentina (arenobufagin, C25H34O6, MW = 430
is active against Gram-positive cocci and bacilli. A 5 microgram dose daltons) has a mean lethal toxicity of 92 microgram/kg,585 the
kills, in vitro, 109 pneumococci or group A streptococci in 2 hours at equivalent of ~106 bufagin molecules per 20-micron tissue cell (~100
30˚C,751 giving a fatal dose of ~1000 molecules/micron3 assuming molecules/micron3). Most reptile venoms have lethal toxicities of
a ~1 cm3 culture volume in this experiment. 200-1000 micrograms per kg of body weight.585 Sea anemone
granulitoxin (4958 daltons) has a mouse LD50 of 400 micrograms/kg
9. Channel Blockers — Cells import and export nutrients, ions, (~49 molecules/micron3);3458 another sea anemone protein extract has
water, and wastes through variety of gated channels (Section 3.3.3) a mouse LD50 of 40 micrograms/kg.3459 Maurotoxin, a 34-residue
and transporter molecular pumps (Section 3.4.1). If these channels scorpion venom (Scorpio maurus), has an intracerebroventricular mouse
or pumps are permanently blocked, cytocide may LD50 of ~80 nanograms,3460 or ~0.4 molecules/micron3. The LD50
ensue. Blocking the ~10 3/micron 2 cellular transport systems value to mice of Vespa luctuosa hornet venom is 1600 micrograms/kg,
embedded in a typical eukaryotic cellular membrane requires the most lethal known wasp venom.3457 Venoms and toxins may not
~103/micron 2 “steric plugs” that permanently jam in the throat of be cytocidal against all cell types—some act by interfering with nerve
critical ion channels or pumps. For example, the acetylcholine transmission or by paralyzing muscles.
receptor channel narrows to ~0.65 nm at its waist, so an efficiently
designed steric plug could have a volume of ~1 nm3 or ~10-21 gm. 13. Plant and Microbial Toxins — A variety of microbes manufac-
(By comparison, a single molecule of 318 dalton tetrodotoxin, or ture neurotoxins or neurolysins that destroy the ability of human
puffer fish toxin, has mass ~0.53 x 10-21 gm; apparently, saxitoxin ganglion and cortical neural cells to function.3461 A single molecule
(shellfish toxin, human IV lethal dose ~68 micrograms) and of some neurotoxins can incapacitate a cell, though the rate of
palytoxin are slightly smaller, whereas botulin toxin is a fairly action tends to be very slow. For example, botulin toxin is the second
high-mass zinc metalloprotease protein that inhibits release of ace- deadliest poison known (e.g., median human lethality ~5-50 nano-
tylcholine at the neuromuscular junction.) Plugging all channels in grams/kg).3462 The toxin acts at cholinergic nerve terminals to prevent
the surface of a (2 micron)3 bacterial cell (~10 micron2) or a (20 acetylcholine release, a permanent physiologic denervation that
micron)3 tissue cell (~1000 micron2) requires ~104 or ~106 plugs, causes muscle paralysis, often resulting in death by respiratory system
respectively, a nanorobot-dispensed ~10-5 micron3 or ~10-3 micron3 failure in 2-8 days. Recovery requires the sprouting of new axon
dosage of plugs at the target cell, assuming ~100% efficiency. A twigs and the formation of new myoneural junctions,2122 which is
366 Nanomedicine • Volume I
why the recovery time for sub-lethal botulin poisoning is very long, broadest-known spectrum iodine-based microbicide is betadine
several months to a year or more. Botulin is a ~150,000-dalton protein (povidone-iodine) 10% solution,2119 employed in surgical scrub and
comprised of 1285 amino acid, 2171,3462 which implies a many other general antiseptic uses. Betadine kills most bacteria in 15-30
lethal concentration of 0.2-2 molecules per 20-micron tissue cell. sec, and also kills viruses, fungi, yeasts and protozoa; no bacterial
Other toxins are capable of killing a cell outright with just a few resistance has been reported.
molecules, such as ricin: mouse and rabbit IV LD50 ~400-4000 nano-
grams/kg or 30-300 molecules per 20-micron tissue cell,3463-3465 17. Silver — Silver foil has been used in bacteriocidal wound
possibly due to lower specificity in binding to cells and other phar- dressings,2158 and silver metal has been employed for centuries
macokinetic effects). Ricin is a phytotoxic enzymatic 65,750-dalton to purify water. In 1998, there were more than 600 silver-based anti-
protein3466 taken from the seeds of the castor oil plant that cleaves the bacterial products available in Japan including silver-impregnated pens,
ribosome complexes, shutting down protein manufacturing. This floppy disks, calculators, ATM machines, floor tiles, plastic food wrap,
damage is normally irreversible, killing the organism in ~4 days at socks, shirts, public park sand, and toilet seats.2126 At least 20
minimum dosage and ~8 hours at the highest dosages, so a reasonable companies in the U.S. offer silver/copper-based systems for swimming
lower limit for killing an individual cell is probably ~104 sec. pool sanitation and commercial air conditioning cooling towers. The
passive dissociation of silver from the metallic phase into a wound with
14. Antifungals — Antifungal agents such as amphotericin B or antimicrobial results2123 and the antiseptic action of silver com-
fluconazole are fungistatic. For example, the growth of Candida and pounds2124 are well known. A quantitative study of the metal’s antimi-
many other fungi is inhibited by amphotericin B (C47H73NO17, crobial properties in vitro found that a silver ion concentration of ~25
MW = 924 daltons) concentrations of 30-1000 micrograms/cm3 in micrograms/cm3 (~105 ions/micron3) reduced the number density of
vitro.2119 A number of natural antimicrobial peptides are induced Staphylococcus and Pseudomonas bacterial cells and Candida fungal cells
in epithelial cells at sites of inflammation; for example, lingual anti- by a factor of 1-10 million relative to microbial control aliquots.2125
microbial peptide (LAP), a member of the b-defensin class, has been
isolated from bovine tongue and exhibits both antifungal (e.g., 18. Platinum, Bismuth, and Other Elements — Platinum-based
Candida) and antibacterial (e.g., E. coli) activity2129 at concentrations cisplatin (PtCl2H6N2, MW = 300 daltons) is an antitumor and
as low as ~16 microgram/cm3. In 1998, antifungals were known to bacteriostatic drug that interacts with tumor-cell DNA by forming a
target membrane function, metabolism, cell wall synthesis, protein and Pt-GG intrastrand crosslink as the critical lesion leading to cytotoxic-
ergosterol synthesis, nuclear division, and nucleic acid synthesis and ity.2136 A typical ~100 mg whole-body dose2119 produces a mean con-
function.2131 In those circumstances where fungal cells have learned centration of ~2000 molecules/micron3. Colloidal bismuth subcitrate
to communicate to effect mating or cooperative behaviors, such exerts a direct antimicrobial effect against H. pylori (gastritis) at
communication may be disrupted to their detriment. If the genetic concentrations of 4-25 micrograms/cm3 (6000-38,000 molecules/
pathways involved in these behaviors include primitive forms of micron3), with treated bacteria showing deposits of bismuth on their
apoptosis, these could be exploited as well. surface and internally.2137 Mercury (chronic toxicity in blood ~600
atoms/micron3), lead (toxic in blood at ~2900 atoms/micron3), and
15. Antivirals — Antiviral drugs may work by interfering with arsenic (toxic in blood at ~4800 atoms/micron3) are general poisons
viral replication processes, including cell attachment, cell uptake, (Appendix B) that have been used for medicinal purposes. Indirect
viral coat removal, and viral DNA or RNA replication by the cell, poisons such as iron and copper catalyze free-radical formation.
and are primarily virostatic. For example, acyclovir (MW = 225 Interestingly, bacterial growth is constrained by essential nutrients,
daltons) in concentrations of 0.01-13.5 micrograms/cm3 inhibits and human immune cells scavenge and sequester iron when faced with
by 50% the growth of herpes simplex virus in vitro.2119 In 1998, ~20 a bacterial threat; nanorobotic “deferritization” of a bacterium could
antivirals were FDA approved for U.S. use. Antibodies may also kill the organism.
serve a virostatic function. For example, the rabies-like vesicular
stomatitis virus (VSV) rhabdovirus has a surface envelope with ~1200 19. Sugar — Medical lore has it that sugar, and especially
identical glycoprotein molecules that form a regular and densely honey2158,2334 (Section 1.2.1.2), makes an excellent antibacterial dis-
ordered pattern of spike tips.2139 Rhabdoviruses are neutralized if infectant. Blood glucose levels of 0.01-0.07 M in untreated diabetics
they cannot dock with their cellular receptors; this requires a mini- cause tissue and cellular damage, at least partly via osmotic cellular
mum of 200-500 IgG antibody molecules bound per virion.2140 dehydration (honey and NaCl salt have a similar effect), and protein
Another challenge for medical nanorobots will be the retroviruses, glycosylation and Maillard reaction (Section 6.3.4.4) which diminish
which insert their genome into the host DNA, thus will require enzyme function; ~15% cytosolic glucose concentrations are toxic.
chromosomal editing or replacement (Chapter 20) to remove.
20. Hydrogen-Bond and Disulfide-Bond Breaking Agents — At high
16. Iodine-Based Microbicides (iodophors) — In tincture of concentrations, guanidine hydrochloride disintegrates the bacterial
iodine, all of the iodine is in the free form at ~10% by weight and is S-layer coat which is held together only by noncovalent forces.525 Local
readily available for instantaneous reaction and killing of bacteria in a heating (hyperthermia; Section 10.4.2.3) also disrupts H-bonds. Other
few seconds.360 The minimum lethal iodine dose for a 2-micron bacte- agents are available to break disulfide bonds, disrupting many classes of
rium (assuming complete exhaustion of a 0.1-micron perimicrobial proteins.
iodophor layer) may be of order ~0.001 picomoles or ~0.1 picogram
iodine (~108 molecules), which is ~3% of the mass of a bacterium— 21. Nuclear Alkalination and Other Nucleic Disruption — RNA breaks
not terribly efficient, as expected for a broad-spectrum agent. Iodoacetate down in slightly alkaline environments (e.g., pH 8.0;1591 to increase
inactivates most cytoplasmic enzymes and blocks anaerobic metabo- the pH of a typical cellular nucleus from 7.2 to 8.0 would require the
lism, or glycolysis (fluoride is also a glycolytic poison).758 Yodoxin (64% injection of ~105 OH- ions. RNA is also broken down by RNases;
organically bound iodine) is amoebicidal. 2119 The DNA is broken down by DNases, or by using restriction enzymes.
Basic Capabilities • Other Basic Capabilities 367
22. Tissue Liquefaction — A 2-hour exposure to 0.25% trypsin Ntube rtube4 (m3/sec) for Ntube tubes each of inside radius rtube. To
enzyme solution digests and breaks up the extracellular matrix,570 exchange 10% of the volume of a ~2 micron diameter bacterium by
turning an organized tissue into a jumble of individual cells. siphonation with extracellular fluids in ~1 sec (VHP ~ 1 micron3/sec)
requires one tube of radius rtube ~ 70 nm. For a ~20 micron tissue
23. Other Poisons — Cyanide causes cells to swell and lyse at cell, V HP ~ 1000 micron 3 /sec which requires one tube of
concentrations of ~0.002 M (~1 x 10 6 ions/micron 3 ). 758 radius rtube ~ 400 nm or 15 tubes of radius rtube ~ 200 nm.
Assuming serum reference levels, ethanol should be cytotoxic at It is important that passive siphon tubes should be employed in
~0.09 M (~50 x 106 molecules/micron3).1604 Ethylene oxide minimum numbers and never be left unattended. They should be
(C 2H4O) gas is a microbial sterilant and fumigant; chlorine tethered to the nanorobot during use and retrieved after each use.
dioxide (chlorite ion) is an antimicrobial sometimes found in Left unattended in the plasma membrane of a dying cell, diamondoid
mouthwashes. Chlorine and bromine are used as antibacterials in siphon tubes could become serious systemic poisons. For example,
swimming pools and hot tubs. Most chemotherapy agents also kill macrophages phagocytosing apoptotic siphon-studded cells would
cells. Common lab detergents such as Triton X-100 and tributyl be unable to digest the tubes and might themselves become
phosphate readily destroy bacteria and the majority of viruses accidentally siphoned, or might pass the lethal tubes to other innocent
sheathed in protein envelopes.3252 cells in the liver, spleen, or elsewhere.
Death by siphonation may be hastened if the nanorobot actively
Nanorobot biocidal delivery vehicles can be used to present the pumps extracellular fluids (or cations directly) into the target cytosol. A
chemical agent on a cell-by-cell basis. For example, a major pressure differential of ~1 atm applied along a simple bulk fluid
whole-body infection involving ~1012 pathogens (e.g., ~106 bacteria/ injector with rtube = 50 nm and ltube = 300 nm gives VHP ~ 1000
cm 3 ) with each microbe capable of being killed by ~10 5 micron3/sec and draws ~76 pW of power during the transfer.
precisely-delivered biocidal molecules each of molecular weight Artificial cytocidal cation inflows must surpass the net natural
~1000 daltons requires a minimum treatment dose of ~1017 bio- cellular outpumping rates of those cations. For instance, there are
cidal molecules or ~0.1 mm3 of material. This dose could be carried at least five known Ca++ concentration-maintenance mechanisms
and dispensed in ~1000 sec by one billion ~1 micron3 “pharmacyte” in eukaryotic cells:
nanorobots (total volume of therapeutic nanorobots ~0.001 cm3)
assuming each nanorobot has ~0.1 micron3 of internal storage for 1. a cell membrane ATP-driven Ca++ exporting pump,
the biocidal agent and assuming as before a mean ~1 sec cell-to-cell
2. a cell membrane 3Na+/Ca++ exchange transporter,
transit time.
3. a Ca++ transporter into the mitochondria,
10.4.2 Mechanical Cytocide and Virucide
4. a 2Na+/Ca++ exchange transporter into the mitochondria, and
Mechanical cytocide involves the killing of biological cells or the
destruction of virion particles partially or primarily by mechanical, 5. an ATP-driven Ca++ pump into the endoplasmic reticulum.3146
rather than by strictly biochemical, means. Such means may include
What is the maximum natural outflow rate? Normal cytosolic Ca++
disablement, partial physical destruction of critical components, or
concentration ranges from 60 ions/micron3 for a resting cell up to
even complete disassembly of the target cell, bacterium, or viral
3000 ions/micron3 for an activated cell (Section 7.4.5.3). From Eqn.
particle.
3.4, the diffusion-limited ion current through the surface of a
20-micron tissue cell is ~2 x 107 ions/sec for a resting cell and ~109
10.4.2.1 Transmembrane Siphonation and Ionic Disequilibration
ions/sec for an activated cell. Taking the extracellular concentration
A number of rigid diamondoid tubes with membrane-locking
of ~106 Ca++ ions/micron3 gives a minimum lethal extracellular bulk
lipophilic external coatings and hydrophilic end rings may be
fluid inflow rate of ~1000 micron3/sec to defeat the maximum
inserted through the target cell membrane, preventing self-sealing
of the breach (Section 9.4.5.6) and resulting in drainage of internal possible pumping rate of an activated 20-micron cell, consistent
fluids and disruption of ionic balances, probably triggering apoptosis with the previous estimate. (The diffusion limit for a nanorobot
in eukaryotic cells after ~104 sec. pumping Ca++ from the interstitial fluid into the cytosol is ~3 x 1011
What magnitude of siphonage may be required to achieve cell ions/sec, far higher than the maximum rate at which the cell can
lethality? A cytosolic concentration of 104 Ca++ ions/micron3 is outpump.) Similarly, Na + /K + transporters present in the
believed to be toxic (Section 7.4.5.3) and there are ~106 Ca++ ions/ eukaryotic membrane at 1000/micron2, each device transporting
micron3 present in blood plasma (Appendix B) or interstitial fluid, 500 ions/sec (Section 3.4.1), move at most ~109 ions/sec through
so replacing ~1% of cell volume (e.g., ~0.1 micron3 for a bacterium, the ~2400 micron2 (Table 8-17) plasma membrane. The Na+/K+
~80 micron3 for a tissue cell) with raw extracellular fluid should be pumping cost is ~16 zJ/ion (Section 3.4.1); devoting the entire 30 pW
lethal. Macrophages can ingest up to ~25% of their volume per power budget of the typical cell (Section 6.5.1) to such pumping would
hour,996 or ~10% of their volume in ~1000 sec, but the paramecium, a allow the transport of ~2 x 109 cations. Thus, >1000 molecular sorting
large protozoan, excretes through its contractive vacuole a quantity rotors each operating at ~106 ions/rotor-sec (Section 3.4.2)—the
of water equal to 100% of its volume in 15-20 minutes,758 or ~10% entire array transporting >109 ion/sec—should allow an attacking
in ~100 sec. nanorobot to defeat a cell’s attempts to resist ionic disequilibration.
Conservatively assuming that a ~10% target cell volume influx
of extracellular fluid in 1 sec will cause serious cell damage or 10.4.2.2 Mechanical Cytoskeletolysis and Monkeywrenching
induce apoptosis, the size and number of passive transmembrane It may have occurred to the alert reader that a simple way to kill
siphons may be crudely estimated. Mean interstitial fluid pressure a eukaryotic cell might be to cytopenetrate and then motor around
is ~0.0002 atm (Section 8.4.2). Thus from Eqn. 9.25, the total volume inside the cytoplasm at higher-than-recommended velocities, thus
flow rate through water-bearing transmembrane tubes of length ltube indiscriminately bursting lysosomes, shredding the thin membranes
= 300 nm with pressure differential ∆p ~ 0.0002 atm is VHP = 4 x 1010 of the endoplasmic reticulum (ER) and the Golgi, and trashing other
368 Nanomedicine • Volume I
delicate cellular structures, depending upon the motility mechanism cytoplasm of viscosity ~10 kg/m-sec (Section 9.4.6) is ~1 pW (Eqn.
employed (Section 9.4). Such a course would almost certainly result 9.73).
in an unwanted necrotic cellular lysis. Another simple technique for mechanical disruption of the cell
Rupture of lysosomes (Section 8.5.3.8) should especially be may informally be termed “monkeywrenching.” As examples,
avoided because lysosomal lipases and other corrosive enzymes would active DNA cutters (e.g., restriction enzymes), or in situ manufac-
be released into the cytosol, possibly provoking some autolysis, tured H2O2 along with some iron borrowed from local ferritin
local disintegration of the plasma membrane, and inflammation. molecules, could be injected into the eukaryotic nucleus, rapidly
Peroxisome (Section 8.5.3.9) rupture may produce similar effects, generating enough double-strand breaks to activate the fatal DNA
since these organelles catalyze some of the fatty acid breakdown in damage response. R. Bradbury notes that a nanorobot could seize
the cell. Selective destruction of ribosomes (Section 8.5.3.4), the a single mitochondrion (~0.4% of nuclear volume; Table 8.17),
ER (Section 8.5.3.5), the Golgi complex (Section 8.5.3.6), the transport it to the nuclear envelope and then forcibly insert it into
mitochondria (Section 8.5.3.10), or the nucleus (Section 8.5.4) the nucleus—if there are sufficient oxygen and other small reactant
will more slowly kill the cell but again this may be a nonapoptotic molecules present, the mitochondrion would probably produce
death if the transcription, protein synthesis, or energizing mechanisms enough local free radicals to initiate the DNA-damage (apoptotic)
necessary to sustain the apoptotic cascade are disabled. Loss of power cascade. Methods for synthesizing superoxide, hydrogen peroxide,
due to mitochondrial destruction eliminates the cell’s ability to and hypochlorite from locally available materials are described in
maintain long-term membrane recycling; the cell will eventually Chapter 19. In the case of prokaryotes, medical nanorobots could
come apart due to the accumulated damage in the membrane. introduce restriction enzyme molecules that are alien to the target
However, elements of the cytoskeleton probably can be safely strain of bacterium, followed by some DNase (in case the strain has
destroyed without disabling apoptosis, while simultaneously severely none). R. Bradbury believes that ribonucleases and peptidases may
reducing the chances of post-attack cell survival, particularly in cells be unnecessary because some endogenous ribonucleases should
that are incapable of further division. Chemical cytoskeletolysis by always be present and the remaining lipid bag of proteins would
caspases (Section 10.4.1.1) and various mitotic inhibitors such as not represent much of a threat.
the microtubule inhibitor vincristine (Sections 9.4.7.4 and 10.4.1.3)
have been described earlier. We can speculate that mechanical 10.4.2.3 Gross Cellular Disruption
cytoskeletolysis may trigger apoptosis in eukaryotic cells because A number of crude cytocidal techniques have been proposed
the entire cytoskeletal structure per se does not appear to be a crucial which for the most part are inadvisable. For instance, simple lancing
operational component of the apoptotic cascade. or “harpooning” of cells (e.g., Feynman’s “stab the paramecium”355)
How best to perform the cytoskeletolysis? Microtubules in cyto would likely be followed by self-sealing or a messy necrosis, depending
preferentially absorb light at ~350 nm,1070 so in theory a sufficiently on the duration and severity of the penetration.* Acoustic shock waves
intense laser source at this frequency could selectively disrupt the would cause random mechanical damage, ending in necrosis. Bulk
microtubule network. However, proteolytic or mechanical chopping pressurization (see Section 10.3.3) can be lethal to biology—high
should be more energy efficient (especially if used to activate a few pressure treatment to kill bacteria was first described in 1895 by
of the molecules at the upstream end of the cascade). For example, Royer,3102 and by Hite and colleagues3105 in 1899 in connection
p56 severs microtubules slowly in an ATP-independent manner;3147 with the high pressure preservation of milk. Cells are generally
katanin is a heterodimeric protein that severs and disassembles inactivated between 2000-5000 atm, bacteria and viruses above 5000
microtubules in an ATP-dependent manner.3148 Human elongation atm, antibodies and enzymes over 10,000-20,000 atm (Table 10.3).
factor 1α (EF-1α, ~48 kilodaltons) rapidly severs taxol-stabilized Bacterial spores are killed at ~6000 atm and 45˚C - 60˚C.3103,3104 A
fluorescent microtubules in vitro, and induces rapid fragmentation pressure-initiated apoptotic response might be difficult to control
of cytoplasmic microtubule arrays when microinjected into fibro- because the apoptosis-inducing and necrosis-inducing pressure
blasts, at concentrations of 15 microgram/cm3 (200 molecules/ thresholds are not widely separated and may vary among cell types,
micron3).1083 In theory, a pair of fiber cleavage tools modeled after physiological states, external conditions, and even among cells of
EF-1α operating at ~500 Hz (Section 9.4.6) would lyse ~1000 fi- apparently similar characteristics. Bulk pressurization followed by
bers/sec. If the cytoskeleton of a typical tissue cell has a total of release would almost certainly permanently inactivate viruses (Table
~106 intermediate filament segments (Table 8.17), then 10% of all 10.3), but could lead to inflammation if large populations of
such filaments can be mechanochemically cleaved by a single tool deactivated viruses are set adrift in the tissues.
pair in ~100 sec, ignoring travel time. Some fragmentation of DNA molecules in aqueous solution by
The cytoskeleton can also be mechanically cleaved. Individual ~1 MHz ultrasound irradiation has been reported at intensities as
microfilaments have a tensile tearing strength of ~0.1 nN, low as ~2000 watts/m2 for >15-min exposures, but 10-min exposures
microtubules ~1 nN, and intermediate filaments (IFs) ~100 nN. to 50,000 watts/m2 completely fragment the DNA, due to shearing
Consider a cutting blade of length 50 nm rotating at ~1 KHz (blade forces acting on the large molecules rather than cavitation (which
tip speed ~ 0.3 mm/sec). The energy required to cut a single 10-nm requires higher intensities).730 Plant cell chromosomal damage
thick IF is ~ 0.001 pJ (Section 9.3.5.1); the power required to cut occurs at 104-105 watts/m2, and red blood cell suspensions suffer
10% of all cellular IFs in ~100 sec is ~1 pW. The continuous drag increased membrane permeability but no membrane disruption up
power of the freely rotating blade in plasma during the 100-sec to 30,000 watts/m2, although platelets in aqueous suspension may
cytoskeletolysis program is ~0.1 pW (Eqn. 9.75). A 1-micron2 be disrupted by >2000 watts/m2 at 1 MHz for >5 min.730
cross-section nanorobot traversing the entire 8000 micron3 volume Local hyperthermia can selectively destroy cancer cells in vivo,505
of a 20-micron tissue cell traces an 8000-micron path, a 100-sec presumably with an apoptotic outcome. Temperatures of 42.5˚C or
travel time at a mean ~80 microns/sec velocity; continuous higher for 20-30 minutes appear necessary for tumoricidal effects,
nanorobot drag power at this velocity even in a cytoskeleton-rich and several sessions are needed for significant tumor regression.
*Self-sealing of ruptured neurons is inhibited by administering cysteine protease inhibitors or calmodulin inhibitors.3664
Basic Capabilities • Other Basic Capabilities 369
Focused 1 MHz ultrasound beams produce brain lesions, with in psittacosis ~275 nm.751 Their shape is either pseudospherical with
situ spatial-peak intensities at 2 megawatts/m2 for 10 sec causing icosahedral symmetry, as in the poliomyelitis virus, or rodlike, as in
purely thermal damage and higher intensities up to 0.2 gigawatts/ the tobacco mosaic virus (TMV). Viruses consist of a core of RNA
m2 for 300 microsec adding a contribution from direct mechanical (most plant viruses and animal viruses such as the rhinoviruses, polio
effect, possibly cavitation.505 Large numbers of nanorobots in a small and flu viruses, and all retroviruses) or DNA (most bacterial and
tissue volume could produce significant localized or cell-wide heating some animal viruses), but never both. This nuclear material is
for extended durations that might be difficult or impossible for surrounded by a protein coat called a capsid, a quasi-symmetrical
individual nanorobots to achieve. structure assembled from one or only a few protein subunits called
Very high intensity laser light (>1011 watts/m2) can necrotically capsomeres. A virus surrounded only by capsid is a naked virus;
“optocute” biological cells;1630,1631 bioparticle optical trapping pioneer some viruses acquire a lipid membrane envelope from their host
A. Ashkin notes that during his experiments, “if the power got too cell upon release, and are called enveloped viruses. Attached to the
high, the bacteria would just explode.”2145 Threshold laser ablation capsid are other protein structures necessary for host infection,
rates are ~1 nJ/micron 2 for a 248-nm KrF excimer laser especially attachment or docking proteins. The interior capsid
photoablating organic material2146 and 0.5 nJ/micron2 for ablative volume is usually only slightly larger, and never more than twice
etching of corneal tissue at 193 nm (probably as a result of pho- as large, as the volume of the enclosed nuclear material.997 For
todecomposition of the peptide bonds).645 At 193 nm, a single instance, the adenovirus (one family of viruses that causes the
20-nanosec, 20 nJ/micron2 (~1012 watt/m 2) pulse ablates 2.4 common cold in humans) is an icosahedral particle ~70 nm in
microns of bile duct tissue;645 hard biomaterials like tooth dentine diameter (~180,000 nm3) containing one double-stranded DNA
and dental enamel ablate 0.5-1.9 microns at 248 nm and a fluence molecule ~11 microns (~35,000 bases or ~107 daltons) in length
of ~1013 watts/m2. Microlasers are an established technology,497 but (~15,000 nm3), giving a composition of approximately 92% protein
such methods produce necrosis and require far too much power to and 8% DNA by volume. By comparison, the TMV has 5% nucleic
be practical for in vivo cytocide. acid, the bushy stunt virus 17%, and the tobacco ringspot virus has
However, ultraviolet UVC band photons (190-290 nm) induce 40%.751
cell destruction645 much more selectively and energy-efficiently. For There are at least two methods by which such viruses may be
example, nucleic acids have an optical absorption maximum near eliminated from the human body, as follows.
~260 nm508,997 that is characteristic for each base;997 the absorption of
DNA itself is ~40% less than would be displayed by a mixture of 10.4.2.4.1 Sequester and Transport (ST)
free nucleotides of the same composition, known as the hypochromic Nanorobots may extend chemosensory pads (Section 4.2.8)
effect.997 The primary mode of UV damage is the formation of which will selectively and reversibly adhere to the capsid coat of a
thymine dimers in the DNA, which block both transcription and nonenveloped viral target. For enveloped viruses, the nanorobot must
replication until repaired. In sufficient numbers, these defects carefully pick over the camouflage lipid membrane to find
probably activate the DNA damage response (repair or apoptotic) viral-specific antigens. R. Bradbury suggests that such lipid-coated
pathways. At higher-energy shorter wavelengths (e.g., 193 nm), the viruses might also be distinguishable from host cells by measuring
UV photons don’t penetrate the cell far enough to reach the their membrane curvature (viruses are much smaller than eukaryotic
nucleus.645 Lower-energy longer-wavelength UV photons can still cells) or local ion concentrations (viruses emit no metabolic effluents).
damage DNA by producing oxidizing chromophores and decreasing Once the virus is bound to the pad, the nanorobot packs the
enzyme synthesis, which has the effect of reducing the repair and whole virus particle into an internal storage cannister. When the
regrowth properties of DNA;645 protein containing the aromatic cannister is full, the nanorobot ceases operations and either delivers
(chromophoric) amino acids tryptophan and tyrosine have maximum its cargo to a dedicated biodisposal organ or other in vivo facility, or
absorption near 275 nm508,996 and phenylalanine more weakly near eliminates itself from the body (Chapter 16). A nanorobot with a
260 nm,996 and peptide bonds absorb strongly at wavelengths 1.8 micron3 cannister can warehouse up to ~10,000 compacted
under 240 nm.508 Thus photons of a precise wavelength can cause adenovirus particles. With viral infections reaching ~1010 particles/
very selective damage. Suspensions of Streptococcus, Lactobacilli and cm3 localized in the upper respiratory mucosal tissues, mean distance
Actinomyces bacteria stained with toluidene blue experienced between free-floating particles is of order ~5 microns, or ~100
millionfold kill rates after 60-sec exposure to helium-neon laser millisec travel time at ~100 micron/sec, probably dominating the
photons at an intensity of only 5600 watts/m2.2147 Viral genetic exclusive antigenic identification time of ~2 millisec (Section 8.5.2.2).
material is also strongly susceptible to UV damage.328 As part of a nanomedical treatment for viral infection3233 (Chapter
Particulate radiation is another poor choice for inflicting selective 23), a minimum therapeutic dosage of ~108 nanorobots/cm3 can
damage to individual cells in a controlled manner. It is true that Co60 extract and sequester the entire adenovirus population from infected
irradiation is used to sterilize sutures,359 and antitumor radiation human tissue in ~1000 sec (~17 minutes); larger doses can clear the
treatments have been commonplace in 20th century medicine. tissues even faster, and may also assist in the cytoplasmic and nucleo-
However, the range of natural-emission α-rays in protoplasm is plasmic clearance of viral DNA.
>20 microns, raising the likelihood of some collateral damage, and
an accelerator capable of generating artificial lower-energy alpha 10.4.2.4.2 Digest and Discharge (DD)
beams would be energetically and geometrically prohibitive in most After virion acquisition as previously described, the particle is
in vivo nanomedical contexts. placed in a leakproof transfer chamber. The virus is then pistoned
into a morcellation chamber (Section 9.3.5.1) where it is chopped
10.4.2.4 Mechanical Virucide by orthogonally traveling diamondoid blades into ~10 nm pieces,
Viruses are acellular bioactive parasites that attack virtually greatly increasing the reactive surface area of the virus material. The
every form of cellular life. Viruses have diameters2148 ranging from morcellate is then pistoned into a reaction chamber. Capsid-specific
16-300 nm—for example, poliomyelitis ~18 nm, yellow fever ~25 proteinases and peptidases are introduced, reducing all virus proteins
nm, influenza ~100 nm, herpes simplex and rabies ~125 nm, and to amino acids, which are removed from solution by molecular sorting
370 Nanomedicine • Volume I
rotors (Section 3.4.2) and discharged. Lipases are required for digesting or oval endospores that survive when conditions become inhospi-
enveloped viruses. Deoxyribonuclease and ribonuclease enzymes are table for metabolism, such as extreme heat (>100˚C) or desiccation
also introduced, reducing viral DNA or RNA to nucleotides which (for up to 60 years).1225 As prokaryotes, bacteria have no distinct nucleus.
are themselves removed from the solution by a second set of molecular However, a single circular chromosome is organized into one or more
sorting rotors and discharged. The enzymes remaining in solution compact aggregates, called nucleoids, that may occupy about
are pumped back into storage vessels via sorting rotors, and the one-third of cell volume.997 E. coli, a well-studied cylindrical bacte-
reaction chamber is ready for the next cycle. rium measuring 0.65 microns wide and 1.7
For example, a 70-nm adenovirus particle containing 8% DNA microns long (cell volume ~ 0.6 micron3), has one double-stranded
by weight is reduced to 1.7 x 10-16 gm (~106 molecules) of amino DNA chromosome ~1.3 mm (~4.2 megabases or ~109 daltons) in
acids and 1.4 x 10-17 gm (~30,000 molecules) of nucleotides. Natural length (strand volume ~ 0.002 micron3), organized in ~40 kilobase
bloodstream concentrations of all amino acids are typically ~5 x loops.997 Chromosomes spilled from lysed bacteria show ~80% DNA
10-5 gm/cm3 (~3 x 1011 adenovirus equivalents per cm3), and ~10-6 content, suggesting loop stabilization by proteins and at least a primi-
gm/cm3 (~7 x 1010 adenovirus equivalents per cm3) for nucleotides tive membrane-associated cytoskeleton.
(Appendix B), so the maximum “safe” viral material discharge rate Table 10.6 gives the approximate mean composition of a 4
appears nucleotide-limited to ~1011 virus particles per cm3, which micron3 bacterium. There are at least three methods for eliminating
is at or above the typical virion particle density in serious infections. an unwelcome microbe from the human body, described below. An
Hence, digested-virus material discharges should not significantly additional serious problem in bacterial infections is that many
augment natural serum concentrations of amino acids or nucleotides. microbes release toxins into the bloodstream that can wreak havoc
Energy costs are minimal. Single-virus mincing costs ~0.1 pW even if all the bacteria are killed. Toxin cleanup (Chapter 19) is a
of power for a duration of ~8 millisec (Eqn. 9.54). Representative necessary component of any comprehensive antibacterial treatment
enzyme operating frequencies (turnover numbers) range from 1-2 strategy.
KHz for lactate dehydrogenase and penicillinase to 15-100 Hz for
DNA polymerase and chymotrypsin,759 giving digestion times on 10.4.2.5.1 Desiccate, Sequester and Transport (DST)
the order of 1-100 millisec when an excess of enzyme is present. After the target bacterium has been identified by chemosensory
Out-rotoring all final-product amino acids costs at most ~ 20 pW pads binding, the nanorobot secures itself to the cell exterior. The
for at most ~10 millisec duration using ~100 sorting rotors per each first objective is to desiccate the bacterium. An efficiently designed
of the 20 essential amino acid types. Pumping a generous ~100 molecular sorting rotor for water may require ~30 nm2/receptor of
virus-volumes of enzyme-rich solution through a 1-micron length exposed surface with 600 nm3/rotor which includes 50% volume
of 60-nm diameter pipe at 1 atm pressure costs 2 pW for ~ 1 millisec overhead for housings and other mechanical elements, and transports
duration (Section 9.2.5). Hence virion processing time is of order ~106 molecules/sec at a cost of ~0.01 pW/rotor (Section 3.4.2). Of
~100 millisec and requires at most ~30 pW during processing. total bacterial water, ~2/3 is freely diffusible as bulk water and ~1/3
is loosely bound as hydration water (Section 8.5.3.3). Thus to
10.4.2.5 Mechanical Bacteriocide accomplish the desiccation, the nanorobot inserts a 0.3-micron wide,
Bacteria are unicellular microorganisms capable of independent 2-micron long cylindrical water extraction probe into the cell interior.
metabolism, growth, and replication. Their shapes are generally Taking the experimentally measured3149 failure strength of the wet
spherical or ovoid (cocci), cylindrical or rodlike (bacilli), and peptidoglycan wall as ~3 x 106 N/m2 (Table 9.3), a probe tip config-
curved-rod, spiral or comma-like (spirilla). Bacilli may remain ured as a core sampler tool (Section 9.3.2) with an annular cutting
associated after cell division and form colonies configured like strings edge of thickness Wedge = 1 nm (Section 9.3.5.1) can penetrate the
of sausages. Bacteria range in size from 0.2-2 microns in width or bacterial wall by applying a force of ~3 nN perpendicular to the
diameter, and from 1-10 microns in length for the nonspherical surface; a rotating serrated cutting edge requires even less force. In
species; the largest known bacterium is Thiomargarita namibiensis, the alternative, a chemical or enzymatic cutting tool may be
with spheroidal diameters from 100-750 microns.3225 Spherical employed.3150-3152
bacteria as small as 50-500 nm in diameter have been reported,2149 The extraction probe is tiled with ~66,000 sorting rotors of
but it has been theorized that the smallest possible cell size into volume ~0.04 micron3. Extraction probe volume is ~0.14 micron3,
which the minimum essential molecular machinery can be contained which leaves ~0.10 micron3 for probe structure, probe plumbing
within a membrane is a diameter of ~40-50 nm.527 Many spherical manifold, pipes and pumps, and probe control mechanisms. All
bacteria are ~1 micron in diameter; an average rod or short spiral bulk water is extracted from the bacterium in ~1 sec, shrinking the
cell is ~1 micron wide and 3-5 microns long. Each bacterial cell cell by half from ~4 micron3 to a volume of ~2 micron3. (Sorting
consists of a mass of protoplasm enclosed within the usual thin lipid rotors covering ~2 micron2 remove ~3 x 1010 molecules/sec-micron2,
bilayer plasma membrane. Most Gram-positive bacteria are surrounded far outpacing possible backflows which may be crudely estimated
by a thick, mechanically strong but porous peptidoglycan cell wall. from maximum macrophage water-ingestion rates (Section
Gram-negative bacteria like E. coli surround themselves with an 10.4.2.1), suggesting at most ~107 molecules/sec-micron2 across a
additional two-layer coat atop the peptidoglycan layer. This coat ~13 micron2 bacterial surface.) Engulf formations of metamorphic
has an unsaturated inner lipid layer but a more rigid outer leaflet nanorobots (Section 5.3.4) could be especially useful in this
composed of an unusual lipid, called lipopolysaccharide (LPS), in application.
which fatty acid chains are all saturated and 6-7 chains are Its volume halved, the bacterium is packed into a nanorobot
covalently linked in a single LPS molecule.2134 storage cannister of volume ~2 micron3 and is delivered to an
Bacterial cells have no internal membranous surfaces and no appropriate dedicated biodisposal organ or other biodisposal facility
internal organelles, although some functional compartmentalization does (Section 10.4.2.4)—one dead bacterium per nanorobot. (A rigid
exist.3616 Bacteria possess small internal vacuoles, ribosomes, and gran- wet hollow peptidoglycan sphere of diameter ~2 microns and
ules of stored food, and usually one or more externally-attached flagella thickness ~20 nm can be compacted into a 2-micron wide storage
(Section 9.4.2.5.2). Some rod-shaped bacteria can form tiny spherical cylinder by a 2-micron piston by applying an Euler buckling force
Basic Capabilities • Other Basic Capabilities 371
Table 10.6. Summary of Biochemical Composition and Net Digestion Breakdown Products of a Representative
4 µm3 Bacterium (modified from Becker313 and Lewin997)
Inorganic:
Water 70.0% 18 3.0 x 10-12 1.0 x 1011
Salts 1.0% ~55 4.3 x 10-14 4.7 x 108
Organic:
Carbohydrates 3.0% ~180 1.3 x 10-13 4.3 x 108
Amino Acids 0.5% ~100 2.1 x 10-14 1.3 x 108
Nucleotides 0.5% ~308 2.1 x 10-14 4.2 x 107
Large Molecules:
Proteins 14.5% ~30,000 6.2 x 10-13 1.2 x 107
Lipids 2.0% ~700 8.5 x 10-14 7.3 x 107
Polysaccharides 2.0% ~1000 8.5 x 10-14 5.1 x 107
RNA 6.0% ~106 2.6 x 10-13 1.5 x 105
DNA 0.5% ~109 2.1 x 10-14 ~1
TOTALS:
100.0% --- 4.3 x 10-12 1.01 x 1011
Net Digestion Digestion Product Digestion Product Natural Blood Blood/Bacterium
Products # of Molecules Mass (gm) Conc. (gm/cm3) Equivalents (#/cm3)
(Eqn. 9.44) of ~1540 nN, or ~5 atm; a dry peptidoglycan sphere of sweeps it around inside. The antenna recognizes DNA and RNA
this size would require ~10,000 atm to crush.) Serious infections of material including chromosomes, plasmids, and ribosomes. Any such
~107 bacteria/cm3 (mean separation ~50 microns) thus require a material found during antenna sweeps through the protoplasm
minimum therapeutic dose of 107 nanorobots/cm3. Bacterial adheres to reversible binding sites on the antenna. The antenna of
clearance time for infected tissue at minimum dosage is dominated diameter dant is then rotated Nrot ~ LDNA / π dant turns which is
by entry and withdrawal times (Chapter 16) for single-cell-payload sufficient to randomly enspool a chromosome strand of maximum
nanorobots, which may require several blood circulation times, but length LDNA; taking dant = 0.1 micron and LDNA = 1.3 mm for ~4.2
is certainly less than 1000 sec.3233 An alternative suggestion is that Mb E. coli, Nrot = 4100 turns which probably may be executed in
a desiccated bacterium could be “shrink-wrapped,” possibly using a ~1 sec without strand breakage because the bonding between chromo-
tightly wound surface webbing consisting of polymerized glucose some and cellular matrix is likely noncovalent. The mean thickness
(e.g., cellulose or “string”), then flagged for phagocytic removal of the bolus of DNA that is tightly spooled around the antenna is
(Section 10.4.1.2) and released, with the objective of improving ∆X = ((VDNA / π Lbolus) + (dant2 / 4))1/2 - (dant/2) = 12 nm, where
the microbe-processing speed of nanorobots. Unfortunately this DNA volume VDNA ~ 4.2 x 106 nm3 at ~1 nm3/bp and Lbolus ~ 1
incautious approach allows bacterial DNA to remain intact. If the micron is the bolus length.
The adhesion antenna* is retracted, with patching lipids ejected
wrapping is easily digestible, the prokaryote might escape confinement
from the tip as it clears the hole, thus auto-sealing the hole. The
prior to disposal, and reinflate; if not easily digestible, blockade of
adhered genetic material is pushed into a reaction chamber (Section
the macrophage system could result. 10.4.2.4.2), whereupon deoxyribonuclease enzymes are introduced
Note that cellular RNA synthesis and protein synthesis stop to reduce bacterial DNA to nucleotides which are then removed
below 70%-80% hydration. All metabolism of small molecules, lipid from the solution by molecular sorting rotors and discharged.
synthesis, amino acid synthesis, and CO2 fixation into organic Ribonucleases and peptidases are also present to reduce RNA and
molecules ceases below ~35% hydration.941 ribosomes to dischargeable effluent, leaving the cell with no genetic
or transcription capability, effectively neutering the bacterium.
10.4.2.5.2 Neuter and Release (NR) After minor surface modifications to enhance immune system
After identification and docking, the nanorobot extends an recognition (Section 10.4.1.2), the cell is abandoned to allow natural
adhesion antenna tool (Section 9.3.2) into the bacterial interior and phagocytic processes to run their course.
* R. Bradbury suggests that a DNA-binding grappling hook mounted on a cable sliding inside a nanotube sheath could be inserted less disruptively through a bacterial cell
wall. The interior DNA strands are snagged and then pulled into the nanorobot through the sheath by retracting the cable.
372 Nanomedicine • Volume I
10.4.2.5.3 Liquefy, Digest and Discharge (LDD) 10.5 Temperature Effects on Medical Nanorobots
After identification and docking, the nanorobot extends a Will medical nanorobots retain functionality at unusually high
retractible, self-cleaning, flexible diamondoid filament rotating or low operating temperatures? This is an important question for
“eggbeater” tool (Section 9.3.2) into the bacterial interior and sweeps nanodevices at work in human limbs that may be subjected to hot
the tool around inside the cell. A mechanical sensor that serves as a scalding, combustion, explosion, or other burn traumas, or, at the
registration bumper detects the presence of cell wall, allowing the cold temperature extreme, to severe frostbite or exposure of the
rapidly rotating mechanism to avoid damaging the bacterial outer extremities whether in space or in arctic conditions, accidental ice
perimeter. A beater with four tines of length 500 nm, tine width 50 burial after an avalanche, or in situations requiring the repair and
nm, and forward cutting edge 10 nm, bowed to a 200 nm diameter resuscitation of cold-vitrified or cryogenically-preserved tissues,
and rotating at ~100 Hz has an equatorial velocity of ~60 micron/sec organs, or whole organisms.
and can cut material having tearing strength ~108 N/m2 (~maximum A complete review of the many effects of environmental tem-
for soft biological materials; Table 9.3) while consuming ~30 pW perature on the operations of medical nanodevices is beyond the
(Eqn. 9.75) in continuous operation in highly viscous E. coli cytoplasm scope of this text. This Section can only briefly mention a few of
(absolute viscosity η ~ 1000 kg/m-sec; Table 9.4). As liquefaction pro- the many design issues that may arise if nanorobot operations are
ceeds, the protoplasm may become less viscous, allowing rotation contemplated significantly above or below normal human body
rates to be increased and input power to be reduced. temperatures.
After 1-10 sec, the appropriately liquefied material is pumped
from the exemplar 4 micron3 bacterium interior into the 1 micron3 10.5.1 Dimensional Stability and Strength
enzymatic reaction chamber in ~0.01 micron3 aliquots and is pro- At high applied stress, covalent bonds cleave much more readily
cessed as described earlier in ~100 millisec cycles consuming ~30 at higher temperatures. For example,10 at an applied stress of 8 nN/
pW (Section 10.4.2.4.2). However, the LDD chamber also includes bond a C=C double bond cleaves in ~1027 sec at 0 K, ~104 sec at 300
lipases to digest lipids, amylases and related enzymes to digest carbohy- K, and ~10-3 sec at 500 K. The positional uncertainty is somewhat less
drates, and molecular sorting rotors able to transport and discharge problematic in design—the mean classical thermal longitudinal
fatty acids, sugars, and inorganic ions. A few specialized additional displacement of a diamondoid logic rod varies only as ~T1/2.10
enzymes may be required to fully digest unusual or rare metabolites The endpoint of such a rod 1 nm wide and 100 nm long displaces
that might already be present or might appear during processing. ~0.05 nm at 77 K (liquid N2), ~0.10 nm at 300 K, and ~0.14 nm at
Processing time for ~400 cycles is ~40 sec. Finally, the bacterial coat, 600 K (liquid lead). Mechanical elements thus become more reliable at
plasma membrane, and flagella (another ~0.3 micron3 plus ~0.001 lower temperature—e.g., the probability of error in a force sensor
micron3/flagellum) are sectioned, drawn into the reaction chamber, (Section 4.4.1) scales as ~exp(1/T), so a 1% error in a sensor at 310
processed in like fashion, and then discharged in an additional 30 K increases to a 10% error at 600 K, but falls to just 10-6 % error at
chamber cycles or ~3 sec. Care should be taken not to fragment the 77 K.
coat until nearly all of the cell contents are evacuated, thus Most materials contract when cold and expand when hot
minimizing contamination of the extracellular environment. A few (although zirconium tungstate is a well-known exception2938). Thus
additional sorting rotors and special processing may be required for a 1000-nm long diamondoid rod at 310 K contracts to ~999 nm at
endotoxins, native cellular enzymes, indigestible bacterium-resident 77 K and expands to 1001 nm at 600 K. However, the coefficients
poisons and heavy metals, and so forth. Operating simultaneously of thermal expansion and various other thermophysical parameters are
and in parallel, all 1011 water molecules are discharged in ~50 sec themselves temperature-dependent. The coefficients of volumetric
by 2000 sorting rotors drawing 20 pW. Thus, total processing time thermal expansion at ~298 K (~25˚C) are 3.5 x 10-6 K-1 for diamond,
is ~50 sec, consuming ~50 pW. 15.6 x 10 -6 K -1 for sapphire, 1.2 x 10 -6 K -1 for vitreous silica and
Table 10.6 also compares the composition of bacterial digestion 36 x 10-6 K -1 for crystalline silica or quartz.567
products to natural bloodstream concentrations of those same Young’s modulus (modulus of elasticity) and the other moduli
products (Appendix B), and shows that the (extremely conservative) are also temperature-sensitive, especially and most obviously near
maximum “safe” bacterium material discharge rate is nucleotide-limited phase changes—e.g., sapphire melts at 2310 K but “softens” at
to ~107 microbes/cm3, which is near the typical microbial number 2070 K.1602 At ~1773 K, diamond plastically deforms at just ~1
density in serious infections. Digested-bacterium material discharges atm pressure, but >60,000 atm are required to deform diamond
should not significantly augment natural serum concentrations of at ~1300 K.2041 At the cold extreme, anyone who has seen the
most of these substances. hammering of a nail using a piece of banana cooled in liquid N2
Processing 20-micron tissue cells may proceed by similar, but has witnessed the temperature sensitivity of materials strength.
more cautious, means, and will require on the order of one
nanorobot-day to digest and discharge each such cell. A cooperative 10.5.2 Viscosity and Locomotion in Ice
group of ~100 LDD nanorobots occupying ~10% of a tissue cell The viscosity of liquids generally declines with rising temperature
surface can perform a complete disassembly and discharge in ~1000 following Andrade’s formula (Section 9.4.1.1); water is ~6 times more
sec, employing a group power draw of ~5000 pW for the duration. viscous at 273 K (near freezing) than at 373 K (near boiling) (Table
9.4). Viscosity affects internal fluid transfers but also locomotion.
10.4.2.6 Cytocarriage Disposal Natation in liquid nitrogen should require relatively less power than in
Unwanted bacterial or other motile cells may be piloted to natural water, since liquid air (at 81 K) is only one-quarter as viscous as liquid
disposal sites in the human body via cytocarriage (Section 9.4.7), a water at 310 K (Table 9.4).
potentially efficient pathogen-clearing technique that is elaborated An equally relevant but far more serious challenge is locomotion
in greater detail in Volume II. through solid water ice. Just below freezing, crystalline ice viscosity is
Basic Capabilities • Other Basic Capabilities 373
~1010 kg/m-sec, requiring a 1-micron nanorobot to expend on H-bond-breaking power is at most PHBond ~ 2 EHBond nwater Lnano2
the order of ~200,000 pW to creep forward at 1 micron/sec (Eqn. vnano = 2000 pW for a nanorobot of dimension L = 1 micron and
9.73) by viscoplastic flow in which ice crystals are deformed without velocity vnano = 1 micron/sec. (Again, this is a conservative esti-
breaking. Just halfway from freezing to liquid nitrogen tempera- mate because it may be possible to recapture some of the energy
ture, at 164 K, viscosity has already risen to ~1021 kg/m-sec, that is liberated as the water molecules are returned to an ice lattice
roughly equivalent to solid mantle rock, and the power require- at the rear of the nanorobot.)* Additionally, a molecule handling de-
ment has increased 100-billionfold, clearly prohibitive. vice of an efficiency comparable to the telescoping manipulator
(Microdroplets of pure water may be supercooled in the liquid arm (~10 zJ/nm per molecule; Section 3.4.3) that moves ice mol-
state to 235 K at 1 atm, or 181 K at ~2000 atm.2965). ecules a total distance ~10 nm to and from a conveyor device of
One solution that avoids this problem at temperatures near efficiency ~10-6 zJ/nm per molecule (Section 3.4.3) running a ~1
the melting point is baronatation, which depends upon the fact micron course consumes E transport = 100.001 zJ/molecule, so
that water, almost uniquely, is less dense as a solid than a liquid molecule-moving power is at most Pmove ~ Etransport nwater Lnano2 vnano
(i.e., ice floats), suggesting a freezing point depression effect with = 3000 pW, hence total motive power for a 1-micron ice-burrowing
increasing pressure that is visible as the short downleg from 0˚C nanorobot moving at 1 micron/sec is at most ~5000 pW. Moving
to –16˚C in the phase diagram for Ice Ih (Figure 10.11). This is ice in small chunks may be another energy-saving
confirmed experimentally by suspending two heavy weights from alternative.
a wire stretched across a block of ice. The wire passes slowly
through the block, the wire exerting a pressure that melts a thin 10.5.3 Solubility and Solvents
layer of water ahead of it, allowing the wire to progress; as the Gas solubility always declines, while the solubility of most solids
water passes behind the wire to the lower pressure region, it rises, with higher temperature (Section 9.2.6). Liquid solutes
refreezes, a process known as regelation.1697 The melting ice ahead behave as solids in this regard, but note that unit volumes of miscible
of the wire absorbs the heat of fusion while the refreezing water fluids are not precisely additive. For example, if one liter of ethanol
gives up the heat of fusion, with heat steadily transferred by the is added to 1 liter of water, the result is only 1.93 liters of solution.2036
wire, hence a good conductor cuts better than a poor one.1697 A solution of a nonvolatile nonelectrolyte solute (e.g., glucose)
The barostatic freezing point depression constant for ice is 134 has a boiling point Tboil that is elevated above the boiling point of
atm/˚C390,2050 up to ~2100 atm. By exerting a higher pressure pure solvent by ∆Tboil = n kb Ml, where Ml is the molality of the
(force per unit area) ahead of it than behind it, a baronatating solution (moles solute per kilogram of solvent), kb is the boiling
nanorobot of roughly conical geometry can progress slowly point constant for the solvent (Table 10.7), and n = 1. The presence
through ice that is no colder than –16˚C. of solute also slightly lowers solvent freezing point Tfreeze by ∆Tfreeze
Taking the heat of fusion for water ice as ∆Hfus = 306 pJ/ = n kf Ml, where kf is the freezing point constant for the solvent
micron3 (334 J/gm at 0˚C) and assuming at least ~3 micron3 of (Table 10.7). Both effects are a direct consequence of the lowering
ice must be melted to allow 1 micron of forward progress, then of solvent vapor pressure by a solute. The constants may be estimated
baronatation power requirement is very conservatively estimated as:390
as Pbaro ~ 3 ∆Hfus vnano ~ 900 pW for vnano = 1 micron/sec. (This
is energy flow, which is not necessarily energy dissipation, since 2
R Tfreeze MW
most of the heat loss will come from water refreezing at the rear kf = (˚C/molal) {Eqn. 10.22}
1000 ∆H fus
of the nanorobot and only the losses from finite thermal conductivity
must be made up.) Below –16˚C the ice would have to be heated 2
R Tboil MW
to that temperature before melting can occur, requiring a probably kb = (˚C/molal) {Eqn. 10.23}
prohibitive additional power dissipation P heat ~ L nano K t ∆T 1000 ∆H vap
~22,000,000 pW to produce a ∆T = 10˚C warming of size Lnano
where R = 8.31 J/mole-K (universal gas constant), MW is molecular
= 1 micron in ice assuming thermal conductivity of K t ~
weight in gm/mole or daltons, Tfreeze and Tboil in K, and ∆Hfus and
~2,200,000 pW/micron-˚C at -24˚C. Bejan and Tyvand2961 have
∆Hvap are the heats of fusion and vaporization, respectively (Table
analyzed gravity-induced pressure-melting of ice due to the passage of
solid bodies having square, disklike, or cylindrical contact surfaces. The 10.8).
details of compression-driven phase transitions in ice are also In the case of electrolyte solutes (e.g., KCl) in dilute solutions
being studied computationally using the tools of molecular (e.g., Ml 0.01 molal), n is approximately the moles of ions per
dynamics. 2966,2967 mole of solute (e.g., n ~ 2 for KCl). In more concentrated solutions,
The freezing point depression effect (Section 10.5.3) in which experimental values of n are slightly lower, as explained by
solute molecules are released ahead and recovered behind might Debye-Huckel theory due to ion-ion and ion-solvent interactions.
serve as the basis for a similar drive system concept at tempera- For example, with KCl in water, n = 1.94 at Ml = 0.01 molal but n
tures just below the melting point. = 1.80 at Ml = 0.50 molal.2050 The most concentrated salt solution
Burrowing by progressive voids is yet another alternative that will (e.g., 6.2 molal NaCl) depresses the freezing point of water by ~20˚C.
work over a wider range of cold temperatures. The binding energy per At still lower temperatures, solvents with much lower melting
hydrogen bond in the ice ahead is EHBond = 33 zJ/bond (4.6 Kcal/ points may be employed to avoid solvent freezing. In general,
mole,2036), there are two hydrogen bonds per water molecule, substances dissolve in liquids that are chemically similar. Water
and nwater = 3 x 1010 water molecules/micron 3 in ice at 273 K, so (itself a polar solvent) and many organic compounds including
* An additional complication is that the uppermost molecular layers of ice may not be fully frozen. Experiments by Van Hove and Somorjai2699 show that even as cold as 90
K, the amplitude of vibrational motions in the topmost surface water monolayer is several times that of the water molecules buried deeper in the bulk ice. The second molecular
layer also has enhanced vibrational motion, but far less than the top monolayer. This excess motion is attributed to a lack of water molecules above the monolayer, hence
the monolayer molecules have fewer motion-restricting hydrogen bonds to other water molecules than those of the layers beneath the surface. At 200 K, the amorphous film
becomes thicker; above 230 K, the film becomes a quasi-liquid layer measured as ~12 nm thick at 249 K and ~30 nm thick at 268 K, rising to ~70 nm thick at 272.5 K.2701
374 Nanomedicine • Volume I
* Also, the nature of radiative transfer (Section 6.3.4.4(E)) changes drastically as the size of the box gets close to the wavelength of the peak of the distribution, e.g., 3-30
microns (100-1000 K; Eqn. 6.20) with heat transfer rates enhanced by up to several orders of magnitude,652,653 making sub-ambient cooling much more difficult.
Basic Capabilities • Other Basic Capabilities 375
O
ne of life's pleasures is writing an afterword for a classic- Perhaps the first task is to decide whether the capabilities
in-the-making. Not only will some of the glory inevitably described so well in Nanomedicine are indeed possible. If they are,
rub off, there's also the illicit pleasure of having peeked at then developing this new technology is a matter, quite literally, of
the future, like peeking at the Christmas presents before Christmas. life and death for many of us, our children, and future generations.
A few of the possibilities of this new field of nanomedicine have Making this decision is harder than it might seem. As a society, we
been hinted at, a few more have been sketched in some research deal with new ideas poorly if we deal with them at all. Most people
papers, but only with the publication of Nanomedicine have we do not have the intellectual resources to directly evaluate new pro-
started to see the full richness of it. posals, and so must rely on the statements of others. But those
Like cresting the top of a hill and beholding, for the first time who in principle might be able to evaluate a new idea and so help
and in one sweep, the whole of a new land, our minds are both our collective understanding often get it wrong. Looking back at a
captivated by the prospects and at another level churning with plans few historical examples, we can begin to see the magnitude of the
and ideas and tasks. For at the same time we see what is possible, we difficulty.
are also aware of the work that remains to be done to convert this John Aubrey, a contemporary of William Harvey, wrote this
vision into reality. Nanomedicine is more than just a description of account of the response to the publication in 1628 of Harvey's book
what might be, it is a call to action. While it will take decades to De Motu Cordis in which Harvey described his discovery of the
convert the possible to the actual, that is what we are called upon to blood's circulation:
do—not only for the good of all, not only to advance our knowledge,
not only to help future generations, but to help ourselves as well. "...I heard Harvey say that after his book came out, he fell mightily in
his practice. 'Twas believed by the vulgar that he was crack-brained,
and all the physicians were against him. I knew several doctors in London
The Long View that would not have given threepence for one of his medicines.” 1
While planning beyond a decade is rare in this society, our lives
can span over a century. We should not be shortsighted or timid In 1873 Sir John Erichsen offered this grim assessment of the
about this. When I was a child, my sister was wise and very old: all future of surgery:
of twenty years in age! My parents, in their 40's, were old beyond
concepts of antiquity. Like the sky above and the ground beneath, "There cannot always be fresh fields of conquest by the knife; there must
they had existed since the beginnings of time—at least, of my time. be portions of the human frame that will ever remain sacred from its
Yet somehow I am now 47, and when I protest my age I am laughed intrusions, at least in the surgeon's hands. That we have already, if not
at by my grandmother-in-law who views me, from her 90's, as a quite, reached these final limits, there can be little question. The abdomen,
the chest, and the brain will be forever shut from the intrusion of the
mere youth.
wise and humane surgeon." 1
The field of nanomedicine will take decades to develop, but those
decades will pass and that future will arrive. Most of us will find we Nanomedicine, as Nanosystems2 before it, is based on the laws of
are still here: a bit older, a bit slower, perhaps a bit wiser, yet still physics which describe our world with phenomenal accuracy. Both
filled with the excitement of life and the joy of living. Think of books advance arguments grounded on those laws, and both can
yourself on that future day, looking back on what was and looking therefore be evaluated with respect to the accuracy of their conclusions
forward to what will be. Will the future still be bright, still be open, with respect to those laws. Nanosystems was published in 1992, and
and still be filled with uncharted possibilities? no significant flaws have been found. Given the volume of public
That depends on what we do today. If we ignore the future, if we debate and the number of people who have read the book, the simplest
dismiss the decades ahead and focus narrowly on the next few weeks explanation for this absence of reported errors is that its logic is
or months, then the future will catch us by surprise, unprepared. basically correct and its conclusions are basically sound. Today, these
But if we start now, if we raise up our eyes from the distractions of conclusions are working their way into our collective decision making
the moment and prepare for the future that we know will come, processes and guiding our next steps. Research is being focused on
then when that future arrives we will look back and be pleased with how best to develop this new technology, companies are being formed
what we did, and will look forward and be pleased with the even to achieve the goals that we now accept as possible, and people are
greater possibilities of what we can do. beginning to grapple with the potential consequences.
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
378 Nanomedicine • Volume I
Nanomedicine, working from the foundations laid by Nanosystems, both traditional paper-and-pencil methods, and also the newer
develops the consequences of nanotechnology for medicine. These methods of computational modeling and "digital experiments" made
consequences are extraordinary, and must be both explained and possible by the computer. Theoretical and computational methods
publicly examined. We must firstly encourage the early review and can be applied to the proposals advanced in Nanomedicine both to
more rapid acceptance of Nanomedicine, for the next steps will only check feasibility and to provide more detailed understanding of the
be taken after concluding that its reasoning is largely sound and its performance and capabilities. Computational models in particular,
conclusions mostly correct—the same pattern we saw with especially when they are based on detailed descriptions of physical
Nanosystems. interactions, force a very thorough treatment of the design and bring
into the light any hidden assumptions.
An Immediate Concern
Actually, there is one thing we must do even earlier: ensure the Backward Chaining
completion of this exceptional series of books. What you are reading is Theoretical and computational methods can also be applied to
only Volume I. Volumes II and III, and the popular book to follow, near-term and intermediate-term proposals. Achieving a long-term
do not yet (as of 1999 when this is being written) exist, except in objective often requires taking many steps, and all of those steps
Freitas' head. except the first one are (pretty much by definition) not experimentally
We need to support him, in order to move this first and most accessible. While experimental work is focused on taking the next
critical series to completion. This is always the hardest time for a step, the theoretical and computational work should be focused on
new idea—before it has been codified and laid out, before it has clarifying the whole pathway from today's technology to the future
been clothed in words, when it exists only as thoughts. The work of applications. This feeds back into the experimental work in two
making it solid and substantial is great, and yet this work is given ways. First, it provides information about which approaches are more
the least support. likely or less likely to succeed. Second, it provides a reason for
What funding committee will agree to fund a book describing supporting the experimental work. The value and feasibility of the
an entire new field that has never before been dreamt of? Committees long-term objectives makes experimental progress more valuable,
base their conclusions on a shared understanding of a common body and as this understanding spreads it becomes easier for experimentalists
of knowledge. Their members are drawn from an existing society of to get funding for work that moves us closer to those long-range
experts to evaluate the next incremental improvement. What do objectives.
you do when there are no experts? Who lays claim to expertise in Consider one example: Freitas' respirocyte3 is based on the
nanomedicine? Who has spent their life in this field which is just observation that a red blood cell stores very little oxygen when
being conceived? No one. The committee process breaks down when compared with a tank of similar size which holds oxygen compressed
we move into truly new terrain. It fails us just when failure is most to ~1,000 atmospheres. The design calls for strong materials (to
expensive: at the beginnings of new things. Here we must fall back hold oxygen at high pressure) and very finely detailed structural
on individuals—individuals who are bold enough to believe in components (to control the release and storage of the oxygen).
themselves when there are no experts to turn to for help and support. On a theoretical and computational front, sub-components that
Individuals who are willing to back up their own beliefs with are composed of not-too-many atoms can be modeled in great detail.
action, who will nurture the truly new and the truly groundbreaking The position of each atom and the forces between the atoms can be
without having to first seek the approval of others. For there are no modeled using techniques that provide remarkable accuracy and
others! On the far frontiers there are very few, and sometimes there simultaneously impose a discipline and rigor on the designer.
is only one. Compelling the designer to account for the location of every
atom, and to propose a design that fully satisfies the physical
The Research That Must Be Done laws incorporated into the computational model—a model that
What happens later, when some significant part of society agrees has been checked and verified against countless other molecular
that nanomedicine will happen? Research. structures—prevents the designer from sidestepping awkward
issues that might cause the design to fail.
• Research to clarify the goals and objectives. Just because people Such a design then feeds back important constraints on earlier
agree it will happen doesn't mean they agree about how it will steps in the development process. For example, we must be able to
happen, or when, or which sub-objectives should be given higher make very precise, very detailed, and very strong structures. The
priority, or.... material often proposed for this (and other nanotechnological)
applications is typically diamond and variants on diamond (structures
• Research to persuade more people that nanomedicine is feasible. with a stiff hydrocarbon backbone and surface terminations that are
Don't forget that this society runs on majority rule. If 20% of a chemically stable; hydrogenated diamond surfaces are common, as
committee thinks an idea is worthwhile and should be pursued, are the use of oxygen on (100) surfaces, nitrogen on (111) surfaces,
it still gets voted down. and the like). If stiff hydrocarbons are important, then we must
• Research to identify early applications. The sooner we can have good PEFs (Potential Energy Functions) for such structures in
identify profitable opportunities that move us closer to the order to perform molecular mechanics and molecular dynamics
long-term objectives, the sooner we can establish support that calculations that are accurate. The use of Brenner's potential for
doesn't require persuading committees. modeling hydrocarbons is common today, and extensions to this
potential to incorporate elements other than hydrogen and carbon,
• Research to advance our experimental capabilities. This as well as to improve its accuracy, are clearly of great importance to
accomplishes two purposes: it moves us closer to the goal, and the computational research aimed at developing nanotechnology.
it makes it easier for people to understand that the goal is feasible.
The requirement for highly detailed structures made of stiff
Broadly speaking, the research that must be done can be divided hydrocarbons in turn implies we must analyze chemical reactions
into theoretical and experimental. The theoretical work includes able to synthesize such materials. The chemical reactions involved
Basic Capabilities • Afterword 379
in the growth of diamond are reasonably well understood, and many recursive spiral would be to discover a fundamental objection that
reaction pathways have been proposed by which such growth can makes molecular machine systems impossible. As we are surrounded
occur. We can adopt reaction pathways similar to those seen in the by biological molecular machines, this possibility seems remote. If
chemical vapor deposition (CVD) growth of diamond, but provide thermal noise was a fundamental obstacle to molecular machine
finer control over where they occur by positioning the reacting design, then biological systems could not copy DNA and molecular
compounds using positional devices. Better computational methods rotary motors could not rotate. If quantum uncertainty was a
for analyzing individual reactions are possible using ab initio fundamental obstacle, then ribosomes could not synthesize proteins
methods, which can also provide accurate descriptions of the interactions of and sodium channels could not distinguish between sodium and
small numbers of atoms which then feed into the design of better potassium.
PEFs. Better understanding of reactions relevant to the growth of
diamond can also be pursued experimentally, and particular reactions A New Medical Technology And A New Era Of
of interest can be looked at in the laboratory as well as on a computer. Medicine
The need to position molecular components in its turn implies We are left, then, with a fairly clear set of conclusions. Living
we must consider positional devices—both improvements to today's systems exist. Living systems can usually heal and cure their own
SPMs (Scanning Probe Microscopes) and future molecular scale injuries, unless those injuries are severe enough to prevent the living
versions that are faster, more accurate, and have a greater range of system from functioning. Too often, we suffer injuries that are
tip configurations. This implies a strong interest in experimental indeed this severe. Molecular nanotechnology is feasible. As we
and theoretical work on positioning devices, as well as work aimed master the ability to design molecular machines that can continue
at improving SPM tips. Experimental work that shows greater to function when the living system around them has failed, those
flexibility in arranging individual atoms and molecules should be molecular machines can restore the function of the living system.
supported, as the potential consequences of this work are very great. They can support and sustain the processes of the living system
This process of working backwards from our desired goal to until that living system can once again function on its own. Whether
near-term research objectives was called backward chaining by this is done by a temporary assist from respirocytes3 or by any of the
Drexler.2 As can be seen, it is a method of analyzing a long-term myriad other techniques discussed in Nanomedicine, the underlying
objective (e.g. using respirocytes to treat medical conditions) and message is clear: life and health can be restored and sustained in the
breaking down the steps needed to achieve that objective into nearer- face of greater injury, greater damage, greater trauma, and greater
term objectives (e.g. improving PEFs, experimental work in SPMs). dysfunction than has ever before been realized. This will usher in a
While the outline of the process given here is necessarily very short, new era of medicine—an era in which health and long life will be
it should give the reader a feeling for the basic idea. the usual state of affairs while sickness, debility and death will be
The procedure of targeting near-term research goals based on the mercifully rare exceptions.
their utility in achieving long-term objectives not only provides a The future capabilities of nanomedicine give hope and inspiration
focus for research, it also produces a wealth of results which further to those of us who still have decades of life to look forward to, but
bolster the underlying arguments supporting the feasibility of the some are not so fortunate. Many others who rightfully should live
objectives and the desirability of such research. This creates a recursive several decades more might find that chance cuts short their
spiral of knowledge. A little research shows there are no fundamental expected time. Heart attacks and cancer can strike us down even in
barriers that prevent us from achieving the objectives of molecular the prime of our lives. They do not always wait their turn and
nanotechnology. Further research gives a better understanding of politely arrive only when expected. How can today's dying patient
which molecular machine systems should be feasible and provides take advantage of a future medical technology that is as yet only
initial targets for additional research. Ongoing work is providing a described in a handful of theoretical publications? How can we
clearer picture of the routes that can move us from our present preserve the physical structure of our bodies well enough to permit that
technology base to the proposed molecular machines of the future, future medical technology to restore our health?
and produces yet more targets for near-term efforts. The extraordinary medical prospects ahead of us have renewed
interest in a proposal made long ago: that the dying patient could
The Recursive Spiral of Knowledge be frozen, then stored at the temperature of liquid nitrogen for
Every time we pursue further research in nanotechnology we decades or even centuries until the necessary medical technology to
find that our original assessment of its basic feasibility is strengthened, restore health is developed. Called cryonics, this service is now
our understanding of the specific near-term research targets that we available from several companies. Because final proof that this will
must pursue is broadened, our conviction that further research can work must wait until after we have developed a medical technology
speed the development of this fundamentally new and revolutionary based on the foundation of a mature nanotechnology, the procedure is
technology grows stronger, and our awareness of the astonishingly experimental. We cannot prove today that medical technology will
pervasive benefits this technology can bring is widened. In this (or will not) be able to reverse freezing injury 100 years from now.
recursive spiral of knowledge, research emboldens our interest and But the patient dying today must choose whether to join the
increasing interest produces yet more research. The rate-limiting experimental group or the control group. The luxury of waiting for
process is the speed with which people take the first step, for having a definitive answer before choosing is simply not available. So the
taken the first step the second step comes a little faster, and the decision must be made today, on the basis of incomplete information.
third step faster still. We already know what happens to the control group. The outcome
This should come as no real surprise, for either the ability to for the experimental group has not yet been confirmed. But given
arrange and rearrange molecular structures in most of the ways the wonderful advances that we see coming, it seems likely that we
permitted by physical law is feasible, or, alternatively, it is not. But should be able to reverse freezing injury—especially when that
since Feynman's famous 1959 talk There's Plenty of Room at the injury is minimized by the rapid introduction through the vascular
Bottom,4 every informed observer who has studied the issue has system of cryoprotectants and other chemicals to cushion the tissues
drawn the same conclusion: it's feasible. The only way to break the against further injury.
380 Nanomedicine • Volume I
Conclusion References
The development of nanomedicine depends on us: what we do 1. For more examples of this kind and references for the above quotations,
see http://www.foresight.org/News/negativeComments.html#loc026).
and how rapidly we do it. Research is not done by a faceless "them,"
2. K. Eric Drexler, Nanosystems: Molecular Machinery, Manufacturing, and
nor is it something that happens spontaneously and without any Computation, John Wiley & Sons, NY, 1992.
human intervention. It is done by and supported by people. Unless 3. Robert A. Freitas Jr., "Exploratory Design in Medical Nanotechnology:
we decide to support and pursue this research, it won't happen. A Mechanical Artificial Red Cell," Artificial Cells, Blood Substitutes,
How long it takes to develop depends on us. We are not idle bystanders and Immobil. Biotech. 26(1998):411-430. See also: http://
watching the world go by. We are a part of it. If we sit and wait for www.foresight.org/Nanomedicine/Respirocytes.html.
someone else to develop this technology, it will happen much more 4. Richard P. Feynman, "There's Plenty of Room at the Bottom,"
Engineering and Science (California Institute of Technology), February
slowly. If we jump in and work to make it happen, it will happen 1960, pp. 22-36. Reprinted in B.C. Crandall, James Lewis, eds,
sooner. And developing a life saving medical technology within our Nanotechnology: Research and Perspectives, MIT Press, 1992. pp. 347–
lifetimes seems like a very good idea—certainly better than the 63, and in D.H. Gilbert, ed, Miniaturization, Reinhold, New York, 1961,
alternative. pp. 282-296. See also: http://nano.xerox.com/nanotech/feynman.html.
APPENDIX A
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
382 Nanomedicine • Volume I
Force: Radioactivity:
1 newton (N) (force) = 1 kg-m/sec2 1 curie (Ci) = 3.70 x 1010 nuclear disintegrations/sec
= 105 dynes = 0.22480894 pounds 1 bequerel (Bq) = 1 nuclear disintegration/sec
1 nanonewton (nN) = 1000 piconewtons (pN) = 10-9 newtons = 3.70 x 1010 curies
Illumination: Temperature:
1 candela (cd) (luminous intensity) = 1 lumen/m2 Kelvin (K) degrees = Celsius (C) degrees + 273.15
1 lumen (luminous flux) (at 550 nm wavelength) 1 deg K = 1 deg C (Celsius or Centigrade)
= 0.0014705882 watt Fahrenheit (F) degrees = 32 + (9 x Celsius degrees / 5)
1 candle = 1 lumen/steradian Celsius (C) degrees = 5 x (Fahrenheit degrees - 32) / 9
1 candle/m2 (at 550 nm wavelength) = 0.00462 watt/m2 310 K = 37˚C = 98.6˚F
Mass: Volume:
1 kilogram (kg) = 1000 grams (gm) = 2.2046226 pounds (lbs) 1 cm3 (cc) = 1 milliliter (ml)
= 771.61792 scruples (apoth) = 15,432.358 grains 1 m3 = 103 liters = 106 cm3 = 1018 micron3 = 1027 nm3
1 nanogram (ng) = 1000 picograms (pg) = 10-9 grams 1 cm3 = 1012 micron3= 1021 nm3 = 10-6 m3 = 10-3 liters
1 pound = 16 ounces (avdp oz) = 453.59237 gm 1 micron3 = 109 nm3 = 10-18 m3 = 10-15 liters = 10-12 cm3
1 troy ounce = 31.103486 gm = 1.0971429 (avdp) oz 1 nm3 = 10-27 m3 = 10-24 liters = 10-21 cm3 = 10-9 micron3
1 gram (gm) = 0.25720597 drams (apoth/troy) 1 liter = 0.001 m3 = 1000 cm3 = 1015 micron3 = 1024 nm3
= 0.56438339 drams (avdp) 1 dram (U.S. fluid) = 3.696588 cm3 = 1.040843 drachms (Brit.)
= 15.432358 grains = 0.77161792 scruples (apoth) = 60 minims = 0.125 U.S. fluid ounces
1 ton (metric) = 1000 kg 1 teaspoon ~ 60 drops ~ 5 cm3
1 ton (long) = 2240 lbs = 1016.0469 kg 1 cup = 1 glass = 8 fl. oz. = 16 tablespoons = 48 teaspoons
1 ton (short) = 2000 lbs = 907.18474 kg 1 ft3 = 1728 inch3 = 28,316.847 cm3 = 0.037037037 yd3
1 carat (metric) = 0.200 grams = 3.08647 grains 1 gallon (U.S. liq.) = 3785.4118 cm3 = 0.133680555 ft3
1 dalton = 1 amu = 931.752 MeV (mass energy) = 4 quarts = 8 pints = 16 cups = 128 fl. oz. (U.S.)
= 1.661 x 10-27 kg/molecule = 1 gm/mole 1 barrel (U.S. petroleum) = 158.9873 liters
1 acre-foot = 1233.4818 m3
Power:
1 watt (W) = 1 joule/sec = 0.00134102 horsepower III. Mathematical and Physical Constants
= 107 erg/sec
= 3.41443 Btu/hour = 20.650 Kcal/day Absolute viscosity:
1 nanowatt (nW) = 1000 picowatts (pW) = 10-9 watts Water, 310 K: 0.6915 x 10-3 kg/m-sec
1 horsepower (hp) = 746 W Blood plasma, 310 K: 1.1 x 10-3 kg/m-sec
2000 Kcal/day = 96.85 W
Acceleration of gravity:
Pressure or Stress: g = 9.780 39 m/sec2 (sea level at equator)
2
1 Pascal (Pa) = 1 N/m g = 9.806 21 m/sec2 (sea level at 45˚ latitude)
1 dyne/cm2 = 0.1 N/m2 (Pa) = 10-6 bars = 0.986923 x 10-6 atm g = 9.832 17 m/sec2 (sea level at 90˚ latitude)
1 atm = 101,325 N/m2 (Pa) = 1.01325 bars
= 760 mmHg = 760 torr = 14.6960 lbs/inch2 (PSI)
1 mmHg = 0.00131579 atm = 133.32 N/m2 (Pa)
Acoustic impedance:
= 0.00133322 bar Water: 1.5 x 106 kg/m2-sec
= 0.0193368 lbs/inch2 = 1.35953 cmH2O Nylon: 2.9 x 106 kg/m2-sec
1 kg/mm2 = 96.784 atm = 9.80665 x 106 N/m2 (Pa) Diamond: 6.3 x 107 kg/m2-sec
= 1422.33 lbs/inch2 = 98.0665 bars
= 106 kg/m2 = 100 kg/cm2 Albedo
Earth, mean: 31%
Basic Capabilities • Appendix A 383
Power dissipation, global: Standard temperature and pressure (STP): 273.15 K and 1 atm
Human physiological worldwide: 5.3 x 1011 W (in 1998)
Human technological worldwide: 1.2 x 1013 W (in 1998) Stefan-Boltzmann
Earth vegetation worldwide: 1.4 x 1014 W constant: σ = 5.6697 x 10-8 W/m2-K4
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
388 Nanomedicine • Volume I
In Plasma In Plasma
Component In Whole Blood or Serum Component In Whole Blood or Serum
(gm/cm3) (gm/cm3) (gm/cm3) (gm/cm3)
In Plasma In Plasma
Component In Whole Blood or Serum Component In Whole Blood or Serum
(gm/cm3) (gm/cm3) (gm/cm3) (gm/cm3)
In Plasma In Plasma
Component In Whole Blood or Serum Component In Whole Blood or Serum
(gm/cm3) (gm/cm3) (gm/cm3) (gm/cm3)
In Plasma In Plasma
Component In Whole Blood or Serum Component In Whole Blood or Serum
(gm/cm3) (gm/cm3) (gm/cm3) (gm/cm3)
Pentose, phosphorated 2-2.3 x 10-5 Riboflavin (Vitamin B2) 1.5-6 x 10-7 2.6-3.7 x 10-8
Phenol, free 7-10 x 10-7 RNA 5-8 x 10-4 4-6 x 10-5
Phenylalanine 8-12 x 10-6 1.1-4 x 10-5 Secretin 2.9-4.5 x 10-11
Phospholipid 2.25-2.85 x 10-3 5-12 x 10-5 Serine 3-20 x 10-6
Phosphatase, acid, Serotonin
prostatic <3 x 10-9 (5-hydroxytryptamine) 1.55-1.81 x 10-7 0.8-2.1 x 10-7
Phosphorus Silicon 1.4-2.95 x 10-6 2.2-5.7 x 10-6
- inorganic, adult 2-3.9 x 10-5 2.3-4.5 x 10-5 Sodium 3.1-3.4 x 10-3
- inorganic, children 4.0-7.0 x 10-5 Solids, total 2-2.5 x 10-1 8-9 x 10-2
- total 3.5-4.3 x 10-4 1-1.5 x 10-4 Somatotropin
Phytanic acid <3 x 10-6 (growth hormone) 4-140 x 10-10
Platelets (#/cm3) Sphingomyelin 1.5-1.85 x 10-3 1-4 x 10-4
- range 1.4-4.4 x 108 Succinic acid 5 x 10-6
- median 2.5 x 108 Sugar, total 7-11 x 10-4
Platelet Derived Sulfates, inorganic 8-12 x 10-6
Growth Factor 5.0 x 10-8 Sulfur, total 3.8-5 x 10-2 3.1-3.8 x 10-2
Polysaccharides, total 7.3-13.1 x 10-4 Taurine 3-21 x 10-6
Potassium 1.6-2.4 x 10-3 1.4-2.2 x 10-4 Testosterone (male)
Pregnenolone 3-20 x 10-10 - free 5.6-10.2 x 10-11
Progesterone (male) 12-20 x 10-11 - total 275-875 x 10-11
Progesterone (female) Testosterone (female)
- follicular 0.4-0.9 x 10-9 - free 0.24-0.38 x 10-11
- midluteal 7.7-12.1 x 10-9 - total 23-75 x 10-11
- pregnancy, weeks 16-18 30-66 x 10-9 - pregnant 38-190 x 10-11
- pregnancy, weeks 28-30 70-126 x 10-9 Thiamine (Vitamin B1) 3-10 x 10-8 1-9 x 10-8
- pregnancy, weeks 38-40 131-227 x 10-9 Thiocyanate 5-14 x 10-6
Proinsulin - nonsmoker 1-4 x 10-6
- fasting 0.5-5 x 10-10 - smoker 3-12 x 10-6
- mean 1.42-1.70 x 10-10 Threonine 1.3-2 x 10-5 0.9-3.2 x 10-5
Prolactin (male) <20 x 10-9 Thyroglobulin (Tg) <5 x 10-8
- while awake 1-7 x 10-9 Thyroid hormone 4-8 x 10-8
- during sleep 9-20 x 10-9 Thyrotropin-releasing
Prolactin (female) hormone 5-60 x 10-12
-9
- follicular <23 x 10 Thyroxine (FT4)
- luteal 5-40 x 10-9 - free 8-24 x 10-12
Proline 1.2-5.7 x 10-5 - total 4-12 x 10-8
Prostaglandins Thyroxine-binding
- PGE 3.55-4.15 x 10-10 prealbumin 2.8-3.5 x 10-4
- PGF 1.26-1.56 x 10-10 Thyroxine-binding
- 15-keto-PGF2α 5 x 10-10 globulin 1.0-3.4 x 10-7
- 15-keto-PGE2 <5 x 10-11 Tin 0-4 x 10-7
0-1 x 10-7
Protein, total 1.9-2.1 x 10-1 6.0-8.3 x 10-2 α-Tocopherol (Vitamin E) 5-20 x 10-6
Protoporphyrin 2.7-6.1 x 10-7 Transcortin
PSA (prostate-specific antigen) 0-5 x 10-9 - male 1.5-2 x 10-5
-3
Pseudoglobulin I 8-19 x 10 - female 1.6-2.5 x 10-5
Pseudoglobulin II 2-8 x 10-3 Transferrin
Purine, total 9.5-11.5 x 10-5 - newborn 1.3-2.75 x 10-3
Pyrimidine nucleotide 2.6-4.6 x 10-5 2-12 x 10-7 - adult 2.2-4 x 10-3
Pyridoxine - age >60 yrs 1.8-3.8 x 10-3
(Vitamin B6) 3.6-90 x 10-9 Triglycerides 8.5-23.5 x 10-4 2.5-30 x 10-4
Pyruvic acid 3-10 x 10-6 3-12 x 10-6 Tri-iodothyronine
RANTES 7 x 10-11 - free 2.3-6.6 x 10-12
Relaxin - total (T3) 0.75-2.50 x 10-9
- day <100 preparturition <2 x 10-9 Tryptophan 5-10 x 10-6 9-30 x 10-6
- day 100 to 2 days preceding 5-40 x 10-9 Tyrosine 8-14 x 10-6 4-25 x 10-6
- day preceding parturition 100-200 x 10-9 Urea 2-4 x 10-4 2.8-4 x10-4
- day following parturition <2 x 10-9
Retinol (Vitamin A) 1-8 x 10-7
392 Nanomedicine • Volume I
In Plasma In Plasma
Component In Whole Blood or Serum Component In Whole Blood or Serum
(gm/cm3) (gm/cm3) (gm/cm3) (gm/cm3)
Uric acid 6-49 x 10-6 2-7 x 10-5 Vasointestinal peptide (VIP) 6-16 x 10-12
- child 3.5-7.2 x 10-5 Vasopressin
- adult, male 2.6-6.0 x 10-5 - hydrated 4.5 x 10-13
- adult, female 2.0-5.5 x 10-5 - dehydrated 3.7 x 10-12
Valine 2-2.9 x 10-5 1.7-4.2 x 10-5 Zinc 5-13 x 10-6 7-15 x 10-7
APPENDIX C
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
394 Nanomedicine • Volume I
68. Leydig cell of testes secreting testosterone 107. Stria vascularis marginal cell (lining endolymphatic space of
69. Theca interna cell of ovarian follicle secreting estrogen ear)
70. Corpus luteum cell of ruptured ovarian follicle secreting 108. Cell of Claudius (lining endolymphatic space of ear)
progesterone 109. Cell of Boettcher (lining endolymphatic space of ear)
71. Kidney juxtaglomerular apparatus cell (renin secretion) 110. Choroid plexus cell (cerebrospinal fluid secretion)
72. Macula densa cell of kidney 111. Pia-arachnoid squamous cell
73. Peripolar cell of kidney 112. Pigmented ciliary epithelium cell of eye
74. Mesangial cell of kidney 113. Nonpigmented ciliary epithelium cell of eye
114. Corneal endothelial cell
V. Epithelial Absorptive Cells (Gut, Exocrine Glands
and Urogenital Tract) IX. Ciliated Cells with Propulsive Function
75. Intestinal brush border cell (with microvilli) 115. Respiratory tract ciliated cell
76. Exocrine gland striated duct cell 116. Oviduct ciliated cell (in female)
77. Gall bladder epithelial cell 117. Uterine endometrial ciliated cell (in female)
78. Kidney proximal tubule brush border cell 118. Rete testis cilated cell (in male)
79. Kidney distal tubule cell 119. Ductulus efferens ciliated cell (in male)
80. Ductulus efferens nonciliated cell 120. Ciliated ependymal cell of central nervous system (lining
81. Epididymal principal cell brain cavities)
82. Epididymal basal cell
X. Extracellular Matrix Secretion Cells
VI. Metabolism and Storage Cells 121. Ameloblast epithelial cell (tooth enamel secretion)
83. Hepatocyte (liver cell) 122. Planum semilunatum epithelial cell of vestibular apparatus
84. White adipocyte (fat cell) of ear (proteoglycan secretion)
85. Brown adipocyte (fat cell) 123. Organ of Corti interdental epithelial cell (secreting tectorial
86. Liver lipocyte membrane covering hair cells)
124. Loose connective tissue fibroblasts
125. Corneal fibroblasts
VII. Barrier Function Cells (Lung, Gut, Exocrine
126. Tendon fibroblasts
Glands and Urogenital Tract)
87. Type I pneumocyte (lining air space of lung) 127. Bone marrow reticular tissue fibroblasts
88. Pancreatic duct cell (centroacinar cell) 128. Other (nonepithelial) fibroblasts
89. Nonstriated duct cell (of sweat gland, salivary gland, 129. Blood capillary pericyte
mammary gland, etc.) 130. Nucleus pulposus cell of intervertebral disc
90. Kidney glomerulus parietal cell 131. Cementoblast/cementocyte (tooth root bonelike cementum
91. Kidney glomerulus podocyte secretion)
92. Loop of Henle thin segment cell (in kidney) 132. Odontoblast/odontocyte (tooth dentin secretion)
93. Kidney collecting duct cell 133. Hyaline cartilage chondrocyte
94. Duct cell (of seminal vesicle, prostate gland, etc.) 134. Fibrocartilage chondrocyte
135. Elastic cartilage chondrocyte
136. Osteoblast/osteocyte
VIII. Epithelial Cells Lining Closed Internal Body
137. Osteoprogenitor cell (stem cell of osteoblasts)
Cavities
138. Hyalocyte of vitreous body of eye
95. Blood vessel and lymphatic vascular endothelial fenestrated
cell 139. Stellate cell of perilymphatic space of ear
96. Blood vessel and lymphatic vascular endothelial continuous
cell XI. Contractile Cells
97. Blood vessel and lymphatic vascular endothelial splenic cell 140. Red skeletal muscle cell (slow)
98. Synovial cell (lining joint cavities, hyaluronic acid secretion) 141. White skeletal muscle cell (fast)
99. Serosal cell (lining peritoneal, pleural, and pericardial cavities) 142. Intermediate skeletal muscle cell
100. Squamous cell (lining perilymphatic space of ear) 143. Muscle spindle — nuclear bag cell
101. Squamous cell (lining endolymphatic space of ear) 144. Muscle spindle — nuclear chain cell
102. Columnar cell of endolymphatic sac with microvilli (lining 145. Satellite cell (stem cell)
endolymphatic space of ear) 146. Ordinary heart muscle cell
103. Columnar cell of endolymphatic sac without microvilli (lining 147. Nodal heart muscle cell
endolymphatic space of ear) 148. Purkinje fiber cell
104. Dark cell (lining endolymphatic space of ear) 149. Smooth muscle cell (various types)
105. Vestibular membrane cell (lining endolymphatic space of ear) 150. Myoepithelial cell of iris
106. Stria vascularis basal cell (lining endolymphatic space of ear) 151. Myoepithelial cell of exocrine glands
Basic Capabilities • Appendix C 395
XII. Blood and Immune System Cells 190. Pain-sensitive primary sensory neurons (various types)
152. Erythrocyte (red blood cell) 191. Proprioceptive primary sensory neurons (various types)
153. Megakaryocyte
154. Monocyte XIV. Autonomic Neuron Cells
155. Connective tissue macrophage (various types) 192. Cholinergic neural cell (various types)
156. Epidermal Langerhans cell 193. Adrenergic neural cell (various types)
157. Osteoclast (in bone) 194. Peptidergic neural cell (various types)
158. Dendritic cell (in lymphoid tissues)
159. Microglial cell (in central nervous system) XV. Sense Organ and Peripheral Neuron Supporting
160. Neutrophil Cells
161. Eosinophil 195. Inner pillar cell of organ of Corti
162. Basophil 196. Outer pillar cell of organ of Corti
163. Mast cell 197. Inner phalangeal cell of organ of Corti
164. Helper T lymphocyte cell 198. Outer phalangeal cell of organ of Corti
165. Suppressor T lymphocyte cell 199. Border cell of organ of Corti
166. Killer T lymphocyte cell 200. Hensen cell of organ of Corti
167. IgM B lymphocyte cell 201. Vestibular apparatus supporting cell
168. IgG B lymphocyte cell 202. Type I taste bud supporting cell
169. IgA B lymphocyte cell 203. Olfactory epithelium supporting cell
170. IgE B lymphocyte cell 204. Schwann cell
171. Killer cell 205. Satellite cell (encapsulating peripheral nerve cell bodies)
172. Stem cells and committed progenitors for the blood and 206. Enteric glial cell
immune system (various types)
XVI. Central Nervous System Neurons and Glial Cells
XIII. Sensory Transducer Cells 207. Neuron cell (large variety of types, still poorly classified)
173. Photoreceptor rod cell of eye 208. Astrocyte glial cell (various types)
174. Photoreceptor blue-sensitive cone cell of eye 209. Oligodendrocyte glial cell
175. Photoreceptor green-sensitive cone cell of eye
176. Photoreceptor red-sensitive cone cell of eye XVII. Lens Cells
177. Auditory inner hair cell of organ of Corti 210. Anterior lens epithelial cell
178. Auditory outer hair cell of organ of Corti 211. Crystallin-containing lens fiber cell
179. Type I hair cell of vestibular apparatus of ear (acceleration
and gravity) XVIII. Pigment Cells
180. Type II hair cell of vestibular apparatus of ear (acceleration 212. Melanocyte
and gravity) 213. Retinal pigmented epithelial cell
181. Type I taste bud cell
182. Olfactory neuron XIX. Germ Cells
183. Basal cell of olfactory epithelium (stem cell for olfactory 214. Oogonium/oocyte
neurons) 215. Spermatocyte
184. Type I carotid body cell (blood pH sensor) 216. Spermatogonium cell (stem cell for spermatocyte)
185. Type II carotid body cell (blood pH sensor)
186. Merkel cell of epidermis (touch sensor) XX. Nurse Cells
187. Touch-sensitive primary sensory neurons (various types) 217. Ovarian follicle cell
188. Cold-sensitive primary sensory neurons 218. Sertoli cell (in testis)
189. Heat-sensitive primary sensory neurons 219. Thymus epithelial cell
GLOSSARY
T
his glossary includes words useful in the study of nanomedicine, Adipocyte — fat cell.
mostly from the fields of physics, engineering, chemistry,
biochemistry, biology, anatomy and medicine. Specialists are Adipose — fatty; pertaining to fat.
cautioned that terms may be described, but not rigorously
defined, in order to encourage the quickest possible cross-disciplinary ADP — adenosine diphosphate; has one energy-rich phosphate
understanding by the nonspecialist reader. A very small number of bond.
the entries identify new terms introduced for the first time in this
text. Much of the material was compiled or modified from pre-existing Adrenergic — activated or energized by adrenalin (epinephrine).
sources including the following References: 9, 10, 750, 763, 869, 996,
997, 1095, 1259, 1736, 2219-2221, 2223, 2224. Adsorption — attachment of a substance to the surface of another
material.
Ab initio — from the beginning; from first principles.
Aerobic — needing oxygen to live or function.
Abscess — a circumscribed collection of pus appearing in acute or
chronic localized infection, and associated with tissue destruction Aerobots (aerobotics) — aerial (flying) robots.
and frequently with swelling; a cavity formed by liquefaction
necrosis within solid tissue. Afferent — in relation to nerves or blood vessels, conducting to-
ward structure or organ; carrying impulses toward a center, as when
Abstraction — specific removal of bonded atom from a structure. sensory nerves carry sensory information toward the brain or spinal
A reaction that removes an atom from a structure. cord.
Acoustomechanical conversion — conversion of acoustic energy Agonist — in pharmacology, a drug which binds to a receptor and
into mechanical energy. thus stimulates the receptor’s function, possibly mimicking the body’s
own regulatory function. Compare antagonist.
Action potential — complete sequence of electrical events
accompanying and following the nerve impulse. Albumin — one of a group of simple proteins widely distributed in
plant and animal tissues.
Active site — the restricted part of a protein to which a substrate
binds. ALC — airborne lethal concentration.
Adduct — in chemistry, an addition product or complex; in bio- Algorithm — in general, a formula or set of rules for solving a
mechanics, to draw together physically separated components. particular problem; in medicine, a set of steps used in diagnosing
and treating a disease.
Adiabatic — change in pressure or volume without loss or gain of
heat. Alimentary — pertaining to the digestive tract.
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
398 Nanomedicine • Volume I
Alimentography — a physical description (and mapping) of the required for repair and growth, building them into a cytoplasm,
human alimentary canal. thus converting nonliving material into the living cytoplasm of the
cell.
Aliquot — a portion obtained by dividing the whole into equal
parts without a remainder; loosely, any one of two or more samples Anaerobic — able to live or function without oxygen.
of something, of the same volume or weight.
Analgesia — absence of normal sense of pain.
Alkali — strongly basic substance, especially the metal hydroxides,
usually associated with the alkali metals (e.g. sodium and potas- Analog — pertaining to data measurable and representable through
sium). continuously variable physical quantities. Compare digital.
Allele — one of several alternative forms of a gene occupying a Anaphase — the phase of mitosis (cell division) beginning with
given locus on paired chromosomes. centromere division and the movement of chromosomes away from
the metaphase plate toward opposite spindle poles.
Alloantigen — a substance present in certain individuals that stimu-
lates antibody production in other members of the same species, Anaphylactoid-type reaction — a physiological response similar
but not in the original donor. See also antiserum. to anaphylaxis.
Allometric scaling laws — in biology, scaling laws that involve a Anaphylaxis — the immediate transient kind of immunologic
biological variable that is an exponential function of the mass of the (allergic) reaction characterized by contraction of smooth muscle
organism. and dilation of capillaries due to release of pharmacologically active
substances (e.g. histamine, bradykinin, serotonin, etc.); a powerful
Allosteric control — the ability of an interaction at one site of a allergic response. Anaphylaxis is classically initiated by the combina-
protein to influence the activity of another site. tion of antigen (allergen) with mast cell-fixed, cytophilic antibody
(chiefly IgE immunoglobulin), but can also be initiated by relatively
Allotropic — pertains to the existence of a chemical element or large quantities of serum aggregates (antibody-antigen complexes,
compound in two or more distinct forms with different physical and other) that seemingly activate complement leading to production
and chemical properties (e.g. diamond and graphite are allotropes of anaphylatoxin.
of C).
Anastomose — to open one structure into another directly or by
Alphanumeric — able to contain both alphabetic and numeric connecting channels, usually said of blood vessels, lymphatics, and
characters. hollow viscera; to unite by means of an anastomosis, or a connec-
tion between formerly separate structures.
Alveolus (alveolar) — in anatomy, a small cell or cavity; a saclike
dilation. Most commonly, a small air sac found at the lowest levels AND gate — a logical gate that returns a high (1) output if and
of the branching tube system comprising the lungs. only if both input signals are high (1). See bit.
Amino acid — a molecule containing both an amine and a car- Anion — a negatively charged ion.
boxylic acid group; there are 20 genetically encoded amino acids in
biology. Anisotropic — not isotropic.
Amniotic — pertaining to the amnion (the innermost of the fetal Anode — the positive pole of an electrical source.
membranes).
ANS — see autonomic nervous system.
Amphipathic — molecular structures which have two surfaces or
ends, one of which is hydrophilic and the other of which is hydro- Antagonist — in pharmacology, a drug that prevents receptor
phobic. Lipids are amphipathic, and some protein regions may function. Compare agonist.
form amphipathic helices with one charged face and one neutral
face. Anterior — the front of the human body, on or nearest the
abdominal surface; the front of something.
Anabolism — the constructive phase of metabolism and the opposite
of catabolism; in anabolism, a cell takes from the blood the substances Anteroinferior — in front and below.
Basic Capabilities • Glossary 399
Anteroposterior — passing from front to rear. atm — atmosphere, a unit of pressure; mean air pressure at Earth’s
surface is 1 atmosphere (~1.01 x 105 N/m2).
Anthropogenic — caused by human activity.
Atomic Force Microscope (AFM) — an instrument that uses
Antibody — a protein (immunoglobulin) produced by B-lympho- atomic forces between a sample and a sharp scanning needle tip to
cyte cells that recognizes a particular foreign antigen, thus triggering image surfaces to molecular accuracy by mechanically probing their
the immune response. surface contours; the AFM measures the tiny upward and down-
ward motions of the tip as the tip is dragged over the surface, pro-
Antigen — any molecule or foreign substance that, when introduced ducing an atomic-resolution topographic map of the surface. The
into the body, provokes synthesis of an antibody, thus stimulating AFM has also been used to physically manipulate individual mol-
an immune response. ecules.
Antiserum — serum that contains demonstrable antibody or Atom laser — a laserlike device that uses beams of coherent atoms
antibodies specific for one (monovalent) or more (polyvalent) antigens. rather than photons.
Aorta — the largest artery in the human body, leading away from ATP — adenosine triphosphate; has two energy-rich phosphate
the heart. bonds.
Apheresis — removal of blood from an individual patient, separat- Auscultation — the process of listening for sounds within the body,
ing certain elements (e.g. red cells, platelets, white cells) for use usually to the sounds of thoracic or abdominal viscera, in order to
elsewhere, and reintroducing the remaining components into the detect some abnormal condition, or to detect fetal heart sounds, or
patients; also known as cytapheresis, hemapheresis, leukapheresis, to diagnose vascular abnormalities such as arteriovenous fistulas.
pheresis, and plasmapheresis, depending on the type of cells being
harvested. Autogenous control — in medical nanorobotics, the conscious
control of in vivo nanorobotic systems by the human user or
Apical — pertaining to the apex (e.g. the point of a cone) of a patient; in biochemistry, the action of a gene product that either
structure. inhibits (negative autogenous control) or activates (positive autogenous
control) expression of the gene coding for it.
Apoptosis — an orderly disintegration of eukaryotic cells into
membrane-bound particles that may then be phagocytosed by other Autonomic (nervous system) — the part of the nervous system
cells. that is concerned with the control of involuntary bodily functions.
Aqueous humor — transparent liquid contained in the anterior Automated engineering — Engineering design done by a computer
chamber of the eyeball in front of the lens. system, with detailed designs generated from broad specifications with
little or no human help, a specialized form of artificial intelligence.
Aromatic compounds — in chemistry, ring or cyclic compounds
related to benzene, many having a fragrant odor. Automated manufacturing — molecular manufacturing that
requires little human labor.
Arrhythmia — irregularity or loss of rhythm, especially of the
heartbeat. Autosomes — all the chromosomes except the sex chromosomes; a
diploid cell has two copies of each autosome.
Arteriovenous — relating to both arteries and veins.
Avascular — having no blood vessels.
Artery — in anatomy, a blood vessel that sends blood to the tissues
from the heart. Avulsion — a tearing away forcibly of a part or structure.
Aseptic — characterized by the absence of living pathogenic Axisymmetric — symmetric relative to a geometric axis.
organisms; a state of sterility.
Axon — the (usually long and straight) protoplasmic process of a
Asperities — protruding elements of roughness on a surface, e.g., neuron that conducts impulses away from the cell body. There is
burrs or spurs. usually one to a neuron cell.
Asphyxia — condition of hypoxia caused by insufficient oxygen Axoplasm — the cytoplasm (neuroplasm) of an axon that encloses
intake. the neurofibrils.
Asynchronous —not synchronized in time. Barographics — pressure mapping of the human body.
400 Nanomedicine • Volume I
Baronatation — in medical nanorobotics, locomotion through a protons were brought together to form the nucleus in question;
frozen fluid by applying mechanical pressure along the path travelled Fe56 has the maximum binding energy of any nucleus. Generally
to induce melting ahead, followed by regelation (refreezing) behind. used to describe the total energy required to remove something, or
to take a system apart into its constituent particles.
Basal lamina — basement lamina, e.g. basement membrane.
Binding site — the active region of a receptor; any site at which a
Basal Metabolic Rate (BMR) — a measure of the metabolic rate chemical species of interest tends to bind.
taken with the patient fasting and at rest. The oxygen consumed in
breathing under these conditions indicates the minimum rate of Biocompatibility — the ability of the body to tolerate the presence or
chemical reactions in the body. implantation of foreign objects.
Basement membrane (basement lamina) — a thin layer of delicate Bioinformatics — most generally, the study and compilation of
noncellular material of a fine filamentous texture underlying the the information content of biological materials, especially genetic
epithelium; its principal component is collagen. materials.
Basophil — a type of granulocytic white blood cell comprising less Biotechnology — The application of biological systems and or-
than 1% of all leukocytes, that is essential to the nonspecific ganisms to technical and industrial processes, with production car-
immune response to inflammation because of its important role in ried out using intact organisms (e.g. yeasts and bacteria) or natural
releasing histamine and other chemicals that act on blood vessels. substances from organisms (e.g. enzymes), or by modifying the ge-
netic structure of organisms (genetic engineering); most generally,
Bearing — A mechanical device that permits the motion of a compo- the engineering of all biological systems, even completely artificial
nent (ideally, with minimal resistance) in one or more degrees of organic living systems, using biological instrumentalities.
freedom while resisting motion (ideally, with a stiff restoring force)
in all other degrees of freedom. Birefringence — in optics, a crystal having a different index of
refraction for different polarizations of incident light (e.g. calcite).
Beriberi — a thiamine deficiency disease, characterized by peripheral
neurologic, cerebral, and cardiovascular abnormalities; early deficiency Bit — a binary digit. In a binary code, one of the two possible
produces fatigue, irritation, poor memory, sleep disturbances, characters, usually 0 (e.g. low voltage) and 1 (e.g. high voltage); in
precordial pain, anorexia, abdominal discomfort, and constipation. information theory, the fundamental unit of information.
Biaxial — pertaining to two distinct geometric or spatial axes. Blackbody radiator — an absorber which ideally absorbs all elec-
tromagnetic energy incident upon it; such an ideal absorber is also
Bicuspid — having two cusps. an ideal emitter of such radiant energy.
Bifurcate — to separate into two separate branches. Blepharitis — inflammation of the edges of the eyelids involving
hair follicles and glands that open onto the surface.
Bilobate — having two lobes.
Blockade — prevention of the action of something, such as the
Billion — this book follows the American convention in which a effect of a drug or of a body function (e.g. halting immune system
billion is 109. blood cleansing, by overloading the RES).
Bradycardia — slowness of heartbeat or heart action. cAMP — cyclic AMP (adenosine monophosphate), an intracellu-
lar messenger molecule.
Bronchial — pertaining to the lungs.
Capillary — in anatomy, a thin-walled tiny blood vessel, averaging
Bronchiography — a physical description (and mapping) of the 8 microns in diameter.
human bronchial system.
Capsid — the external protein coat of a virus particle.
Brownian assembly — Brownian motion in a fluid brings mol-
ecules together in various positions and orientations; if molecules Carbohydrates — a group of chemical substances, including sug-
have suitable complementary surfaces, they can bind, assembling to ars, glycogen, starches, dextrins, and celluloses, that contain only
form a specific structure. The term also may apply to the self-as- C, H, and O; usually the ratio of H:O is 2:1. Glucose and its poly-
sembly of nanoscale parts having complementary surfaces. mers (including starch and cellulose) represent the most abundant
organic chemical compounds on Earth.
Brownian motion — random motion of small particles in a fluid
owing to thermal agitation, first observed in 1827 by Robert Brown; Carbonyl — a chemical moiety consisting of O with a double bond
originally attributed to a vital force, Brownian motion plays a vital to C (e.g. -CO-). If the C is bonded to N, the resulting structure is
role in the assembly and activity of the molecular structures of life. termed an “amide”; if it is bonded to O, it is termed a carboxylic
acid or an ester linkage.
Bruit — an adventitious (arising sporadically) sound of venous or
arterial origin, heard upon auscultation, such as murmurs at the Carboxylic acid — a molecule that includes a C having a double
carotid (a major artery) bifurcation. bond to O and a single bond to OH (e.g. -COOH).
Bubonic plague — the usual form of plague; primarily a disease of Carbyne — a chain of carbon atoms with alternating single and
rodents that is transmitted to humans by fleas that have bitten in- triple bonds.
fected animals.
Cardiac — pertaining to the heart.
Buccal — pertaining to the cheeks (mouth).
Cardiostasis — pertaining to a heart that has stopped beating.
Buckyballs — ball-like molecules of fullerene carbon, C60.
Carnot efficiency — in thermodynamics, the energy efficiency of
Bulimia — excessive and insatiable appetite for food. a heat engine (a device that converts thermal energy into mechanical
energy).
Bulk technology — technology in which atoms and molecules are
manipulated in bulk, rather than individually. Cartotaxis — in medical nanorobotics, in vivo nanorobotic navi-
gation by following a series of landmarks recorded on a previously
Bumpers — in medical nanorobotics, expansible surfaces placed at drawn map.
interfaces between adjacent nanorobots to achieve a tight seal be-
tween nanodevices. Cartilage — specialized type of dense connective tissue consisting
of cells embedded in a firm, compact fibrous collagenous matrix.
Byte — a sequence of N adjacent bits operated on as a unit for the
sake of convenience and frequently used as a measure of memory or Catabolism — the destructive phase of metabolism, the opposite
information, with one byte corresponding to a single alphabetic of anabolism. Catabolism includes all processes in which complex
character or some other symbol; N may equal 8, 16, 32, 64, or 128, substances are converted into simpler substances (the end products
in different 20th century computers. commonly being excreted), usually with the release of energy.
c (velocity) — the speed of light, in vacuo. Catalysis — increase in the speed of a chemical reaction or process
produced by the presence of a catalyst (a substance that is not con-
CAD — Computer-Aided Design. sumed in the net chemical reaction or process).
Caliber — inside diameter of a tube or cylinder. Catalyst — a chemical species or other structure that facilitates a
chemical reaction without itself undergoing a permanent change.
Calmodulin — a 17,000-dalton protein that binds calcium ions in
eukaryotic cells, thereby becoming the agent for many or most of Catacholamines — biologically active amines (e.g. epinephrine,
the cellular effects ascribed to calcium ions. norepinephrine) derived from the amino acid tyrosine, that have
marked effects on the nervous and cardiovascular systems, on meta-
CAM — Computer-Aided Manufacturing. bolic rate and temperature, and on smooth muscle.
402 Nanomedicine • Volume I
Cathode — the negative pole of an electrical source. Chaperone — a molecular chaperone is a protein needed for the
assembly or proper folding of some other target protein, but which
Cation — a positively charged ion. is not itself a component of the target protein complex.
Caudal (caudad, inferior) — away from the head or the lower part Chemical force microscopy — an AFM with a functionalized tip,
of a structure (literally means “toward the tail”). used to probe the chemical characteristics (especially adhesiveness)
of surface-bound molecules.
Cauterize — to apply a cautery (an agent or device used for scar-
ring, burring, or cutting the skin or tissues by means of heat, elec- Chemoelectric conversion — conversion of chemical energy into
tric current, or caustic chemicals). electrical energy.
Cavitation — in physics, the formation of bubbles in a fluid dur- Chemoergic — pertaining to the conversion of chemical energy
ing high-power sonication of that fluid; in medicine, formation of a into forms of energy of various other kinds.
cavity by either normal or pathological biological processes.
Chemographics — chemical mapping of the human body.
Cell — a small biological structural unit, surrounded by a plasma
membrane, making up living things. Chemomechanical conversion — conversion of chemical energy
into mechanical energy.
Cell engineering — deliberate artificial modifications to biologi-
cal cellular systems on a cell-by-cell basis. Chemotactic — pertaining to chemotaxis.
Cell surgery — in medical nanorobotics, modifying cellular struc- Chemotactic nanosensor — in medical nanorobotics, a nanosensor
tures using medical nanomachines. used to determine the chemical characteristics of surfaces, possibly
configured as a pad coated with an array of reversible, perhaps
Cell typing — a method of identifying a cell’s type by comparing it reconfigurable, artificial molecular receptors.
to a typology of cell characteristics.
Chemotaxis — the movement of additional white blood cells to an
Cellular immunity — immunity resulting from activation of sen- area of inflammation in response to the release of chemical media-
sitized T-lymphocytes. tors by neutrophils, monocytes, or injured tissue.
Cellular topographics — description of the cell and its parts. Chiral — a chiral molecule is an asymmetric molecule that cannot
be superimposed on its mirror image. The molecule has two forms,
Central Processing Unit (CPU) — the main computational en- or isomers, called enantiomorphs, that are mirror images of each
gine of a computer, responsible for interpreting and executing in- other, the solutions of which rotate the plane of polarized light in
structions to process information. different directions, left (levo) or right (dextro), making the enanti-
omers levorotatory or dextrorotatory. Only levorotatory amino ac-
Centrioles — small hollow cylinders consisting of microtubules, ids are present in biological systems.
residing within the centrosomes, that become located near the poles
during mitosis (cell division). Chirurgeon — surgeon (obsolete).
Centromere — a constricted region of a chromosome that divides Cholinergic — activated or energized by acetylcholine.
the chromosome into two arms; the attachment point for the spindle
fiber concerned with chromosome movement during mitosis (cell CHON — Carbon (C), Hydrogen (H), Oxygen (O), and Nitrogen
division). (N).
Centrosomes — the regions from which microtubules are orga- Choroideremia — congenital absence of the choroid of the eye;
nized at the poles of a mitotic (dividing) cell; see also MTOC. progressive degeneration of the choroid, leading to complete blind-
ness, due to X-linked chromosome inheritance.
Centrum — middle part.
Chromatin — the complex of DNA and protein in the nucleus of
Cephalic (cephalad, superior) — nearest or toward the head or the interphase eukaryotic cell; individual chromosomes cannot be
the upper part of a structure; also, pertaining to the head or top. distinguished in it.
Cervical — usually pertaining to, or in the region of, the neck (i.e. Chromomorphic — in medical nanorobotics, a nanorobot capable
below the skull); more generally, pertaining to the neck of an organ, of altering its external surface color or other external surface optical
such as the uterine cervix. characteristics.
C fiber — an unmyelinated nerve fiber, 0.4-1.2 microns in diam- Chromophore — a color-producing chemical substance.
eter, conducting nerve impulses at 0.7-2.3 m/sec.
Chromosome — a discrete unit of the genome carrying many genes;
Chalcogenide — a glassy material containing arsenic and selenium. a structure in the nucleus of a eukaryotic cell containing a long
Basic Capabilities • Glossary 403
linear molecule of duplex DNA (and an approximately equal mass Communicyte — in medical nanorobotics, a theorized mobile,
of proteins) which conveys genetic information. mass-storage (nanorobotic) device that can be used for information
transport throughout the human body.
Chronobiology — that aspect of biology concerned with the tim-
ing of biological events, especially repetitive or cyclic phenomena Complement — a group of proteins in the blood that influences
in individual organisms; the study of biological clocks. the inflammatory process and serves as the primary mediator in the
antigen-antibody reactions of the B-cell mediated immune response.
Chronocyte — in medical nanorobotics, a theorized mobile, mass- Components of complement are labeled C1-C9; C3 and C5 are
storage (nanorobotic) device, similar to a communicyte, that may most commonly involved in promoting vasodilation, chemotaxis,
be used as a mobile source of precisely synchronized universal time opsonization of antigens, lysis of cells, and blood clotting.
inside the human body.
Complementary — supplying something that is lacking in another
Chronometer — a clock or other timekeeping device. object, system, or entity; (shapes) fitting together tightly without
any gaps.
Cilium — in anatomy, hairlike processes projecting from epithelial
cells, as in the bronchi, for propelling mucus, pus, and dust par- Compliance — the reciprocal of stiffness; in a linear elastic system,
ticles, or in the inner ear, for sensing fluid motion to allow hearing; displacement equals force times compliance.
in microbiology, a means of manipulation and propulsion for mo-
tile microorganisms. Computerized Axial Tomography (CAT) — see Computerized
Tomography.
Circadian — pertaining to physiological events that occur at ap-
proximately 24-hour intervals. Computerized Tomography (CT) — tomography in which trans-
verse planes of tissue are swept by a pinpoint radiographic beam
Circumcorporeal — around or surrounding the human body. (e.g. X-rays) and a computerized analysis of the variance in absorp-
tion produces a precise reconstructed image of that area.
Circumvascular — around or surrounding a blood vessel.
Conformation — molecular folding; a molecular geometry that
Cisterna — a reservoir or cavity. differs from other geometries chiefly by rotation about single or
triple bonds; distinct conformations (termed conformers) are asso-
Clinical — founded on actual observation and treatment of pa- ciated with distinct potential wells. Typical biomolecules and prod-
tients, as distinguished from data or facts obtained by experimenta- ucts of organic synthesis can interconvert among many conforma-
tion or pathology; pertaining to a clinic. tions. Typical diamondoid structures are locked into a single poten-
tial well, and thus lack conformational flexibility.
Clinicopathological correlation — correlating (1) the signs and
symptoms manifested by a patient, plus the results of any labora- Congeries — a collection of things or parts in a single mass or
tory studies, with (2) the findings of the gross and histological ex- aggregate.
amination of the patient’s tissue, to arrive at a correct diagnosis.
Conjugated — in chemistry, a conjugated π system is one in which
Clyster — an enema (obsolete).
π bonds alternate with single bonds; the resulting electron distribution
gives the intervening single bonds partial double-bond character,
Cochlea — the coiled, fluid-filled structure of the inner ear that
transduces sound, allowing hearing. the π electrons become delocalized (useful in molecular wires), and
the energy of the system is reduced. More generally, joined or paired.
Codon — in DNA and RNA, a sequence of three nucleotidyl resi-
dues designating an amino acid to be placed in polypeptide sequence Conjugation — in medical nanorobotics, the docking of two or
during translation. more nanorobots for the purpose of exchanging information, energy
or materials, or to establish a larger multirobotic structure; in biology,
Coenzyme — a substance that enhances or is necessary for the ac- the union of two unicellular organisms accompanied by an inter-
tion of enzymes; coenzymes are of smaller molecular size than the change of nuclear material, as in Paramecium.
enzymes themselves, are dialyzable and relatively heat-stable, and
are usually easily dissociable from the protein portion of the en- Conjunctiva — a mucous membrane that lines the eyelid and is
zyme. See also vitamins. reflected onto the eyeball.
Collagen — the major protein of the white fibers of connective Conserved — in genomics, a portion of genetic code that remains
tissue, cartilage, and bone, rich in glycine, alanine, proline, and
almost unchanged among many different species.
hydroxyproline (amino acids), low in sulfur, and completely lack-
ing in tryptophan (another amino acid); the collagen family com-
prises ~25% of all mammalian protein. Convection — conveyance of heat in liquids or gases by movement
or currents of the heated fluids.
Colloid — see macromolecule.
Coordinated Universal Time (UTC) — in observational astronomy
Comminution — breaking into fragments. and chronometry, the local time at the meridian of Greenwich near
Basic Capabilities • Glossary 405
Cytoskeleton — the internal structural framework of a cell con- Desquamation — shedding epidermis in scales or shreds.
sisting of at least three types of filaments (microfilaments, microtu-
bules, and intermediate filaments), forming a dynamic framework Diagnosis — the determination of the cause and nature of a dis-
for maintaining cell shape and motion and allowing rapid changes ease, in order to provide a logical basis for treatment and prognosis.
in the three-dimensional structure of the cell.
Dialysis — the passage of a solute through a membrane; process of
Cytosol — the liquid that fills all of the cytoplasmic region, except diffusing blood across a semipermeable membrane to remove toxic
for fluids filling the interior of the cell organelles. materials and to maintain fluid, electrolyte, and acid-base balance
in cases of impaired kidney function.
Cytotomography — tomographic imaging of an individual cell.
Diametral — pertaining to a diameter.
Cytotoxic — tending to kill cells.
Diamondoid — structures that resemble diamond in a broad sense;
Cytovehicle — in medical nanorobotics, a living cell that has been strong, stiff structures containing dense, three-dimensional networks
commandeered by a medical nanorobot for use during cytocarriage. of covalent bonds, formed chiefly from first and second row atoms
with a valence of three or more. Many of the most useful diamondoid
Dalton — unit of molecular weight (1 dalton ~ 1 proton). structures will be rich in tetrahedrally coordinated carbon.
Decoction — liquor extract, from vegetable matter boiled in water. Diapedesis — transendothelial migration (passing through blood
vessel endothelial coated walls) to exit the bloodstream and enter
Deglutition — swallowing. the surrounding tissues.
Degrees of Freedom (DOF) — distinct axes of allowed mechanical Diaphragm — in human anatomy, the musculomembranous par-
motion; the number of directions that a mechanism is free to translate tition between the abdominal and thoracic cavities, whose motions
or rotate. induce lung movements, enabling respiration.
Demarcation — in medical nanorobotics, a crude form of functional Diaphysis — the shaft or middle part of a long cylindrical bone.
navigation in which artificial conditions detectable by in vivo medical
nanorobots are created at or near the target treatment site, such as Diastereomeric — having two stereoisomers.
warm or cold spots, pressure spots, or injected chemical plumes.
Diastole — the normal period in the heart cycle during which the
Denaturation — conversion of a protein from the physiological muscle fibers loosen and lengthen, the heart dilates, and the cavities
conformation to some other (possibly inactive) conformation. fill with blood; roughly, the period of relaxation alternating with
systole or contraction.
Dendrimers — large, regularly-branching molecules.
Diathermy — local elevation of temperature within the tissues,
Dendrite — a branched protoplasmic process of a neuron that con- produced by high-frequency (~MHz) current, ultrasonic waves, or
ducts impulses toward the cell body. There are usually many to a microwave radiation.
cell, forming synaptic connections with other neurons.
Dielectric — a material capable of storing electrical energy; the
De novo — created anew. interior of a capacitor.
Deoxyribonucleic acid (DNA) — a complex molecule of very high Diels-Alder cycloaddition — in chemical synthesis, the cycload-
molecular weight encoding genetic information. DNA consists of dition of a conjugated diolefin (an olefin or alkene is a hydrocarbon
deoxyribose (a sugar), phosphoric acid, and four bases (purines or possessing one or more double bonds in the carbon chain). Diels-
pyrimidines), arranged as two long chains that twist around each Alder reactions are highly stereospecific.
other to form a double helix joined by bonds between the comple-
mentary purine and pyrimidine components (analogous to rungs Differentiation — acquisition of character or functions that are
on a twisted ladder). DNA is present in the chromosomes of all different from those of the original type; specialization of cell type
cells and is the chemical basis of heredity and the carrier of genetic within a cell line of increasingly specialized types, by a change in
information for almost all organisms (e.g. except the RNA virus, physical form of a cell.
etc.).
Diffusion — a process by which populations of molecules inter-
Dermatoglyphics — the study of dermal ridge patterns of fingers, mingle and become mixed as a result of their incessant thermal
toes, palms and soles. motions.
Dermis — inner layer of the skin that lies below the epidermis. Digital — pertaining to the use of combinations of bits to represent
all quantities that arise during a problem or computation. Compare
Desiccate — removal of water; dehydration. analog.
406 Nanomedicine • Volume I
Dimer — in chemistry, a combination of two similar or identical Domain — in protein chemistry, a discrete continuous part of the
molecules, usually by elimination of H2O or a similar small mol- amino acid sequence that can be equated with a particular function;
ecule between the two, or by simple noncovalent association. proteins such as immunoglobulins may possess several active
domains.
Diode — an electronic device that allows current to flow in only
one direction. Dorsal — the backside of the human body, nearest the spine; the
backside of something.
Diploe — in anatomy, spongy tissue that lies between two layers of
the compact bone of the skull. Ductility — see plasticity.
Diploid — a set of chromosomes that contains two copies of each Duodenum — the first ~12 inches of the small intestine.
autosome plus two sex chromosomes; generally found in the so-
matic body cells. Dysopsonic — tending to remove opsonization molecules that have
become adhered to an exposed in vivo surface.
Dipole — two equal and opposite charges separated by a distance.
See also electric dipole moment. ECG (EKG) — electrocardiogram.
Distal — away from a source or a point of attachment or origin; in Electrolyte — a substance that, in solution, conducts an electric
the extremities, farthest from the trunk. current and is decomposed by the passage of an electric current; a
solution that is a conductor of electricity.
Diurnal — daily.
Electrometer — an instrument for detecting or measuring differ-
DNA — see deoxyribonucleic acid. ences of electrical potential (e.g. volts) by the effects of electrostatic
forces.
DNase — an enzyme that attacks bonds in DNA.
Electron Beam Lithography (EBL) — lithography using electron
DNA polymerase — an enzyme that synthesizes a daughter strand beams rather than light beams.
of DNA under direction from a DNA template; may be involved in
repair or replication. Electronegativity — a measure of the tendency of an atom (or
moiety) to withdraw electrons from structures to which it is bonded.
DOF — see Degrees of Freedom. In most circumstances, sodium (Na) tends to donate electron density
Basic Capabilities • Glossary 407
(low electronegativity) whereas fluorine (F) tends to withdraw elec- Endosome — the vacuole formed when material is absorbed into a
tron density (high electronegativity); nitrogen (N) and oxygen (O) cell by the process of endocytosis; the vacuole fuses with lysosomes.
are also electronegative atoms.
Endothelium — a form of squamous epithelium consisting of flat
Electrophoresis — the movement of charged colloidal particles cells that line the blood and lymphatic vessels, the heart, and vari-
through the medium in which they are dispersed as a result of changes ous other body cavities.
in electrical potential; used in the analysis of protein mixtures be-
cause protein particles move with different characteristic velocities Endotheliocyte — in medical nanorobotics, a theorized
dependent principally on the number of charges carried by each (nanorobotic) device capable of performing repairs of an injured
particle. vascular luminal surface.
Electroporation — insertion of macromolecules (e.g. DNA) into Endothermic — a transformation that absorbs energy in the form
cells by employing a brief intense pulse of electricity to open cellu- of heat. A typical endothermic reaction increases both entropy and
lar pores. molecular potential energy, and thus is analogous to a gas expand-
ing while absorbing heat and compressing a spring. Opposite of
Electrostatic Force Microscope (EFM) — a kind of SPM that exothermic.
images electrostatic forces.
Energy — in physics, a conserved quantity that can be
Electrostatic force — a force arising between charged bodies pro- interconverted among many forms, including kinetic energy,
duced by electrostatic fields. potential energy, and electromagnetic energy.
Embolus — a mass of undissolved matter (solid, liquid, or gas- Engulf formation — in medical nanorobotics, a configuration that
eous) present in a blood or lymphatic vessel, brought there by the may be adopted by a metamorphic nanorobot, in which the
blood or lymph current. nanorobot reshapes itself to create an interior cavity capable of trap-
ping a living cell, virion, or other biological particle.
Emesis — vomiting; may be chemically induced using an emetic.
Enthalpy — in thermodynamics, the internal energy of a system
emf — in physics, “electromotive force” (typically, the electrical plus the product of its volume and the external pressure.
potential established across the terminals of a battery), measured in
volts. Entropy — in the physical sciences, a measure of uncertainty
regarding the state of a system; free energy can be extracted by con-
Emissivity — relative intensity of emission of electromagnetic ra- verting a low-entropy state to a high-entropy state. In other con-
diation by a heated body, as compared to a blackbody radiator whose texts, the term is often used by analogy to describe the extent of
emissivity is defined as 1. randomness and disorder in a system and the consequent lack of
knowledge or information about it.
EMP — electromagnetic pulse (e.g. as typically generated during a
nuclear explosion). Enucleated cell — a cell from which the nucleus has been removed.
Enantiomer — in chemistry, a special class of stereoisomers whose Enzyme - a protein molecule that often acts as a specific catalyst,
structure is not superimposable on its mirror image; a chiral molecule. facilitating specific chemical or metabolic reactions necessary for cell
Two enantiomers of a compound have identical chemical properties, growth and reproduction; a biological chemosynthetic molecular ma-
but differ in a characteristic physical property, the ability to rotate the chine.
plane of plane-polarized light.
Eosinophil — a type of granulocytic white blood cell comprising
Endocrine gland — a gland that secretes biochemical substances 1%-4% of all leukocytes, that is known to destroy parasitic organ-
(especially hormones) directly into the bloodstream. isms and to play a major role in allergic reactions (some of the
major chemical mediators that cause bronchoconstriction in asthma
Endocytosis — a process by which proteins arriving at the surface are released by eosinophils).
of a cell are internalized, being transported inside the cell within
membranous vesicles. Epidermis — the outer epithelial portion of the skin.
Endoergic — a transformation that absorbs energy; such a reaction Epitaxial methods — a class of methods for inducing crystal growth.
increases molecular potential energy. Opposite of exoergic.
Epithelium — the avascular layer of cells forming the epidermis of
Endogenous — originating inside an organ, part, or system. the skin and the surface layer of mucous (secreting mucus) and
serous (secreting serum or serumlike fluid) membranes, including
Endohedral — lying entirely within a (fullerene) cage molecule. the glands. The cells rest on a basement membrane and lie closely
approximated to each other with little intercellular material between
Endometrial — pertaining to the lining of the uterus. them.
Endoplasmic reticulum — in cell biology, a highly convoluted sheet Epitope — any component of an antigen molecule that functions
of membranes, extending from the outer layer of the nuclear envelope as an antigenic determinant by permitting the attachment of certain
into the cytoplasm. antibodies.
408 Nanomedicine • Volume I
Equilibrium — a system is said to be at equilibrium (with respect Exogenous — originating outside an organ, part, or system.
to some set of feasible transformations) if that system has minimal
free energy. A system containing objects at different temperatures is Exohedral — lying entirely outside a (fullerene) cage molecule.
in disequilibrium, because heat flow can reduce the free energy
(causing the different temperatures to converge). Springs have Exons — portions of genes represented in mRNA.
equilibrium lengths, reactants and products in solution have equilib-
rium concentrations, thermally excited systems have equilibrium Exothermic — a transformation that releases energy in the form of
probabilities of occupying various states, and so forth. heat. Exoergic reactions in solution are commonly exothermic.
Opposite of endothermic.
Ergoacoustic — pertaining to the conversion of energy of various
kinds into acoustic energy. Exploratory engineering — design and analysis of systems that
are theoretically possible but cannot be built yet, owing to the
Ergooptical (ergophotonic) — pertaining to the conversion of limitations of currently available tools.
energy of various kinds into optical (photonic) energy.
Exponential — refers to a mathematical function (e.g. y = 10x)
Eructations — producing gas from the stomach, usually with a which has an exponented quantity as its independent variable (e.g.
characteristic sound; belching. x); more informally, may denote a very steeply rising (or falling)
quantity, function or variable.
Erysipelas — acute febrile disease with localized inflammation,
eruption and redness of skin and subcutaneous tissue, accompanied Extracellular — outside of the cell.
by systemic signs and symptoms, caused by a hemolytic streptococcus.
Extracellular matrix (ECM) — an extracellular fibrous scaffolding
Erythrocyte — red blood cell. that helps organize cells into tissues.
Erythropoietin — a hormone that controls the production rate of Extrasomatic — originating or existing outside of the human body.
red blood cells in the human body.
Extravasation — exiting the bloodstream.
Euchromatin — all of the genome in the interphase nucleus,
except for the heterochromatin. Exudate — accumulation of a fluid in a cavity; matter that penetrates
through vessel walls into adjoining tissue; the production of pus or
Eukaryote — an organism or cell that contains its genome within a serum.
nucleus.
Ex vivo — outside of the living human body.
Eutactic — characterized by precise molecular order.
Facultative — having the ability to do something which is not
Excimer laser — a kind of high-energy ultraviolet (UV) laser based mandatory.
on excited state transitions.
Fascia — a fibrous membrane covering, supporting, and separating
Excision — an act of cutting away or taking out. muscles; also, unites the skin with underlying (e.g. muscular) tissue.
Excluded volume — the presence of one molecule or moiety Fatty acid — a hydrocarbon in which one of the H atoms has been
reduces the physical volume available for other molecules or moieties replaced by a carboxyl group.
to occupy, thus partially crowding them out.
Febrile — pertaining to fever.
Excoriation — abrasion of the epidermis or of the coating of any
organ of the body by trauma, chemicals, burns, or other causes. Fenestrated — having openings.
Exfusion — generally, to remove from the body; distinguished from
Fibroblast — a stellate or spindle-shaped motile cell with cytoplas-
infusion.
mic processes present in connective tissue, capable of forming collagen
fibers.
Exocrine — external secretion of a gland.
Exocytosis — the process of secreting proteins from a cell into the Fission (fissile) — in physics, the release of energy when an atomic
surrounding medium, by transport in membranous vesicles from nucleus more massive than Fe56 (see binding energy) is split into
the endoplasmic reticulum, through the Golgi, to storage vesicles, two or more less massive fragments; the fission of nuclei lighter
and finally (upon a regulatory signal) through the plasma mem- than Fe56 is typically endoergic. In microbiology, a method of asexual
brane. reproduction in bacteria, protozoa, and other lower forms of life; in
cell biology, the partition of one organelle into two, as for example
Exodermal — lying outside of the skin surface. the fissioning mitochondrion.
Exoergic — a transformation that releases energy; such a reaction Fistula — in anatomy, an abnormal tubelike passage from a normal
decreases molecular potential energy. Opposite of endoergic. cavity or tube to a free surface or to another cavity; may be due to
Basic Capabilities • Glossary 409
congenital incomplete closure of parts, or may result from abscesses, the entire class of molecules having this geometry, regardless of
injuries, or inflammatory processes. atomic constituency.
Flagellum — in cell biology, a whiplike locomotory organelle consist- Functionalized — in chemistry, an otherwise chemically inert
ing of nine double peripheral microtubules and two single central structure is functionalized when a chemically active ligand or moiety
microtubules. is covalently bonded to it.
Flatus — gas in the digestive tract; expelling of gas from a body Functional navigation — in medical nanorobotics, a form of
orifice, especially the anus (e.g. to fart). nanorobotic navigation in which nanodevices seek to detect subtle
variations in their environment, comparing sensor readings with
FLOP — in computer science, a floating point operation, an target tissue/cell profiles and then congregating wherever a precisely
individual computational step as software executes in a computer. defined set of preconditions exists.
A floating point number is a number expressed as a product of a
bounded number and an exponential scale factor, as in scientific Fundamental mode — the lowest natural frequency of vibration
notation. of an object or system.
Fluidity — in cellular biomechanics, a property of cell membranes, Fusion — in physics, the release of energy when atomic particles of
indicating the ability of lipids to move laterally within their particular total atomic mass less than the atomic mass of Fe56 (see binding
monolayer. energy) join together to form a more massive single particle; the
fusion of nuclei heavier than Fe56 is typically endoergic. In cell biol-
Flux (fluence) — generally, a rate of flow. ogy, fusion is the merging of vesicles budded from the ER into the
Golgi complex, or of endosomes with lysosomes, or of the contents
FM — frequency modulation. of two cells by artificial means without the destruction of either,
resulting in a heterokaryon that, for at least a few generations, will
Follower — in mechanical engineering, a mechanical component reproduce its kind (this was once an important method in assigning
in a cam system that is driven through a pattern of displacements as loci to chromosomes). In sensory physiology, the sensation that
it rests against a moving contoured surface. See cam. results when two different sensory qualities merge to give a third
quality, such as the fusion of red and yellow into orange. Most
Foramen magnum — in anatomy, an opening in the occipital bone generally, to combine together.
through which passes the spinal cord from the brain.
g — unit of gravitational acceleration (9.81 m/sec2); describes the mean
Formed elements — the cellular components of the blood, usually gravitation force experienced by a mass at rest on Earth’s surface.
including red cells, white cells, and platelets.
Galvanic — pertaining to electrical direct current, usually chemically
Fourier transform — in mathematical physics, the expression of a generated.
complex waveform as a weighted sum of an infinite series of
monofrequency waves. Gamete — either type of reproductive or germ cell (e.g. sperm or
egg) with haploid chromosome content. Compare somatic cell.
Fovea — the clearest point of vision in the retina of the eye.
Ganglion — a mass of nervous tissue composed principally of nerve-
Fractionation — to separate components of a mixture into distinct cell bodies and lying outside the brain or spinal cord (e.g. the chains
molecular submixtures or pure components. of ganglia that form the main sympathetic trunks, or the dorsal
root ganglion of a spinal nerve).
Free energy — a measure of the ability of a system to do work, such
that a reduction in free energy could in principle yield an equivalent Gangrene — a necrosis (death) of tissue, usually due to deficient,
quantity of work. The Helmholtz free energy describes the free obstructed, or lost blood supply; it may be localized to a small area
energy within a system; the Gibbs free energy does not. or it may involve an entire organ or extremity.
Fresnel lens — a glass lens cast in a series of adjacent annular rings Gastro — pertaining to the stomach.
of various heights and shapes, commonly employed in lighthouses
to produce powerful directed beams of light. Gate — see logic gate.
Friction Force Microscopy (FFM) — a kind of SPM that measures GDP — guanosine diphosphate.
the frictional force between a sample and a sharp tip.
Gene — a segment of a chromosome; an hereditary unit comprised
FTP — file transfer protocol (used for large-block data transfers on of DNA occupying a locus in the genome which bears base sequential
the Internet). information for regulation, for transcription into RNA, or for
transcription into mRNA destined for translation into protein.
Fullerene — a closed-cage molecule consisting of linked pentagons,
hexagons, heptagons, or other polygonal elements; originally referred Genome — the total hereditary material of a cell, containing the
to carbon-only structures but has since been broadened to represent entire chromosomal set found in each nucleus of a given species.
410 Nanomedicine • Volume I
Genomics — concerning the genome, the study of genes and how remains intact and is inert; when GDP is replaced by GTP, the
they affect the human body. trimer separates into a monomer and a dimer, one of which may
then activate or repress a target protein.
Genotype — the basic combination of genes of an organism. The
genetic constitution of an organism. GPS — see Global Positioning System.
Geodesic — pertaining to the mapping of the surface of the Earth. Gradient — a slope or grade; an increase or decrease of varying
degrees or the curve that represents such; rate of change of tempera-
Germ line — the cell line from which gametes derive. ture, pressure, chemical concentration, or other physical variable,
as a function of time, distance, frequency, etc.
GHz — gigahertz; billions of cycles per second.
Granules — a small, grainlike body. Small granules may be found
Gibbs free energy — equals the Helmholtz free energy plus the in cells, containing stores of nutrients; large granules may be formed
product of the system volume and the external pressure. Changes in in tissues following a granulomatous reaction.
the Gibbs free energy at a constant pressure thus include work done
against external pressure as a system undergoes volumetric changes. Granulocyte — a granular leukocyte; a polymorphonuclear (nucleus
composed of two or more lobes or parts) leukocyte, including
Gimbal — in mechanical engineering, a device consisting of a pair basophils, eosinophils, and neutrophils.
of rings pivoted on axes at right angles to each other so that one is
free to swing within the other. Granuloma — a nodular inflammatory lesion, usually small or
granular, that is firm, persistent, and contains compactly grouped
Glioblastoma — a neuroglial (brain) cell tumor. mononuclear phagocytes.
Global Positioning System (GPS) — a system of Earth-orbiting Granulomatous reaction — producing a granuloma, a granular
satellites that broadcasts navigational radio signals, allowing a ground tumor or growth, usually of lymphoid and epithelioid cells; an
receiver to precisely fix its position on the Earth’s surface. encapsulation reaction to the presence of a foreign object in the
body that cannot be readily phagocytosed.
Glottis — the sound-producing apparatus of the larynx, consisting
of two vocal cords and the intervening space. Gravimeter — a device for measuring gravitational acceleration.
Glucose — simple blood sugar (C6H12O6). Ground state — the lowest-energy state of a system. A system in its
electronic ground state cannot further reduce its energy by an
Glycocalyx — a thin layer of glycoprotein and polysaccharide that electronic transition, but may still contain vibrational energy.
covers the surface of some cells, such as muscle cells, fibroblasts,
pericytes, and epithelial cells, and contributes to the basal lamina. GTP — guanosine triphosphate.
Glycogen — a polysaccharide commonly called animal starch, with Gustatory — pertaining to the sense of taste.
chemical formula (C6H10O5)n; glycogen is the form in which car-
bohydrate is stored in the animal body (mostly in the liver and Halogen — pertaining to fluorine, chlorine, bromine, iodine, or
muscles) for future conversion into sugar. The formation of glyco- astatine.
gen from carbohydrate sources is called glycogenesis, while the reverse
process is called glycogenolysis. Haploid — a set of chromosomes that contains one copy of each
autosome and one sex chromosome.
Glycolysis — enzyme-mediated energy-yielding anaerobic hydrolysis
of glucose to lactic acid in various cells and tissues, notably muscle. Haploid number — the number of chromosomes in sperm or ova
(23 in humans), half the number found in somatic (e.g. diploid)
Glycoprotein — a protein molecule with carbohydrate moieties cells; characteristic of the gametes of diploid organisms.
attached.
Haptic — operated by, or pertaining to, the sense of touch.
Glycosylation — the covalent bonding of carbohydrate moieties
to another molecule. Harmonic oscillator — in physics, any system of particles that
displays harmonic (periodic oscillating) motion, such as a pendu-
Golgi complex/apparatus — in cell biology, individual stacks of lum or spring with an attached mass; a system in which a mass is
membranes near the endoplasmic reticulum involved in glycosylating subject to a linear restoring force. A harmonic oscillator vibrates at
proteins and sorting them for transport to different intracellular a fixed frequency, independent of amplitude.
locations.
Haustra — in anatomy, the sacculated pouches of the colon.
Gorget — in surgery, an instrument grooved to protect soft tissues
from injury as a pointed instrument is inserted into a body cavity. Hawk — to make an audible effort to force up phlegm from the
throat.
G-proteins — guanine nucleotide-binding trimeric proteins that
reside in the plasma membrane. When bound by GDP, the trimer Hct — see hematocrit.
Basic Capabilities • Glossary 411
Heat — as defined in thermodynamics, heat is the energy that flows Holliday junction — a connection between two DNA duplex
between two systems as a result of temperature differences, as dis- molecules (as during recombination), wherein one duplex
tinguished from thermal energy. (A system contains neither heat rotates relative to the other, creating a junction with 3-D topology.3154
nor work, but can produce heat or do work.)
Homeodomain — a DNA-binding motif in a transcriptional
Heat capacity — the ratio of the heat input to the temperature regulator that identifies, or at least is common in, the genes concerned
increase in a system. with early embryonic developmental regulation.
Hematocrit (Hct) — volume-fraction or bloodstream concentration Homochirality — chirality is a property of certain asymmetric mol-
of erythrocytes (red blood cells), expressed as a percentage. ecules, the property being that the mirror images of the molecules
cannot be superimposed one on the other while facing in the same
Hematoma — a swelling or mass of blood (usually clotted), confined direction. Homochirality is the preference of a process or system for
to an organ, tissue, or other space, caused by a break in a blood a single optical isomer in a pair of isomers.
vessel.
Homologous — similar in form (e.g. fundamental structure and
Hemobaric — pertaining to blood pressure. origin), but not necessarily in function.
Hemolytic — tending to destroy red blood cells, liberating hemo- Hormone — a chemical substance that originates in an organ, gland,
globin. or part and is conveyed through the blood to another part of the
body, stimulating that other part by chemical action to increase func-
Hemorrhagic — pertaining to bleeding. tional activity or to increase secretion of another hormone.
Hemostasis — arrest of bleeding. Hyaline cartilage — true cartilage; a smooth and pearly layer that
covers the articular (place of union between two or more bones)
Hepatic — pertaining to the liver. surfaces of bones.
Hepatocyte — the most common tissue cell found in the liver. Hydrocarbon — a molecule consisting only of H and C.
Heterochromatin — regions of the genome that remain perma- Hydrodynamics — in physics, the study of the action of and mo-
nently in a highly condensed state and are not genetically expressed. tion of (and in) water and other liquids.
Histamine — a chemical substance, produced from the amino acid Hydrogen bond — the weak bond between a positively charged
histidine, normally present in the body; exerts a pharmacological hydrogen atom that is covalently bound to one electronegative atom,
and another electronegative atom.
action when released from injured cells.
Hydrolysis — a (hydrolytic) reaction in which a covalent bond is
Histaminergic — activated or energized by histamine.
broken with the incorporation of a water molecule.
Histology — the study of tissues.
Hydrophilicity — tending to mix with water; wettable. Hydro-
philic groups interact with water, so that hydrophilic regions of protein
Histonatation — in medical nanorobotics, locomotion (swimming) or the faces of a lipid bilayer reside in an aqueous environment.
through tissues by a nanorobot.
Hydrophobic force — water molecules are linked by a network of
Histonavigation — in medical nanorobotics, navigation through hydrogen bonds; a nonpolar nonwetting surface such as wax cannot
tissues by a nanorobot. form hydrogen bonds, hence repels water.
Histones — conserved DNA-binding proteins of eukaryotes that Hydrophobicity — tending not to mix with water; nonwetting.
form the nucleosome, the basic subunit of chromatin; histones are Hydrophobic groups repel water, so that they interact with one an-
rich in arginine and lysine residues. other to generate a nonaqueous environment.
HLA complex — Histocompatibility Locus Antigens, formerly Hydrostatic — pertaining to the pressure of fluids or to fluid prop-
known as Human Leukocyte Antigen (or Associated) complex. erties when in equilibrium.
412 Nanomedicine • Volume I
Hygroscopic — readily absorbing and retaining moisture. Inner ear — the portion of the ear consisting of the cochlea,
containing the sensory receptors for hearing, and the vestibule
Hypercholesterolemia — presence of an abnormal amount of cho- and semicircular canals, which include the receptors for balance
lesterol in the cells and plasma of the circulating blood. and the sense of position.
Hypergolic — refers to two substances which, although stable when Innervated — having nerves.
stored separately, spontaneously combust or react when mixed.
In nucleo — within the nucleus of a cell.
Hypogravity — conditions of below-normal gravity (e.g.
microgravity in Earth orbit). In sanguo — within the bloodstream.
Hypotension — low blood pressure. Integral membrane protein — in cell biology, an amphipathic pro-
tein embedded in the lipid bilayer of the cell which cannot be ex-
Hypoxia — a condition in which the tissues are not receiving enough tracted from the membrane without disrupting the lipid bilayer;
oxygen to sustain their metabolic activity. most integral proteins are transmembrane proteins.
Hypsithermal limit — the maximum amount of energy that may Intercalated — inserted between two others, as something inter-
be released at Earth’s surface, as a result of human technological posed.
activities, without significantly altering the natural global energy
balance; estimated as 1013-1015 watts. Intercostal — between the ribs.
Hz — hertz (MKS unit of frequency); cycles per second of an oscil- Interferometry — measurement of very small spatial or frequency
lation. displacements using wave interference patterns.
Iatrogenic disorder — an adverse condition induced in a patient Intermolecular — an interaction (e.g. a chemical reaction) between
by the actions of a physician. different molecules.
Icosahedral — a solid figure with 20 planar faces. Internal energy — the sum of the kinetic and potential energies
(including electromagnetic field energies) of the particles that make
Iliac crest — in anatomy, pertaining to the top of the ilium (the up a system.
uppermost of the three sections of the hipbone).
Interphase — in cell biology, the quiescent period of time between
Immunoglobulin — see antibody. mitotic cell divisions.
Impedance — opposition to flow (e.g. fluid, electrical, etc.) when Interstitial — pertaining to extracellular interstices or spaces within
flow is steady, or the driving pressure per unit flow when flow is an organ or tissue.
changing; the resistance of an acoustic system to being set in
motion. Intracellular fluid — all of the fluid inside a cell; the cytosol plus
the fluid inside each organelle, including the nucleus.
Incision — a cut made with a knife.
Intracorporeal — inside the human body.
In cyto — within a biological cell.
Intramolecular — an interaction (e.g. chemical reaction) within a
Inertia — in physics, the tendency of a body to remain in its kine- single molecule. Intramolecular interactions between widely sepa-
matic state (e.g. at rest or in motion) until acted upon by an outside rated parts of a molecule resemble intermolecular interactions in
force; in biology, sluggishness or lack of activity. most respects.
Infarct — an area of tissue in an organ or part that undergoes Intraperitoneal — within the peritoneal (abdominal) cavity.
necrosis following cessation of blood supply.
Intravascular — inside a blood vessel.
Inferior — beneath or lower; often refers to the undersurface of an
In vacuo — in a vacuum (viz. the ablative case of the 2nd-declen-
organ or indicates a structure below another structure. See also caudal. sion Latin adjective “vacuus”).
Infrasonic — inaudible (to human ears); sounds with acoustic Invaginate — to place or receive into a sheath; to receive within
frequencies less than ~16 Hz. itself or into another part.
Infusion — the introduction of a fluid, other than blood, into a In vivo — inside the living human body.
vein.
Ion — an atom or molecule with a net charge.
Inmessaging — in medical nanorobotics, conveyance of information
from a source external to the human body, or external to working Ion Beam Lithography (IBL) — lithography using ions rather than
nanodevices, to a receiver located inside the human body. light beams.
404 Nanomedicine • Volume I
London, England; a precision time stamp that is broadcast con- medical technology may allow reversal of tissue damage and the
tinuously by radio (e.g. NIST’s station WWV).3302 successful revival of the patient.
Corium — the layer of the skin lying immediately under the epi- Crystallescence — in medical nanorobotics, the crystallization of
dermis. solid solute that is offloaded by nanorobot sorting rotors at a con-
centration that exceeds the solvation capacity of the surrounding
Corneal — pertaining to the cornea (the clear, transparent anterior solvent.
portion of the fibrous coat of the eye comprising about one-sixth of
its surface). Cutaneous — pertaining to the skin.
Coronal — vertical, but at right angles to sagittal sections, dividing Cyclic — a structure is termed cyclic if its covalent bonds form one
the body into anterior (front) and posterior (back) portions. or more rings.
Cortex (cortical) — the outer layer of an organ or of the body. Cycloaddition — a chemical synthesis reaction in which two
Compare medulla. unsaturated molecules (or moieties within a molecule) bond to form
a ring.
Covalent bond — in chemistry, a bond formed by sharing a pair of
electrons between two atoms. Cystic — (usually) pertaining to the gallbladder or urinary bladder.
Cranial — nearest or toward the head. Cytoambulation — in medical nanorobotics, cell surface walking.
Crepitation — a crackling sound heard in certain diseases, such as Cytocarriage — in medical nanorobotics, the commandeering of a
the rale heard in pneumonia; a grating sound heard on movement natural motile cell, by a medical nanorobot, for the purposes of in
of ends of a broken bone; a clicking or crackling sound often heard vivo transport (of the nanorobot), or to perform a herding function
in movements of joints, such as the temporomandibular (jaw), el- (of the affected cell), or for other purposes.
bow, or patellofemoral (knee) joints, due to roughness and irregu-
larities in the articulating surfaces. Cytocide — the killing of living cells.
Crinal — pertaining to hair. Cytography — a physical description (and mapping) of the living
cell.
Crista — in cell biology, a projection, sometimes branched, of the
inner wall of a mitochondrion into its fluid-filled cavity; in anatomy, Cytoidentification — identification of cell type.
a ridge of sensory cells inside the ampulla, thrusting hair endings
into the cupula (the cells respond to rotary acceleration and decel- Cytokine — a group of extracellular biochemical substances that
eration of the head). may be produced by a variety of cells, for the purposes of chemical
messaging, regulation, and control; proteins that exert changes in
Critical pressure — the highest pressure at which gas and liquid the function or activity of a cell, such as differentiation, prolifera-
may exist as separate phases at any temperature. tion, secretion, or motility.
Critical temperature — the highest temperature at which gas and Cytology (cytological) — the study of biological cells.
liquid may exist as separate phases at any pressure.
Cytometrics — the quantitative measurement of cell sizes, shapes,
Cross-links — in biochemistry, additional bonds formed between structures, and numbers.
normally separate parts of a polymer, typically increasing the tensile
strength and stiffness of the chain. Cytonatation — in medical nanorobotics, swimming around in-
side a living cell.
Cryobiology — the study of the effects of cold on biological systems.
Cytonavigation — in medical nanorobotics, navigation inside the
Cryogenic — producing, of pertaining to, low temperatures, typi- cell; cellular navigation.
cally the temperature of liquid nitrogen (77 K) or below.
Cytopenetration — in medical nanorobotics, entry into cells by
Cryonic suspension — a currently non-standard medical technique penetrating the plasma membrane.
that attempts to prevent the permanent cessation of life, usually by
promptly immersing the body of a post-pronouncement patient in Cytoplasm — the filling substance between the plasma membrane
a storage fluid maintained at cryogenic temperatures. A person who and the nucleus of a cell.
is cryonically suspended cannot be revived by 20th century medical
technology because the freezing process does too much damage, Cytoskeletolysis — in medical nanorobotics, purposeful destruc-
but once frozen the patient’s biological condition does not further tion of the cellular cytoskeleton by a nanorobot, for cytocidal
deteriorate. The procedure is attempted in the belief that future purposes.
Basic Capabilities • Glossary 413
Ion channels — a large heterogeneous family of voltage-activated Kelvins (K) — kelvin degrees (MKS unit of temperature).
proteins that control the permeability of cells to specific ions by
opening or closing in response to differences in potentials across Keratin — a sulfur-rich scleroprotein or albuminoid present largely
the plasma membrane. Ion channels participate in the generation in cuticular (pertaining to cuticles) structures.
and transmission of electrical activity in the nervous system and in
the hormonal regulation of cellular physiology. Keratinocyte — a cell of the epidermis, and parts of the mouth,
that produces keratin.
Ionic bond — a chemical bond resulting chiefly from the electro-
static attraction between positive and negative ions. kg — kilogram (MKS unit of mass).
Ionosphere — an upper region of Earth’s atmosphere. KHz — kilohertz; thousands of cycles per second.
Ischemia — local and temporary deficiency of blood supply due to Kinesthesis — sensations of position, movement, direction and ex-
obstruction of the circulation into a body part. tent from the limbs, neck and body trunk.
Isoareal — occurring without any change in surface area. Kinetic energy — energy resulting from the motion of masses.
Isobaric — held, or existing, at a constant pressure. Kupffer cells — macrophages lining the sinusoids of the liver.
Isomer — one of two more chemical substances that have the same Labial — pertaining to the lips.
molecular formula but different chemical and physical properties
due to a different arrangement of the atoms in the molecule; for Lacrimal — pertaining to the tears (eye fluid).
example, dextrose is an isomer of levulose. Isomers may be geomet-
ric, optical, or structural. See also chiral, enantiomer, stereochemis- Lamellipodium — a cytoplasmic veil produced on all sides of a
try, and stereoisomer. migrating polymorphonuclear leukocyte (granulocyte).
Isomagnetic — having the same magnetic field strength. Laminar (Poiseuille) flow — fluid flow that moves exclusively along
separate and independent parallel flow planes (i.e. streamlines), gen-
Isometric — in general, having equal dimensions; in physiology erally with an axisymmetric parabolic profile if in a tube. Laminar
(or biomechanics), denoting a condition wherein the ends of a con- flow minimizes the impedance (resistance) and energy dissipation
tracting muscle (or motor protein) are held fixed so that contrac- of fluid flow.
tion produces increased tension at constant overall length.
Langmuir-Blodgett (LB) film — a technique for producing highly
Isoporous — having pores of the same size. regular stacks of monomolecular films.
Isostatic — denoting a condition in which there is equal pressure Lateral — on the side, or farthest from, the midsagittal plane; away
on every side; in hydrostatic equilibrium. from the midline of the body (to the side).
Isotherm — region, section, or surface of constant temperature. Lathe — in mechanical engineering, a machine for shaping an ob-
ject, by holding and turning the object rapidly against the edge of a
Isothermal — held, or existing, at a constant temperature. cutting tool.
Isotonic — animal cells containing a solution which exerts an os- LD50 — a dose of or exposure to a toxic influence that produces
motic pressure approximately equal to that of the surrounding fluid death in 50% of organisms exposed to it.
are isotonic or isoosmotic to that fluid. Stronger solutions that cause
cells to shrink are hypertonic; weaker solutions that cause cells to LED — light emitting diode.
swell are hypotonic.
Leukapheresis — see apheresis.
Isotope — any of two or more forms of the same chemical element
that have nearly identical chemical properties but which differ in Leukocytes (white blood cells) — the primary effector cells that
the number of neutrons contained in each atomic nucleus; many respond to infection and tissue damage in the human body. There
isotopes are radioactive. are two types: granulocytes (including basophils, eosinophils, and
neutrophils) and agranulocytes (including monocytes and lympho-
Isotropic — the same in all directions. cytes). Leukocytes are formed from two stem cell populations in the
bone marrow. The myeloid stem cell line produces granulocytes and
Isovolemic — occurring without any change in volume. monocytes, while the lymphoid stem cell line produces lymphocytes.
Lymphoid cells travel to the thymus, spleen and lymph nodes, where
IV — intravenous (inserted into a vein). they mature and differentiate into active, antigen-specific lymphocytes.
Leukotaxis — active amoeboid movement of leukocytes, especially Loin (lumbar) — lower part of the back and sides, between the
neutrophils, either toward (positive leukotaxis) or away from (nega- thorax (ribs) and the pelvis (hips).
tive leukotaxis) certain microorganisms or substances that frequently
are formed in inflamed tissue; the property of attracting or repel- LPS — lipopolysaccharide, the lipid used to construct the outer
ling leukocytes. leaflet of the outer bilayer membrane of Gram-negative bacteria.
Ligand — in protein chemistry, a small molecule that is (or can be) LR oscillator — an electrical oscillator circuit comprised of resis-
bound by a larger molecule; in organometallic chemistry, a moiety tors and inductors (solenoids).
bonded to a central metal atom (this latter definition is more com-
mon in general chemistry). Lumbar — see loin.
Ligation — the formation of a phosphodiester bond to link two Lumen — the interior, especially of a compartment bounded by
adjacent bases separated by a nick in one strand of a double helix of membranes, as for instance the endoplasmic reticulum or the mito-
DNA; the term can also be applied to blunt-end ligation and to the chondrion.
joining of RNA.
Luminal — pertaining to the interior of a cavity, tube, or vessel.
Linear — in control theory, describes systems in which an output
is directly proportional to an input. Lymph — an alkaline fluid found in the lymphatic system.
Lingual — pertaining to the tongue. Lymphatic system — includes all structures involved in the con-
veyance of lymph from the tissues to the bloodstream, including
Lipid bilayer — in cell biology, the form taken by a concentration lymph capillaries, lacteals, lymph nodes, lymph vessels, main lymph
of lipids in which the hydrophobic fatty acids occupy the interior ducts, and cisterna chyli.
and the hydrophilic polar heads face the exterior; primary constitu-
ent of the plasma membranes of cells. Lymphocyte — a morphologically distinct variety of leukocytes,
comprising 20%-44% of all white blood cells. But only ~2% of all
Lipids — molecules having hydrophilic polar heads, containing lymphocytes present in the human body are in the bloodstream;
phosphate (phospholipid), sterol (such as cholesterol), or saccha- most reside elsewhere, particularly in the lymph and the lymph
ride (glycolipid) connected to a hydrophobic tail consisting of fatty nodes. B-lymphocytes differentiate into antibody-secreting plasma
acid. cells, whereas T-lymphocytes play diverse regulatory roles in the
immune response.
Lipofuscin — brown pigment granules representing lipid-contain-
ing nondegradable residues of lysosomal digestion. Lysis (lytic) — in microbiology, the death of a bacterium at the
end of a bacteriophage infective cycle when the bacterium bursts
Lipophilic — having an affinity for lipids (fats). open to release the progeny of an infecting phage; also applies to
eukaryotic cells, as for example infected cells that are attacked by
Lipophobic — repulsed by lipids (fats). the immune system. More generally, dissolution or decomposition.
Liposomes — the sealed concentric microscopic shells formed when Lysosomes — small bodies inside cells, enclosed by membranes,
certain lipid substances are in an aqueous solution. See also mi- that contain hydrolytic enzymes that are part of the cell’s digestive
celles. apparatus.
Lithography — a technique for surface patterning commonly used Lysozyme (muramidase) — an enzyme that is destructive to cell
to make semiconductor devices. walls of certain bacteria, found in white blood cells of the granulo-
cytic and monocytic series.
Lithotomy — in surgery, incision of a duct or organ, especially of
the bladder, to remove a calculus (any abnormal concretion within
m — meter (MKS unit of length)
the animal body, usually composed of mineral salts, commonly called
stone).
M — see molarity.
Lithotripsy — crushing of a stone in the bladder or urethra.
Macromolecule — a molecule of colloidal size, typically 1-100 nm
Load error — in control theory, minimum range of variation in a in diameter or length, consisting most notably of proteins, nucleic
control variable that is necessary to provoke a response from a con- acids, and polysaccharides.
trol system.
Macrophage — a monocyte that has left the circulation and settled
Logic gate — in digital logic, a component that can switch the and matured in a tissue; found in large numbers in the spleen, lymph
state of an output depending on the states of one or more inputs; a nodes, alveoli, and tonsils, with ~50% found in the liver as Kupffer
device implementing any of the elementary logic (or Boolean) func- cells. Along with neutrophils, macrophages are the major phago-
tions (e.g. AND, NAND, NOR, NOT, OR, XOR). A logic gate is cytic cells of the immune system, able to recognize (and then
characterized by the relationship between its inputs and outputs, ingest) foreign antigens via chemical receptors on the surface of their
and not by its internal mechanisms. cell membranes. Macrophages also serve a vital role by processing
Basic Capabilities • Glossary 415
antigens and presenting them to T cells, activating the specific Medulla (medullary) — the inner or central portion of an organ.
immune response. Compare cortex.
Macroscopic — easily visible to the human naked eye; typically Medulla oblongata — enlarged portion of the spinal cord in the
~1 mm3 or larger. cranium, after the cord enters the foramen magnum of the occipital
bone; the lower portion of the brain stem.
Macrosensing — in medical nanorobotics, the detection of global
somatic states (inside the human body) and extrasomatic states Melanoma — a malignant, darkly pigmented mole or tumor of the
(sensory data originating outside of the human body) by in vivo skin.
nanorobots.
Membrane — in cell biology, an asymmetrical lipid bilayer that
Magnetic Force Microscope (MFM) — a kind of SPM that has lateral fluidity and contains proteins; in anatomy, a thin, soft,
images surfaces using magnetic forces. pliable layer of tissue that lines a tube or cavity, covers an organ or
structure, or separates one part from another.
Maillard reaction — in food science, the “browning” reaction that
occurs between proteins and reducing sugars as they are heated. Membrane proteins — in cell biology, plasma membrane proteins
that have hydrophobic regions that allow part or all of the protein
Major histocompatibility complex (MHC) — the complex of structure to reside within the membrane; the bonds involved in this
HLA genes on the short arm of human chromosome 6. association are usually noncovalent.
Manometer (manometry) — a device for measuring liquid or gaseous Membranolytic — causing the physical failure of a membrane.
pressure such as blood, spinal fluid, or atmosphere (air).
MEMS — see microelectromechanical systems.
Manustupration — masturbation.
Meniscus — the curved upper surface of a liquid in contact with a
Margination — adhesion of leukocytes to endothelial cells lining container.
the walls of a blood vessel, during the relatively early stages of in-
flammation; more generally, the process of differential radial migra- -mer — see oligomer.
tion among suspended particles of different sizes during fluid flow
through a tube. Mesenchyme — a diffuse network of cells forming the embryonic
mesoderm and giving rise to connective tissues, blood, and blood
Massometer — in medical nanorobotics, a nanosensor device for vessels, the lymphatic system, and cells of the RES.
measuring the mass of individual molecules or small physical ob-
jects to single-proton resolution. Mesentery — a peritoneal fold encircling the greater part of the
small intestines and connecting the intestine to the posterior
Mast cells — cells resident in connective tissue just below epithe- abdominal wall.
lial surfaces, serous cavities, and around blood vessels, that synthe-
size, store, and release (upon stimulation) histamine and other local Mesoderm — a tissue layer in the embryo from which arises all
chemical mediators of inflammation (e.g. leukotrienes). connective tissues, including the muscular, skeletal, circulatory, lym-
phatic, and urogenital systems, and the linings of the body cavities.
Mastication — chewing.
Mesoscopic — lying midway in size between the nanoscale (~nanom-
Mechanical nanocomputers — nano-sized computers that use me- eters) and the microscale (~microns).
chanical rather than chemical or electronic logic switches.
Mesothelium — the layer of cells derived from the mesoderm that
Mechanomechanical conversion — conversion of one form of me- lines the primitive body cavity; in the adult, it becomes the epithe-
chanical energy into another form of mechanical energy.
lium covering the serous membranes.
Mechanochemistry — the chemistry of processes in which me-
Messenger molecule — a chemically recognizable molecule which
chanical systems operating with atomic-scale precision guide, drive,
can convey information after it is received and decoded by an
or are driven by chemical transformations; in more general usage,
the chemistry of processes in which energy is converted from me- appropriate chemical sensor.
chanical to chemical form, or vice versa (aka. piezochemistry).
Messenger RNA (mRNA) — the RNA whose sequence corresponds
Mechanosynthesis — chemical synthesis controlled by mechani- to that of exons in the transcribed gene, which embodies the codons
cal systems operating with atomic-scale precision, enabling direct and is translated into the protein gene product.
positional selection of reaction sites; synthetic applications of mecha-
nochemistry. Metabolism — the sum of all physical and chemical changes that
take place within an organism; all energy and material transforma-
Medial — middle or nearest to the midsagittal plane; toward the tions that occur within living cells, including anabolism and
midline of a body or vessel. catabolism.
416 Nanomedicine • Volume I
Metamorphic — in medical nanorobotics, capable of adopting Mince — progressive reduction in size of biological tissue samples
multiple physical configurations via smooth changes from one con- by mechanical means; more generally, to cut or chop into very small
figuration to another. pieces, or to subdivide minutely.
Metaphase — stage of mitosis (cell division) in which all chromo- MIPS — a conventional measure of computing speed, defined as
somes are aligned equidistant between the spindle poles. millions of instructions per second.
Metastable state — a high energy state that requires an input of Mitochondrion — a self-reproducing organelle that provides en-
energy to relax to the ground state. ergy for eukaryotic cells via oxidative phosphorylation.
Metastasize — usually refers to the manifestation of a malignancy Mitosis — in cell biology, the division of a eukaryotic somatic cell.
(e.g. of cancerous body cells) as a secondary growth arising from the The four (or five) sequential stages are prophase, (prometaphase),
primary growth, but in a new location. metaphase, anaphase, and telophase; the absence of mitosis is the
interphase.
Metazoa — all multicellular life.
MKS — meter-kilogram-second; standard system of units adopted
Metrology — the science of weights and measures. by the international physics community.
MeV — million electron volts (unit of energy). Moiety — a portion of a molecular structure having some property
of interest.
MHC — see major histocompatibility complex.
Molality — in chemistry, moles of solute per kilogram of solvent.
MHz — megahertz; millions of cycles per second.
Molar — in anatomy, pertaining to a grinding (back) tooth.
Micelle — a self-assembling hollow spheroidal aggregate of
amphipathic lipids in a polar liquid (e.g. aqueous) medium. Molarity (M) — in chemistry, moles of solute per liter of solvent.
Michaelis-Menten enzyme — an enzyme whose saturation kinet- Mole — a number of instances of something (e.g. molecular
ics obey the Michaelis-Menten equation, which describes the half- objects) equal to ~6.023 x 1023 objects.
maximal reaction velocity as a function of substrate concentration;
certain enzymes and other ligand-binding proteins such as hemo- Molecular assembler — a general-purpose device for molecular
globin may obey sigmoid (e.g., Hill equation) substrate saturation manufacturing, able to guide chemical reactions by positioning
kinetics instead. individual molecules to atomic accuracy (e.g. mechanosynthesis)
and to construct a wide range of useful and stable molecular struc-
Microbarom — a low-amplitude, slowly-varying atmospheric pres- tures according to precise specifications.
sure wave.
Molecular Beam Epitaxy (MBE) — a technique for producing
Microbiotagraphics — mapping the microbiotic populations single-layer crystals.
present in the human body.
Molecular electronics — any system of atomically precise elec-
Microelectromechanical systems (MEMS) — micron-scale devices tronic devices of nanometer dimensions, especially if made of dis-
combining electronic and mechanical elements. crete molecular parts rather than the continuous bulk materials found
in 20th century semiconductor devices.
Micron — one-millionth of a meter; a micrometer.
Molecular machine — a mechanical device that performs a useful
Micro-opto-mechanical systems (MOMS) — micron-scale devices function using components of nanometer scale and a well-defined
combining electronic, optical and mechanical elements. molecular structure; may include both artificial nanomachines and
naturally occurring devices found in biological systems.
Microsensors — micron-scale chemical and physical sensors.
Molecular machine system — a system of molecular machines.
Microtubules — filaments consisting of dimers of tubulin; inter-
phase microtubules are reorganized into spindle fibers during mito- Molecular manipulator — a manipulator device able to position
sis (cell division), when they are responsible for chromosome move- molecular tools with high precision, for example to direct varying
ment. sequences of mechanosynthetic steps; a major component of a mo-
lecular assembler.
Microvasculature — pertaining to the very fine blood vessels of
the body. Molecular manufacturing — manufacturing using molecular ma-
chinery, giving molecule-by-molecule control of products via posi-
Midsagittal — vertical at midline, dividing the body into right and tional chemical synthesis, to produce complex molecular structures
left halves. manufactured to precise specifications.
Basic Capabilities • Glossary 417
Molecular medicine — a variety of pharmaceutical techniques and Motile — capable of voluntary movement. Opposite of sessile.
gene therapies that address specific molecular diseases or molecular
defects in biological systems. MRI — magnetic resonance imaging.
Molecular mill — a mechanochemical molecular transport and pro- MRFM — magnetic resonance force microscope.
cessing system characterized by limited motions and repetitive op-
erations without programmable flexibility. mRNA — see messenger RNA.
Molecular nanotechnology — thorough, inexpensive control of MTOC — microtubule organizing center; a cellular structure from
the structure of matter based on molecule-by-molecule control of which microtubules may be extended. The major MTOCs in a mi-
products and byproducts; the products and processes of molecular totic (dividing) cell are the centrosomes.
manufacturing, including molecular machinery; a technology based
on the ability to build structures to complex, atomic specifications Mucosa — a mucous membrane; the moist tissue layer that lines a
by mechanosynthesis or other means; most broadly, the engineer- hollow organ or body cavity.
ing of all complex mechanical systems constructed from the mo-
lecular level. Muller cells — neuroglial cells with fine fibers that form support-
ing elements of the retina.
Molecular recognition — a chemical term referring to processes
in which molecules adhere in a highly specific way, forming a larger Multivalent — in chemistry, able to form more than one covalent
structure; a possible enabling technology for nanotechnology. or ionic bond; in biomedicine, efficacious in more than one direc-
tion, or active against several strains of an organism.
Molecular sorting rotor — a class of nanomechanical device ca-
pable of selectively binding (or releasing) molecules from (or to) Mutagenesis, site-directed — a biotechnological technique whereby
solution, and of transporting these bound molecules against signifi- a gene encoding an enzyme is mutated, then overexpressed in a
cant concentration gradients. unicellular host, then characterized. By altering the base sequence
of a single codon, site-directed mutagenesis can replace a given amino
Molecular surgery (molecular repair) — in medical nanorobotics, acid with any other protein amino acid, and can also generate mul-
the analysis and physical correction of molecular structures in the tiple point mutants.
body using medical nanomachines.
Mycelium — the mass of hyphae (branching tubular cells charac-
Molecular systems engineering — design, analysis, and construc- teristic of the growth of filamentous fungi) making up a colony of
tion of systems of molecular parts working together to carry out a fungi.
useful purpose.
Myelin — a fatlike substance forming a sheath around the axons of
Molecule — group of atoms held together by chemical bonds; the certain nerves; composed of lipids and protein.
typical unit manipulated by molecular nanotechnology.
Myocardium — heart muscle.
Monkeywrenching — in medical nanorobotics, the mechanical or
chemical jamming of cellular equilibrium processes, with a cyto- Myoepithelium — tissue containing contractile epithelial cells (e.g.
cidal objective. See also disequilibration. contractile spindle-shaped cells arranged longitudinally or obliquely
around sweat glands and around the secretory alveoli of the mam-
Monocyte — a mononuclear phagocytic white blood cell derived mary and salivary glands).
from the myeloid stem cells, that is short-lived (~1 day half-life)
and circulates in the bloodstream from which it moves into tissues, Myopotential — pertaining to an action potential in an axon
at which point it matures into a macrophage (which is long-lived). innervating a muscle cell.
Monocytes represent 3%-8% of all white blood cells.
N — in physics, newton (MKS unit of force); in solution chemis-
Monomer — any molecule that can be bound to similar molecules try, see Normal.
to form a polymer.
Naked DNA — DNA that is not surrounded by an outer protein
Morcellation — fragmentation of biological materials as they are envelope.
excised from the body.
Nanapheresis — in medical nanorobotics, the removal of
Morphogen — a (biochemical) factor that induces development of bloodborne medical nanorobots from the body using apheresis-like
particular cell types in a manner that depends on its concentration. processes.
Morphology — the science of structure and form, without regard NAND gate — a logical gate equivalent to a negated (NOT-) AND
to function. gate.
Motif — main element, theme, or design feature that may occur in nano — a prefix meaning one billionth (1/1,000,000,000); more
slightly different forms. specifically, may refer to sizes of ~10-9 meters or to physical
418 Nanomedicine • Volume I
objects constructed or processes performed at the atomic or Nanotechnology — engineering and manufacturing at nanometer
molecular scale. scales; any technology related to features of nanometer scale, in-
cluding thin films, fine particles, chemical synthesis, advanced
Nanocentrifuge — in medical nanorobotics, a proposed nanodevice microlithography, and so forth, as well as complex mechanical sys-
that can spin materials at very high speed, imparting rotational tems constructed from the molecular level.
accelerations of up to one trillion gravities (g’s), thus permitting
rapid sortation. Nanotubes — hollow fullerene tubes, including but not limited to
single- and multi-walled carbon nanotubes, with submicroscopic,
Nanochronometer — in medical nanorobotics, a proposed clock often nanoscale, diameters and a wide range of continuous lengths.
or timing mechanism constructed of nanoscale components.
NASA — National Aeronautics and Space Administration.
Nanoclusters — nanoscale aggregates of atoms or molecules.
Nasal septum — in anatomy, the cartilage, covered with mucous
Nanocomputer — a proposed computer with parts built on a membrane, that divides the two nostrils and nasal passages.
molecular scale, possibly employing molecular electronics, mechani-
cal rod logic, or biological molecules. Nasopharynx — in anatomy, the nasal passages, mouth, and upper
throat.
Nanocrit (Nct) — in medical nanorobotics, volume-fraction or
bloodstream concentration of medical nanorobots, expressed as a Natation — swimming.
percentage.
Naturophilia — an exclusive love of Nature, disdaining everything
Nanolithography — the process of transferring nanometer-sized that is artificial or technological.
surface patterns.
Nauseogenic — tending to produce nausea.
Nanomachine — functional machine systems on the scale of
nanometers; an artificial mechanical device constructed with precise Navicyte — in medical nanorobotics, a mobile, mass-storage
molecular order using nanometer-scale components; any molecular (nanorobotic) device, similar to a communicyte, that may be used
structure large and complex enough to function as a machine. to establish a navigational network inside the human body.
Nanomanipulator — a nanorobotic manipulator device. N/C — numeric control machining (e.g. computer-aided manu-
facturing).
Nanomanufacturing — see molecular manufacturing.
Nct — see nanocrit.
Nanomechanical — pertaining to nanomachines.
Necrosis (necrotic) — the death of areas of tissue or bone, sur-
Nanomedicine — (1) the comprehensive monitoring, control, con-
rounded by healthy parts.
struction, repair, defense, and improvement of all human biological
systems, working from the molecular level, using engineered
Neoplastic — pertaining to, or of the nature of, new and abnormal
nanodevices and nanostructures; (2) the science and technology of
diagnosing, treating, and preventing disease and traumatic injury, tissue (i.e. neoplasm) formation and growth.
of relieving pain, and of preserving and improving human health,
using molecular tools and molecular knowledge of the human body; Neurofibrils — a filamentous aggregation of microfilaments and
(3) the employment of molecular machine systems to address medical microtubules found in the main cell body, dendrites, and axon of
problems, using molecular knowledge to maintain and improve the nerve cell, and sometimes in its synaptic endings.
human health at the molecular scale.
Neuron — a nerve cell, the principal structural and functional unit
Nanometer — a billionth of a meter, roughly the diameter of 3-7 of the nervous system.
atoms.
Neuropeptide — any of a variety of neurotransmitter peptides found
Nanorobot — a computer-controlled robotic device constructed in neural tissue (e.g. endorphins, enkephalins).
of nanometer-scale components to molecular precision, usually mi-
croscopic in size (often abbreviated as “nanobot”). Neurotransmitter — a biochemical substance released when the
axon terminal of a presynaptic neuron is excited. The substance
Nanosensor — a chemical or physical sensor constructed using
travels across the synapse to act on the target cell to either inhibit or
nanoscale components, usually microscopic or submicroscopic in
size. excite it.
Nanosieving — in medical nanorobotics, a nanodevice that can Neutrophil — the most common type of granulocytic white blood
sort molecules or other nanoscale objects by physical sieving. cell. Neutrophils are responsible for much of the body’s protection
against infection. Comprising ~60% of all white blood cells, neu-
Nanosystem — a set of nanoscale components, characterized by trophils play the primary role in inflammation, easily recognizing
precise molecular order, working together to serve a set of purposes; foreign antigens and destroying them through phagocytosis. Neu-
complex nanosystems can be of macroscopic size. trophils also may overreact to stimuli and become involved in tissue
Basic Capabilities • Glossary 419
destruction, as in rheumatoid arthritis, myocardial reperfusion in- Nucleosides — compounds consisting of a purine or pyrimidine
jury, respiratory distress syndrome, and ulcerative colitis. attached to ribose or deoxyribose at the 1' carbon.
NMR — see Nuclear Magnetic Resonance. Nucleosome — the basic structural subunit of chromatin, consist-
ing of 146 base pairs of DNA wrapped around a core of eight his-
NIST — National Institute of Standards and Technology. tone protein molecules.
Normal (N) — in solution chemistry, 1 liter of solution which Nyctalopia — a vitamin A deficiency disease, characterized by de-
contains 1 gram-equivalent of solute. creased ability to see in reduced illumination or at night.
Nosogenic — tending to cause disease. Obligate — to make necessary or require, without alternative.
NOT gate — a logical gate that inverts or negates the input signal, Occipital — pertaining to the back part of the head.
as its output.
Occlusal surface — in dental medicine, the masticating surface of
NSOM — Near-field Scanning Optical Microscope. the premolar and molar teeth.
Nuclear cortex — a proteinaceous layer on the inside of the cellular Olfaction (olfactory) — pertaining to the sense of smell.
nuclear envelope, consisting of up to three kinds of laminin proteins.
Oligomer — any short polymeric molecular chain consisting of
Nuclear envelope — a layer consisting of two membranes surround- well-defined subunits; N-mer refers to an oligomer that has exactly
ing the cellular nucleus, penetrated by nuclear pores and bounded N subunits.
on the interior by the nuclear cortex.
Oligonucleotide — a polymeric chain that consists of a small num-
ber of (possibly different) nucleotides.
Nuclear lamina — see nuclear cortex.
Opsonin — a biochemical substance that coats foreign antigens,
Nuclear Magnetic Resonance (NMR) — in physics and radiology,
making them more susceptible to macrophages and other leuko-
an analytical technique that relies on the absorption of certain cytes, thus increasing phagocytosis of the organism. Complement
electromagnetic frequencies by atomic nuclei. and antibodies are the two main opsonins in human blood.
Nuclear matrix — a network of fibers surrounding and penetrating Opsonization — the coating action of opsonins, thus facilitating
the cell nucleus. phagocytosis.
Nuclear pores — holes in the cellular nuclear envelope used for Organelle — most commonly described subcellular compartment,
transport of macromolecules. located in the cytoplasm, that is surrounded by a membrane (e.g.
lysosome, mitochondrion).
Nucleic acids — polymers of nucleotidyl residues.
Organography — a physical description (and mapping) of the body
Nucleoelectric conversion — conversion of nuclear energy into organs.
electrical energy.
OR gate — a logical gate that returns a high (1) output if either
input signal is high (1). See bit.
Nucleography — a physical description (and mapping) of the
nucleus of a human cell. Orthogonal — at right angles; mutually perpendicular.
Nucleolus — an RNA-rich spherical body made up of dense fibers Orthotropic — capable of alternating between bent and straight
and granules within the cell nucleus, associated with chromosomal configurations.
loci for rRNA genes, created by the transcription of rRNA genes.
Osmosis — the passage of solvent through a semipermeable mem-
Nucleoplasm — the protoplasm of a cell nucleus. brane that separates solutions of different concentrations.
420 Nanomedicine • Volume I
Osmotic pressure — the pressure that would develop if a solution Palatine — pertaining to the palate (roof of the mouth).
is enclosed in a solvent-permeable membrane that is impermeable
to all solutes present, and is then surrounded by pure solvent. Papilla — in anatomy, a small nipple-like protuberance or eleva-
tion.
Osseous — pertaining to bone.
Paracrine control — a general form of bioregulation in which one
Ossicle — any small bone, especially one of the three bones of the cell type in a tissue selectively influences the activity of an adjacent
ear. cell type by secreting chemicals that diffuse into the tissue and act
specifically on cells in that area.
Osteoblast — a bone-forming cell derived from mesenchyme to
form the osseous matrix in which it becomes enclosed as an osteo- Paradigm — a conceptual model, pattern, or system.
cyte.
Parenchyma — the essential parts of an organ that are concerned
Osteoclast — a giant multinuclear cell with abundant acidophilic with its function as opposed to its framework; opposite of stroma.
cytoplasm, formed in the bone marrow of growing bones, which The distinguishing or specific cells of a gland or organ, contained
functions to absorb and remove unwanted osseous tissue. within and supported by the connective tissue framework.
Osteocyte — a mesodermal bone-forming cell that has become Parenteral — denoting any medication route other than the ali-
entrapped within the bone matrix, helping to maintain bone as liv- mentary canal, such as intravenous, subcutaneous, intramuscular,
ing tissue. or mucosal.
Osteography — a physical description (and mapping) of the human Parietal — pertaining to, or forming, the walls of a cavity; often
skeletal system. specifically refers to the parietal bone, one of two bones that
together form the roof and sides of the skull.
Osteomalacia — a vitamin D deficiency disease, characterized by a
gradual and painful softening and bending of the bones. Partition — in medical nanorobotics, a cessation of the process of
conjugation.
Ostium — small opening, especially one into a tubular organ.
Parturition — the act of giving birth to young; childbirth.
Otolith — a crystalline particle of calcium carbonate and protein,
adhering to the gelatinous membrane of the maculae (thickened Passivation — the covalent bonding of a layer of atoms to a sur-
areas in the utricle and saccule) of the inner ear. face, in order to neutralize (occupy) any dangling surface bonds,
thus chemically stabilizing the surface.
Ouabain — a glycoside (C29H44O12•H2O) obtained from the wood
of Acocanthera ouabaio or from the seeds of Strophanthus gratus; its Patency — the state of being freely open.
action is qualitatively identical to that of the digitalis glycosides (e.g.
increasing the contractility of cardiac muscle). Pathogen — a microorganism or agent capable of producing dis-
ease.
Outmessaging — in medical nanorobotics, conveyance of informa-
tion from a transmitter located inside the human body, especially Pathognomonic — characteristic or indicative of a disease; relat-
from working nanodevices, to the patient or to a recipient external ing to one or more of the typical symptoms of a disease.
to the human body.
Pathological — diseased or due to a disease; more informally, per-
Ovariotomy — incision into an ovary. taining to an adverse condition.
Perineum — in anatomy, the area between the thighs extending Pharmacyte — in medical nanorobotics, a theorized (nanorobotic)
from the coccyx to the pubis and lying below the pelvic diaphragm; device capable of delivering precise doses of biologically active chemi-
the structures forming the pelvic floor. cals to individually-addressed human body tissue cells (e.g. cell-by-
cell drug delivery).
Perinuclear space — in cell biology, the space that lies between the
inner and outer membranes of the nuclear envelope. Pharynx — the passageway for air from the nasal cavity to the lar-
ynx (also acting as a resonating cavity), and for food from the mouth
Periportal — near the portal end. to the esophagus; more specifically, a musculomembranous tube
extending from the base of the skull to the level of the 6th cervical
Periosteum — in anatomy, the fibrous membrane forming the in- vertebra, where the tube becomes continuous with the esophagus.
vesting covering of bones except at their articular (joint) surfaces.
Phase — fraction of a periodic cycle, often expressed as an angle.
Peripheral — pertaining to a part of a body or object that is away
from the center. Phasic (muscular) — refers to muscles with origins and insertions
on skeleton or skin, that have rapid, brief contraction cycles. Com-
Peripheral protein — a non-amphipathic protein bound to the pare tonic.
hydrophilic region of an integral membrane protein, or bound to
the hydrophilic heads of plasma membrane lipids, of a cell; most Phenotype — the appearance or other characteristics of an organ-
peripheral proteins are located near the cytoplasmic side of the plasma ism, resulting from the interaction of its genetic constitution with
membrane. the environment; any observable characteristic that expresses the
genotype of an individual.
Peristalsis — a progressive wavelike movement that occurs invol-
untarily in hollow tubes of the body, especially the alimentary ca- Pheresis — see apheresis.
nal; it is characteristic of tubes possessing longitudinal and circular
layers of smooth muscle fibers. Pheromone — a substance permitting chemical communication
between animals, and between certain insects, of the same species;
Peritoneum — in anatomy, the serous membrane reflected over may affect development, reproduction, or behavior of like individu-
the viscera and lining the abdominal cavity. als.
Periurethral — in anatomy, located near or around the urethra
Phonons — in physics, a quantum of acoustic energy, analogous to
(which discharges urine).
the quantum of electromagnetic energy, the photon. Thermal exci-
tations in a crystal (lattice vibrations) or in an elastic continuum
Permittivity (relative) — in physics, the dielectric constant, a mea-
can be described as a population of phonons (analogous to black-
sure of the ability of a material to store electrical energy.
body electromagnetic radiation).
Peroxisome — in cell biology, an organelle found in vertebrate ani-
Photolithography — a surface patterning technique that employs
mal cells that contains a great number and variety of enzymes im-
portant in cell metabolism. light, used to make semiconductor devices.
PET — Positron Emission Tomography; see Computerized Tomog- Physiognomy — the countenance (physical features) of the face.
raphy.
Phytotoxic — pertaining to a poisonous plant.
Phage — see bacteriophage.
Piezoelectric — the property of some materials to generate a volt-
Phagocyte — a cell with the ability to ingest and destroy particu- age when mechanical stress is applied, and vice versa.
late substances such as bacteria, protozoa, cells and cell debris, dust
particles, and colloids. Pinocytosis — the process by which cells absorb or ingest nutri-
ents and fluid, in which minute incuppings or invaginations are
Phagocytosis — ingestion and digestion of bacteria and particles first formed in the surface of the plasma membrane and then close
by phagocytes. to form fluid-filled vesicles; resembles phagocytosis.
Pharmacodynamics — the study of the action of drugs on living Pixel — abbreviation for picture element; a single square cell within
organisms, and the physiological and clinical changes produced in a two-dimensional geometric grid or array.
organisms by those drugs.
Plague — see bubonic plague, pneumonic plague.
Pharmacogenetics — the study of the influence of hereditary fac-
tors on the response of individual organisms to drugs; a branch of Planetary gear — in machinery, an epicyclic train of gears as found
genetics dealing with hereditary aspects of drug metabolism. in an automobile transmission, for the purpose of transforming the
rotational speeds of rotating shafts.
Pharmacokinetics — study of the metabolism of drugs with par-
ticular emphasis on the time required for absorption, duration of Plasma — in anatomy, the fluid (noncellular) part of the lymph
action, distribution in the body, and method of excretion. and of the blood, usually distinguished from the serum obtained
422 Nanomedicine • Volume I
after coagulation; in cell biology, the part of the protoplasm (cell Polynucleotides — polymers of nucleotidyl residues, as in RNA
substance) outside of the nucleus. and DNA.
Plasma membrane — the outermost membrane of a cell, with cell Polysaccharide — complex carbohydrates of high molecular weight;
contents on one side and the extracellular environment on the other one of a group of carbohydrates that upon hydrolysis yields more
side; the continuous membrane defining the boundary of every cell. than two molecules of simple sugars.
Pluripotent — concerning an embryonic stem cell that can differen- Postpartum — after childbirth.
tiate into many different kinds of cells.
Potential energy — the energy associated with a configuration of
Plexus — an extensive two-dimensional meshwork. particles, as distinct from their motions.
Pneumatic — driven to motion or extension by pressurized gas or Power — the rate at which energy is produced or consumed.
fluid.
Precession — movement of the axis of rotation of a fixed-pivot
Pneumonic plague — highly virulent and frequently fatal form of gyroscope under the influence of gravity, describing a conical sur-
plague, having an extensive involvement of the lungs. face.
Poiseuille flow — laminar (nonturbulent) fluid flow. (to) Present — used as verb in medicine, meaning “to exhibit” a
symptom or a condition (a medical idiom).
Polarization — in optical physics, a change effected in a ray of
light passing through certain media, whereby the transverse vibra- Presentation semaphore — in medical nanorobotics, a mechani-
tions of the emerging ray occur in one plane only, instead of in all cal device used to display specific antigens, chemical ligands, or other
planes as in the ordinary incident light; in biology and electrical molecular objects to the external environment, with the purpose of
physics, the development of differences in electrical potential be- selectively modifying the chemical or other surface characteristics
tween two points on an object, such as between the inside and out- of a nanorobot exterior.
side of a cell wall or along the length of a piezoelectric bone sub-
jected to shear stress. Process — used as a noun in cell biology and medicine; a projec-
tion or outgrowth of bone or tissue.
Polar liquid — a liquid consisting of molecules that have an elec-
tric dipole moment (e.g. water, ethanol, liquefied ammonia). Com- Prognosis — a judgement or forecast, based upon a correct diag-
pare nonpolar liquid. nosis, of the future course of a disease or injury, and the patient’s
prospects for partial or full recovery.
Polymer — a long molecular chain of well-defined linked subunits.
Prokaryote — in microbiology, an organism or cell that lacks a
Polymorphonuclear leukocyte — see granulocyte. nucleus.
Basic Capabilities • Glossary 423
Prometaphase — stage of mitosis (cell division) beginning with a Pseudopod — in microbiology, a temporary protruding protoplas-
fragmentation of the nuclear membrane and marked by kinetochore mic process in protozoa for the purpose of taking up food and aid-
formation on the centromeres of the condensed chromosomes. ing in locomotion.
Promoter — a region of DNA involved in the binding of RNA Pseudostratified — apparently composed of layers.
polymerase to initiate transcription.
Psychosomatic — pertaining to the influence of the mind or of
Pronouncement — a legally sufficient assertion of the biological higher functions of the brain upon the functions of the body, espe-
death of a patient, usually attested by a physician. cially in relation to bodily disorders or disease.
Prophase — stage of mitosis (cell division) during which the chro- Puerperal — relating to the period after childbirth.
mosomes begin to condense within the still-intact nucleus, the
nucleolus disperses, and the mitotic spindle begins to develop. Pulmonary — pertaining to the lungs.
Prophylaxis — that which helps to prevent disease. Purgative — an agent used for purging the bowels.
Proprioception — sensations of position and movement, includ- Purine — parent molecule of a group of heterocyclic compounds
ing kinesthesis and the vestibular senses. (e.g. adenine, caffeine, guanine, uric acid, xanthine), which have
fused five- and six-member carbon-nitrogen rings. Purines are the
Protease — a class of enzymes that break down, or hydrolyze, the end products of nucleoprotein digestion; they may be synthesized
peptide bonds that join the amino acids in a protein. in the body, and break down to form uric acid.
Proteasomes — an extra-lysosomal ATP-driven system for selec- Pyemia — septicemia due to pyogenic (pus-forming) organisms
tively degrading endogenous ubiquinated proteins in virtually all causing multiple abscesses.
human cells.
Pylorus — the lower orifice of the stomach, opening into the duode-
Protein — a long chain of amino acids joined by amide bonds, num.
exceeding 100 residues in length; shorter chains are peptides. More
generally, living cells contain many molecules that consist of amino Pyrimidine — parent molecule of a group of heterocyclic com-
acid polymers folded to form more-or-less definite three-dimen- pounds (e.g. cytosine, thymine, uracil), which have a six-member
sional structures, termed proteins. Short polymers lacking definite carbon-nitrogen ring.
three-dimensional structures are termed peptides. Many proteins
incorporate structures other than amino acids, either as covalently Pyroelectric — producing electrical energy directly from heat.
attached side chains or as bound ligands. Molecular objects made
of protein form much of the molecular machinery of living cells. Q (resonator or circuit) — in engineering, a measure of the sharp-
ness of a resonance peak.
Protein engineering (protein design) — design and construction
of new artificial proteins with desired functions; a possible enabling Quantum computer — a computer that relies upon quantum ef-
technology for molecular manufacturing. fects such as superposition and interference.
Proteolytic — hastening the hydrolysis (breakdown) of proteins, Quantum confinement — restriction of particle to small physical
usually by enzyme action, into simpler substances. regions so that quantum effects are exhibited. See also tunneling.
Proteomics — the study of proteins and how they affect the hu- Quantum dot — a zero-dimensional quantum system.
man body.
Quantum dot lasers — lasers that exploit the energy levels of quan-
Protoplasm — a thick, viscous colloidal substance that constitutes tum dots.
the physical basis of all living activities; the entire contents of a
living cell.
Quantum Hall effect — phenomenon in which certain semicon-
ductors at low temperatures display quantized resistance.
Protozoa — the simplest animals, mostly unicellular although some
are colonial.
Quantum mechanics — theory of matter and radiation in which
Proximal — near the source or point of attachment or origin; in certain physical properties are quantized.
the extremities, closer to the trunk.
Quantum uncertainty — a measurement indeterminacy associ-
Proximal probes — a generic name for devices that exploit inter- ated with the dual wave/particle nature of matter; e.g. the Heisenberg
actions between a sample and a sharp probe tip; a family of devices uncertainty principle.
capable of fine positional control and sensing, including scanning
tunneling microscopes and atomic force microscopes; a possible Qubits — quantum bits; the equivalent of bits, for quantum
enabling technology for molecular manufacturing. computers.
424 Nanomedicine • Volume I
Racemic (mixture) — a mixture of two optical isomers in equal mass (the reduced mass) with the value m1 m2 / (m1 + m2). The
amounts; a racemic mixture does not show optical activity. reduced mass description has fewer dynamical variables.
Radiolarian — an order of single-celled sea animals with long slen- Reference man — a man 22 years of age, weight 70 kg, engaged in
der pseudopodia and a perforated outer skeleton of silica. light physical activity in a 20˚C environment, consuming ~2800
Kcal/day.
Radionuclide — a radioactive isotope.
Reference woman — a woman 22 years of age, weight 58 kg,
Rale — an abnormal sound heard upon auscultation of the chest. engaged in light physical activity in a 20˚C environment, consuming
Rales are produced by the passage of air through bronchi that con- ~2000 Kcal/day.
tain secretion or exudate, or that are constricted by spasm or a thick-
ening of bronchial walls. Refractive index — in optics, the ratio of the sine of the angle of
incidence to the sine of the angle of refraction when light is trans-
RAM — random access memory (a data storage device for comput- mitted through a refracting substance (that bends the light beam).
ers).
Regioselectivity — selection of the precise position of a ligand group
Raoult’s law — in an ideal solution, molar weights of non-volatile addition to a molecule, e.g. ortho-, meta-, and para- positions in
non-electrolytes, when dissolved in a definite weight of a given sol- substituted benzenes.
vent under the same conditions, lower the solvent’s freezing point,
elevate its boiling point, and reduce its vapor pressure equally for all Register — a temporary storage location for an array of bits of data
such solutes. within a digital logic system.
Ratchet — a hinged catch (pawl) arranged so as to engage with a Relaxation time — the measure of the rate at which a disequilib-
toothed wheel or bar whose teeth slope in one direction, thus im- rium distribution decays toward an equilibrium distribution.
parting forward movement and preventing backward movement.
Renal — pertaining to the kidney.
RBC — red blood cell (erythrocyte).
Replicator — any system that can build copies of itself when pro-
RC time — the characteristic exponential decay time of an RC vided with the appropriate raw materials and energy.
(resistor-capacitor) circuit; the capacitive time constant of a circuit.
Repression — the ability of bacteria to prevent synthesis of certain
Reaction — in chemistry, a process that transforms one or more enzymes when the products of those enzymes are present; more gen-
chemical species into others; typical reactions make or break bonds, erally, the inhibition of transcription (or translation) by the bind-
while others change the state of ionization or other properties taken ing of repressor protein to a specific site on DNA or mRNA.
to distinguish chemical species. In medicine, a response of a living
organism to a chemical, mechanical, or other stimulus. Repressor protein — a protein molecule that binds to an operator
on DNA or RNA to prevent transcription or translation, respec-
Reagent — a chemical species that undergoes change as a result of tively.
a chemical reaction.
RES — see reticuloendothelial system.
Receptor — most generally, a structure that can capture a molecule
(often of a specific type in a specific orientation) owing to comple- Resection — the partial excision of a bone or other structure.
mentary surface shapes, charge distributions, and so forth, without
forming a covalent bond. In biology, a receptor is a transmembrane Residue — in biochemistry, a portion of a single amino acid or
protein, located in the plasma membrane, that binds a ligand in a nucleotide, linked as part of a peptide/protein or polynucleotide
domain on the extracellular side, and as a result has a change in polymer chain, respectively.
activity of the cytoplasmic domain of the protein.
Resistor — in electrical engineering, an electronic device that
Recombination — in genetics, the inclusion of a chromosomal resists the flow of current.
part or extrachromosomal element of one microbial strain in the
chromosome of another; the interchange of chromosomal parts Resonance — in engineering and in control theory, the tendency
between different microbial strains. Most generally, the joining of an object or system to vibrate or oscillate at a characteristic frequency.
together of gene combinations in the offspring that were not present
in the parents. Resonant tunneling — increased probability of quantum tunneling
under favorable resonance conditions.
Red blood cell (RBC) — see erythrocyte.
Respirocrit — in medical nanorobotics, the volume-fraction or
Redox — see oxidation-reduction reaction. bloodstream concentration of respirocyte1400 nanorobots, expressed
as a percentage.
Reduced mass — many dynamical properties of a system consist-
ing of two interacting masses m1 and m2 are equivalent to those of Respirocyte — in medical nanorobotics, a theorized bloodborne spheri-
a system in which one mass is fixed in space and the other has a cal 1-micron (nanorobotic) device having a 1000-atm pressure vessel
Basic Capabilities • Glossary 425
with active pumping powered by endogenous serum glucose, that RNA — see ribonucleic acid.
serves as a mechanical artificial red blood cell.1400
RNase — an enzyme that attacks bonds in RNA.
Reticular — relating to a reticulum.
RNA polymerase — an enzyme that synthesizes RNA under direc-
Reticulum — a fine network formed by cells, or formed of certain tion from a DNA template (formally described as DNA-dependent
structures within cells, or formed of connective tissue between cells. RNA polymerase).
Reticuloendothelial system (RES) — in anatomy, the network of Robot — a programmable device usually consisting of mechanisms
fixed and mobile phagocytes that engulf (and dispose of ) foreign for sensing and mechanical manipulation, often connected to (or
antigens and cell debris found inside the human body. including) a computer that provides control.
Reticuloendothelium — tissue of the reticuloendothelial sys- Rough ER — regions of endoplasmic reticulum that are associated
tem (RES); the system of mononuclear phagocytes located in with ribosomes.
the reticular connective tissue of the body that is responsible for
the phagocytosis of damaged or old cells, cellular debris, foreign Rouleaux — stack-of-coins configuration of a cluster of red blood
substances, and pathogens, removing them from the circulation. cells.
Reticuloplasm — the fluid that fills the lumen of the endoplasmic rRNA — see ribosomal RNA.
reticulum.
Rugosity — condition of being folded or wrinkled; surface roughness.
Retinitis — inflammation of the retina of the eye.
Sacculation — formation into a sac or sacs; group of sacs, collectively.
Reversible computer — a computer capable of reversing its com-
putational steps (after storing the final answer), thus recovering most Saccule — the smaller of the two membranous sacs in the vestibule
of the energy that was employed during the computation. (central cavity) of the osseous labyrinth (the inner ear).
Reynolds number — the ratio of inertial to viscous forces in fluid Sagittal — in anatomy, a vertical plane or section that divides the
flow. Macroscopic objects and flows typically experience Reynolds body into right and left portions.
numbers >> 1, where mass and inertia dominate object motions;
microscopic and especially nanoscale objects and flows typically Salt bridge — in biochemistry, an ionic bond between charged
experience Reynolds numbers << 1, where the viscosity of the envi- groups that are part of larger covalent structures; salt bridges occur
ronment dominates object motions. in many proteins.
nanometer or less) to permit a substantial tunneling current. In a Shear modulus — shear stress divided by shear strain (units of force
common mode of operation, a constant voltage is established and per unit area).
the current is monitored and kept constant by controlling the height
of the tip above the surface using a feedback circuit, ultimately pro- Shirr — a series of parallel rows of short, running stitches with
ducing an atomic-resolution map of the surface reflecting a combi- gatherings between rows.
nation of topography and electronic properties. Increasing the volt-
age enables a researcher to move atoms around, pile them up, or Sinoatrial node — a node at the junction of the superior vena cava
trigger chemical reactions. with the right cardiac atrium (one of the upper chambers of the
heart), regarded as the starting point of the heartbeat.
Schistosomiasis — a parasitic disease due to infestation with blood
flukes; endemic throughout Asia, Africa, and tropical America. Sinusoid — resembling a sinus (a cavity having a relatively narrow
opening); a minute blood vessel found in such organs as the liver,
Sclerosis (sclerotic) — hardening of a tissue or organ, especially spleen, adrenal glands, and bone marrow, that is slightly larger than
due to excessive growth of fibrous tissue; also, thickening and hard- a capillary and has a lining of reticuloendothelium.
ening of the tissue layers comprising the walls of an artery.
Site-directed mutagenesis — see mutagenesis.
Scurvy — a vitamin C deficiency disease characterized by hemor-
rhagic manifestations and abnormal formation of bones and teeth, Smooth ER — in cell biology, regions of endoplasmic reticulum
including spongy condition of the gums, sometimes with ulceration. that are devoid of ribosomes.
Semaphores — see presentation semaphores. Solenoid — in physics and electrical engineering, a coil of wire
carrying an electric current; an electromagnet.
Semicircular canals — superior, posterior, and inferior passages
forming part of the inner ear. Solute — the dissolved substance in a solution.
Semilunar — shaped like a crescent. Solvation — the process of dissolving a solute in a solvent, making
a solution.
Sepsis — the presence of various pus-forming and other patho-
genic organisms, or their toxins, in the blood or tissues. Solvent — a substance, usually a liquid, that can hold another
substance in solution.
Septic — pertaining to or caused by sepsis.
Somatic — in general, relating to the body, as opposed to the mind
Septicemia — septic fever; systemic disease caused by the multipli- or soul; corporeal.
cation of microorganisms in the circulating blood.
Somatic cell — in cell biology, all the cells of an organism except
Septum — a wall dividing two cavities (e.g. the interalveolar septa those of the germ line (gametes).
between the alveoli).
Somatography — a physical description (and mapping) of the
Serotonin — a biochemical substance, 5-hydroxytryptamine (5- human body.
HT), that is present in platelets, gastrointestinal mucosa, mast cells,
and in carcinoid tumors. Serotonin is a potent vasoconstrictor in- Somesthesis — sensations from the skin and viscera, including
volved in neural mechanisms important in sleep and sensory per- pressure, warmth, cold, and pain.
ception.
Sonication — to bombard with high-energy acoustic waves, often
Serous membrane — a membrane lining a serous cavity, specifi- for the purpose of fragmenting or destroying the sonicated object.
cally the pleural (lung), peritoneal (abdominal), and pericardial
(heart) cavities. Sonolucent — in ultrasonography, the condition of not reflecting
the ultrasound waves back to their source.
Serum — the watery portion of the blood after coagulation; a fluid
found when clotted blood is left standing long enough for the clot Sonoluminescence — generation of visible light during high-powered
to shrink. More generally, any serous fluid, especially the fluid that sonication of a fluid, usually water.
moistens the surfaces of serous membranes.
Sortation — the act of separating or sorting, especially of molecular
Sessile — incapable of voluntary movement. Opposite of motile. species.
Shear — a shear deformation is one that displaces successive layers of a Sorting rotor — see molecular sorting rotor.
material transversely with respect to one another, like a crooked stack
of cards. Shear is a dimensionless quantity measured by the ratio of the Species — in chemistry, a distinct kind of molecule, ion, or other
transverse displacement to the thickness over which it occurs. structure.
Basic Capabilities • Glossary 427
Specific gravity — relative density, as a ratio to the density of pure Steroids — a large family of chemical substances, comprising many
water. hormones, vitamins, body constituents, and drugs, each containing
the tetracyclic cyclopentophenanthrene skeleton.
Specificity — in biochemistry, defines the degree to which a recep-
tor can distinguish between similar ligands. Stewart platform — in engineering, a manipulator employing a 6-
DOF mobile platform.
Specular reflection — in physics, reflection as from a mirror, re-
quiring that the wavelength of the reflected wave is smaller than the Sticky ends — in biochemistry, complementary single strands of
characteristic dimension of the reflector. DNA that protrude from opposite ends of a duplex or from ends of
different duplex (two-stranded) molecules; can be generated by stag-
Sphincter — in anatomy, circular muscle constricting an orifice. In gered cuts in duplex DNA.
normal tonic (i.e. under tension or in contraction) condition, it
closes the orifice; the muscle must relax in order to allow the orifice Stiffness — in mechanical engineering, the stiffness of a system
to open. with respect to a deformation (e.g. the stiffness of a spring with
respect to stretching) is the second derivative of the energy with
Spindle — in cell biology, the reorganized structure of a eukaryotic respect to the corresponding displacement. Positive stiffness is asso-
cell that is passing through mitosis (cell division); the nucleus has ciated with stability, and a large stiffness can result in a small posi-
been dissolved and chromosomes are attached to the spindle by tional uncertainty in the presence of thermal excitation. Negative
microtubules. stiffnesses correspond to unstable locations on the potential energy
surface.
Splenic — pertaining to the spleen.
Stirling engine — invented by Robert Stirling in 1816; generates
SPM — see Scanning Probe Microscope. power not by burning fuels explosively in an otherwise empty cyl-
inder, but by heating and cooling working gas from the outside of a
Sputum — substance expelled by coughing or clearing the throat. cylinder which always contains a pressurized working gas.
Squamous cell — a flat, scaly epithelial cell. STM — see Scanning Tunneling Microscope.
SQUID — superconducting quantum interference device. Stoichiometric — in chemistry, pertaining to the precise quanti-
ties of reagents required to complete a chemical reaction; in par-
Stable — in the physical sciences, a system is termed stable if no ticular, to the exact amounts needed to balance the chemical reac-
rearrangement of its parts can produce a system having lower free tion equation.
energy; in biology, a living system is stable so long as homeostasis
can be maintained. Strain — in mechanical engineering, strain (a dimensionless quan-
tity) is a measure of the deformation resulting from stress (an ap-
Stationkeeping — active maintenance of location in a specific physi- plied force per unit area); the displacement of one point with re-
cal place, area, or volume. spect to another, divided by their equilibrium separation in the ab-
sence of stress. In chemistry, a molecular fragment generally has
Stellate — star-shaped. some equilibrium geometry (e.g. bond lengths, interbond angles)
when the rest of the molecular structure does not impose special
Steric — pertaining to the spatial relationships among atoms in a constraints (e.g. bending bonds to form a small ring); deviations
molecular structure; in particular, pertaining to the space-filling from this molecular equilibrium geometry are described as strain,
properties of a molecule. and increase the energy of the molecule. Strain in the mechanical
engineering sense also causes strain in the chemical sense.
Steric hindrance — in chemistry, slowing of the rate of a chemical
reaction owing to the presence of molecular structures possessed by Stratum corneum — in anatomy, the outermost (horny) layer of
the reagents that mechanically interfere with the motions associ- the epidermis, consisting of many layers of flat, keratinized, enucle-
ated with the reaction, typically by obstructing the reaction site; in ated cells.
hematodynamics, the reduction in hematocrit near small blood vessel
bifurcations due to the elongation and orientation of red cells along Streamline — the movement or flow of a small portion of fluid,
the direction of shear flow. especially in relation to a solid body which lies in the path of this
flow. Compare turbulence.
Stereochemistry — the branch of chemistry concerned with the
three-dimensional spatial relationships among atoms in molecules Stress — in mechanical engineering, the force per unit area applied
and the effects of such relationships on the properties (especially by one part of an object to another. Pressure is an isotropic com-
optical rotation) of molecules. pressive stress. Suspending a mass from a fiber places the fiber in
tensile stress. Gluing a layer of rubber between two plates and then
Stereoisomers — isomeric forms that have different configurations sliding one plate over the other (while holding their separation con-
in space; may be geometric (non-enantiomeric, achiral) or enantio- stant) places the rubber in shear stress. Twisting one end of a rod
meric (chiral). while holding fixed the other end places the rod in torsional stress.
428 Nanomedicine • Volume I
Striated — striped; marked by streaks or striae (lines or bands el- Systole — the normal period in the heart cycle during which the
evated above or depressed below surrounding tissue, or differing in muscle fibers tighten and shorten, the heart constricts, and the cavi-
color or texture). ties empty of blood; roughly, the period of contraction alternating
with diastole or relaxation. Occurs in the interval between the first
Stroma — foundation-supporting tissues of an organ, defining the and second heart sounds during which blood is surged through the
framework of an organ; opposite of parenchyma. aorta and pulmonary artery.
Sublimation — in chemistry, passing directly from solid to vapor Tachometer — a device for measuring the speed of rotation.
state.
Tachyiatria — the art of curing quickly.
Submaxillary — below the maxilla (upper jaw).
Teleoperation — remote control.
Substrate — in biology, the substance acted upon and changed by
Telepresence — in control engineering, teleoperation with full sen-
an enzyme; in replicator theory, the set of all material inputs to the
sor feedback (see virtual reality system).
replication process.
Telomerase — in biochemistry, the ribonucleoprotein enzyme that
Superconductivity — in physics, a physical phenomenon in which
creates repeating units of one strand at the telomere, by adding in-
the electrical resistance of certain materials drops to zero at moder-
dividual bases.
ate or low temperatures.
Telomere — the natural end of a chromosome; the telomeric DNA
Superficial — near the surface of the skin, as opposed to keep in-
sequence consists of a simple repeating unit (in humans, TTAGGG)
side the body.
with a protruding single-stranded end that may fold into a hairpin.
Superior — upper or higher than; situated above something else.
Telophase — the final stage of mitosis (cell division), in which chro-
See also cephalic.
mosomes at opposite spindle poles begin to decondense as spindle
fibers disappear and the nuclear membrane reforms.
Supine — lying on the back, with the face up.
Temperature — a system in which internal vibrational modes have
Suppuration — producing or associated with the generation of
equilibrated with one another can be said to have a particular tempera-
pus, often involving an infection with pyogenic (pus-forming) bac-
ture; two systems are at different temperatures if heat flows between
teria.
them when they are brought into physical contact. The most common
measurement units of temperature are Centigrade or Celsius (˚C),
Supraglottal — located above the glottis.
Fahrenheit (˚F), and Kelvin (K).
Supramolecular chemistry — the study of interactions between
Temporal — pertaining to time.
molecules; chemistry beyond the molecule; the chemistry of the
noncovalent bond.
Tensile — pertaining to extension or stretching.
Surfactant — in physical chemistry, a chemical agent that lowers
surface tension. Teragravity — one trillion times normal terrestrial gravity.
Sympathetic (nervous system) — a major component of the auto- Tessellation — in physical geometry, laid out or paved in a mosaic
nomic nervous system, consisting of ganglia, nerves (mostly motor, pattern of small squares or blocks, usually with the objective of com-
some sensory), and plexuses that supply the involuntary muscles. pletely covering a surface or completely filling a volume.
Synapse — the point of junction between two neurons in a neural Tetanic — in medicine, tending to produce spasms characteristic
pathway, where the termination of the axon of one neuron comes of tetanus.
into close proximity with the cell body or dendrites of another neu-
ron. Tether — a cable, tube, or other physical linkage that allows infor-
mation, matter, or energy to flow between two or more objects.
Synovial membrane — a membrane lining the capsule of a joint.
Thermal conductivity — transport of thermal energy due to a
Synthesis — in chemistry, the production of a specific molecular
temperature gradient; the energy flux (W/m2) per unit of spatial
structure by a series of chemical reactions.
temperature gradient (K/m) equals the coefficient of thermal con-
System — in engineering usage, a set of components working to- ductivity (W/m-K).
gether to serve a common set of purposes.
Thermal energy — the internal energy present in a system as a
Systems theory — in clinical medicine, an approach that considers result of the energy of thermally equilibrated vibrational modes and
the human being as a whole as opposed to his parts; human beings other motions (including both kinetic energy and molecular poten-
are considered as open systems constantly exchanging information, tial energy); the mean thermal energy of a classical harmonic oscil-
matter, and energy with the environment. lator is kT.
Basic Capabilities • Glossary 429
Thermal expansion coefficient — the rate of change of length Torsional — relating to, producing, or resulting from twisting.
with respect to temperature for a particular material.
Toxic shock — a disease caused by the release of toxins produced
Thermogenesis — the production of heat, especially in the body by certain strains of various bacteria.
(e.g. by shivering).
Trabecular — inner part of organ or body.
Thermogenic limit — in medical nanorobotics, the maximum
amount of waste heat that may safely be released by a population of Transcription — synthesis of RNA on a DNA template.
in vivo medical nanorobots that are operating within a given tissue
volume. Transcutaneous (percutaneous) — effected through the skin.
Thermography — temperature mapping of the human body. Transdermal — through the skin.
Thiol — in chemistry, an -SH group, or a molecule containing Transducer — any mechanism or device that can convert energy or
such a group; also known as a sulfhydryl or mercapto group. signals from one physical form to another.
Thoracic — in anatomy, pertaining to the chest or thorax. Transduction — in physics and engineering, the conversion of en-
ergy or signals from one form to another; in biology and biotech-
Thorax — that part of the body between the base of the neck supe- nology, a phenomenon causing genetic recombination in bacteria
riorly and the diaphragm inferiorly. in which DNA is carried from one bacterium to another, usually by
a bacteriophage.
Thrombus — blood clot.
Transendothelial migration — see diapedesis.
THz — terahertz; trillions of cycles per second.
Transfer RNA (tRNA) — the adaptor RNA that carries amino acid
Tight-receptor structure — in molecular nanotechnology, a residues into polypeptide linkage during translation, as the codon
molecular receptor structure in which a bound ligand of a particu- sequence in mRNA is read.
lar kind is confined on all sides by repulsive interactions. A tight-
receptor structure discriminates strongly against all molecules larger Transgenic organism — in biotechnology, an organism modified
than the target. by the insertion of foreign genetic material into its germ line cells.
Recombinant DNA techniques are commonly used to produce
Tinnitis — a subjective ringing or tinkling sound in the ear. transgenic organisms.
Titer — in analytical chemistry, the standard of strength of a volu- Translation — in biochemistry, the synthesis of protein on the
metric test solution; assay value of an unknown measure by volu- mRNA template; the process of reading the codon sequence in
metric means. mRNA to synthesize the corresponding polypeptide with the in-
volvement of ribosomes, tRNA, and many enzymes.
T-lymphocytes (T cells) — White blood cells that are produced in
the bone marrow but later mature in the thymus. T cells are impor- Transmembrane — crossing the plasma membrane of a living cell.
tant in the body’s defense against certain bacteria and fungi, help B
cells make antibodies, and assist in the recognition and rejection of Transmembrane protein — in cell biology, a membrane compo-
foreign tissues. nent, wherein a hydrophobic region or regions of the protein re-
sides within the membrane, and hydrophilic regions are exposed on
Tomography — a noninvasive imaging technique designed to show one or both sides of the membrane. See integral membrane protein.
detailed images of structures in a selected plane of tissue by blurring
images of structures in all other planes. Transtegumental — crossing or passing through the skin or cover-
ing of a body.
Tonic (osmotic) — see isotonic.
Transvenue outmessaging — in medical nanorobotics,
Tonic (muscular) — refers to muscles arranged around hollow struc-
outmessaging from the nanorobots present within the body of one
tures that contract slowly and can hold for a long period of time.
patient to the nanorobots present in another (physically separated)
Compare phasic.
human body.
Tonic (physiological) — pertaining to or characterized by tension
or contraction; in a state of continuous action, denoting especially Transverse — horizontal, hence at right angles to both sagittal and
a muscular contraction. coronal sections, dividing the body into upper and lower portions;
more generally, extending crossways or from side to side.
Top-down — an approach to nanotechnology that aims to con-
struct nanodevices by progressive miniaturization of existing bulk Triage — in emergency medicine, the screening of sick and wounded
components. patients during war, disasters, or other emergencies. During triage,
patients are classified into one of three groups: (1) those who will not
Torque — in physics, a force that produces torsion. survive even if given treatment, (2) those who will recover without
430 Nanomedicine • Volume I
treatment, and (3) those who need treatment in order to survive Unsaturated — possessing double or triple bonds; capable of mak-
(the priority treatment group). ing additional covalent bonds.
Tribology — the study of friction. Urethra — a canal for the discharge of urine extending from the
bladder to the outside of the body.
Trichinosis — a pathogenic disease caused by ingestion of Trichinella
spiralis in raw or insufficiently cooked infected pork. Urticaria — vascular reaction of the skin characterized by the erup-
tion of pale evanescent wheals (round elevations of the skin, white
Trillion — this book follows the American convention in which a in the center with a pale red periphery), which are associated with
trillion is 1012. severe itching; hives.
Trimer — in chemistry, a compound of three similar or identical UTC — see coordinated universal time.
molecules.
Utricle — the larger of the two membranous sacs in the vestibule
Triple point — a single condition of temperature and pressure in (central cavity) of the osseous labyrinth (the inner ear).
which three distinct phases of a substance (e.g. solid, liquid, and
gas) can exist simultaneously and in equilibrium. UV — ultraviolet.
tRNA — see transfer RNA. Uveitis — a nonspecific term for any intraocular inflammatory dis-
order, usually of the uveal tract structures (iris, ciliary body, and
Trypanosomiasis — any disease caused by trypanosomes (asexual choroid, forming the pigmented layer) although nonuveal parts such
protozoan flagellates parasitic in the blood plasma of many vertebrates). as the retina and cornea may also be involved.
Tubulin — a protein present in the microtubules of cells, which are Valence — in chemistry, regarding covalent compounds, the va-
polymers of α-tubulin (~53,000 dalton) and β-tubulin (~55,000 lence of an atom is the number of bonds that the atom forms to
dalton) dimers. other atoms. In immunology, antiserum contains antibodies that
may have specificity for one (monovalent) or more (polyvalent)
Tunneling — in quantum physics, a probabilistic effect in classically- antigens.
forbidden transitions that is a consequence of the wave nature of
matter. In classical physics, a particle or system cannot penetrate Vallate papilla — one of a group of papillae (small nipple-like pro-
regions of negative energy (e.g. barrier regions in which the potential tuberances or elevations) forming a V-shaped row on the posterior
energy is greater than the system energy). In quantum physics, a wave dorsal surface of the tongue.
function of significant amplitude may extend into and beyond such
regions; if the wave function extends into another region of positive Van der Waals forces — weak electrostatic forces between atoms
energy, the barrier is crossed with some nonzero probability, a process and molecules; any of several intermolecular attractive forces not
called tunneling (since the barrier is penetrated rather than climbed). resulting from ionic charges; also known as the London dispersion
force.
Turbulence — in hydrodynamics, fluid flow which does not follow
parallel streamlines, which has a blunt (nonparabolic) profile in tube Vascular — containing, or pertaining to, blood or lymph vessels.
flow, and often involves eddies, vortices, and significant variations
in fluid velocities, accelerations and shear stress between adjacent Vasculography — a physical description (and mapping) of the
fluid elements. Turbulence dissipates more energy, and presents more human vascular system.
resistance to flow, than laminar flow.
Vasoconstriction — in physiology, a decrease in the diameter of
Turgid — swollen. blood vessels.
Turing machine — a programmable computing device. Vasodilation — in physiology, an increase in the diameter of blood
vessels.
Tympanic — pertaining to the tympanum (the middle ear or tym-
Vaults — in cell biology, barrel-shaped protein particles found in
panic cavity; eardrum). the cytoplasm, that are of the right size size and shape to be able to
dock at the nuclear pore complex.
Ubiquitin — a small protein present in eukaryotic cells that com-
bines with other proteins and makes those other proteins suscep- Vein — in anatomy, generally, a blood vessel that returns blood
tible to destruction; this protein is also important in promoting the from the tissues to the heart.
functions of proteins that make up the ribosomes.
Velum palatinum — the soft palate.
Ullage — the amount by which a fluid container falls short of be-
ing full. Vena cava — the largest vein in the human body, leading toward
the heart.
Ultrasonic — inaudible (to human ears) sounds with frequencies
greater than ~20,000 Hz. Venesection — blood-letting (phlebotomy, venotomy).
Basic Capabilities • Glossary 431
Ventral — the front of the human body, hence on or nearest the Vitreous humor — in anatomy, a delicate network enclosing in its
abdominal surface; pertaining to the belly. meshes a clear watery fluid filling the interior of the eyeball behind
the lens.
Ventricle — either of two lower chambers of the heart.
Volitional normative model of disease — in medical nanorobotics,
Ventricular fibrillation — the primary mechanism and arrhyth- disease is said to be present in a human being upon either: (1) the
mia seen in sudden cardiac arrest (cessation of blood circulation). failure of optimal physical (e.g. biological) functioning, or (2) the
failure of desired (by the patient) functioning.
Vernier — a short, graduated scale, permitting accurate measure-
ment of the relative movement of mechanical parts. Vomeronasal organ — in anatomy, a small tubular epithelial sac
lying on the anteroinferior surface of the nasal septum.
Vertigo — the sensation of moving around in space; sometimes
used as a synonym for dizziness, lightheadedness, or giddiness. Voxel (volume pixel) — abbreviation for volume element; a single
cubic cell within a three-dimensional geometric solid grid or array.
Vesicles — small bodies bounded by membrane, derived by budding
from one membrane and often able to fuse with another membrane. W — watt (MKS unit of power).
Vesicles (endocytotic) — membranous particles that transport pro- Watt governor — in control engineering, a governor is a mecha-
teins through endocytosis; also known as clathrin-coated vesicles, nism by which the speed of an engine, turbine, wheel, or motor
having on their surfaces a layer of the protein clathrin. may be regulated. The Watt governor employs rotating weights at-
tached to a pivoted lever arm; the weights extend as the pair rotates
Vesicles (exocytic) — membranous particles that transport and store faster, depressing the attached lever arm and throttling the motor
proteins during exocytosis. down, thus slowing the rotation, and vice versa.
Vestibular senses — sensory receptors in the labyrinth of the hu- Wave function — in quantum mechanics, a complex mathemati-
man inner ear that respond to human head position and move- cal function extending over the configuration space of a material
ment, imparting a sense of balance. system.
Virion — a physical virus particle. WBC — white blood cell (see leukocyte).
Virtual reality system — a combination of computer and interface White blood cell (WBC) — see leukocyte.
devices (goggles, gloves, etc.) that presents a user with the illusion
of being in a three dimensional world of computer-generated ob- Whitlow — in medicine, a suppurative inflammation at the end of
jects. These three dimensional environments and force-feedback a finger or toe.
systems can aid in the visualization of complex molecules, and in
telepresence systems. Work — in physics, the energy transferred by applying a force across
a distance; for example, lifting a mass does work against gravity and
Virucide — the destruction of active or dormant virus particles. stores gravitational potential energy.
Virus — A parasite (consisting primarily of genetic material WWV — a radio station that continuously broadcasts the exact
enclosed in a protein capsid shell) that invades cells and takes over Coordinated Universal Time.
their molecular machinery in order to copy itself.
Xenotransplantation — transplantation of cells or organs from an
Viscera — internal organs enclosed within a cavity, especially the organism of a different species.
abdominal organs.
Xerophthalmia — a vitamin A deficiency disease, characterized by
Viscosity — resistance of a fluid to shearing, when the fluid is in extreme dryness of the conjunctiva with keratinization of epithe-
motion. lium.
Vitamins (biology) — a group of organic substances, present in Young’s modulus — in mechanical engineering, a modulus relat-
minute amounts in natural foodstuffs, that are essential to normal ing tensile (or compressive) stress to strain in a rod that is free to
metabolism, growth, and development of the body. Vitamins serve contract or expand transversely. The relevant measure of strain is
principally to regulate metabolic processes and to play a role in the elongation divided by the initial length (see also strain and stress).
energy transformations, usually acting as coenzymes in enzymatic
systems. See also coenzyme. Zippocytes — in medical nanorobotics, a theorized medical
nanorobot that can rapidly perform incision-wound repairs to the
Vitamins (engineering) — in machine replication theory, vitamin dermis and epidermis; dermal zippers.
parts are components of a self-replicating machine which the
machine is incapable of producing itself, therefore these vital parts Zwitterions — dipolar ions that contain positive and negative
must be supplied from an external source. charges of equal strength, and are therefore not attracted to either
432 Nanomedicine • Volume I
anode or cathode; in a neutral solution, some amino acids function fermentation or digestion (e.g. pepsinogen, trypsinogen); a cell that
as zwitterions. produces zymogens (proenzymes).
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Basic Capabilities • References 487
A Aggregation,
aerial nanorobots, 332
Accelerative onset, 99-100 platelets, 306
Accelerometer, 41, 98-100 red blood cells, 300-301, 306
Accommodation, 191, 203 Airborne nanorobots, see flying nanorobots
Accordion configuration, 130 Akey, Christopher W., 78
Acetylcholine, 79, 115, 153, 193, 195, 196-197, 285, 365 Alarm signal (chemical), 181
Acetylcholinesterase, 79, 115, 197 Albedo, mean Earth, Appendix A
Acoustic amplitude absorption coefficients, 117 Alberts, Bruce, 252, 259, 263, 264, 268, 269, 270, Appendix C
Acoustic attenuation, 117, 167 ALC, 179
Acoustic attenuation, Alchemy, 64
function of temperature, 375 Alcmaeon of Croton, 5
Acoustic communication, 181-182, 184 Alcohol (beverage), see ethanol
Acoustic energy, Alexander the Great, 3, 6
reflection at interfaces, 163 Alimentary system, human, quantification, 222
shadowing/concentration, 162 Alimentography, human, 222-227
transducers, 145-146 Alivisatos, A. Paul, 45
Acoustic impedance, 118, 296 Alkadophilus, 69
values, 118, Appendix A Allbutt, Sir Clifford, 10
Acoustic microscopy, 112-113 Allen, L., 214
Acoustic power, Allotropic-transition cooling, 375
available from physiological sources, 146 Allport, G.W., 25
radiators, 181, 182 Alvarez, L.W., 159
safe exposure limits, 161 Amabilino, David B., 50
transmission, 145-146, 160-163, 167 Ambulances, 10
Acoustic sensing, 105-106, 112-113, 116-118 American Academy of Anti-Aging Medicine, 16
Acoustic threshold, American Institute of Ultrasound in Medicine (AIUM), 161
audible, 117, 162 American Physiological Society, 232
pain, 162, 172 Amoeba, 28, 116, 258, 291, 316, 317-318, 324
Acoustic transmission line, diamond, 184 Amoebicidal, 366
Actin, see microfilament Ampere’s law, 110
Actin polymerization, 324 Amphipathic lipids, 257, 258
Actomyosin motor, see myosin motor Amphotericin B, 366
Acyclovir, 366 Analog Devices, 41, 98
Addiction modules, 361 Analytical Engine, 343
Addis, Thomas, 24 Anaphylaxis, 179, 181
Adelman, Leonard M., 350 Anastomosis, 213, 214
Adhesion antenna, 291, 371 Anatomy, history of, 10-11
Adhesion forces, 275-278 Anchorage, in cell membrane, 313, 315-316
Adiabatic demagnetization, 375 Andrade’s formula, 299, 372
Adipocytes, 247, 261 Anesthesia,
Adociasulfate-2, 328, 363 electronic, 197
Adrenalin, see epinephrine history of, 11-12
Aerobotics, 330-335; see also flying nanorobots surgery without, 11
Affinity (ligand-receptor), 84-85 Angular momentum, proton, 113, Appendix A
Affymetrix, 16 Anomalous radiative transfer, see near-field anomalous radiative transfer
AFM (Atomic Force Microscope), 16, 45, 46, 56-60, 102, 112, 144, Ansell, Richard J., 88
154 Antarctic fish enzyme (cold-tolerant), 374
AFM tip technology, 58-59 Antibiotics, 15, 364
Agesilaus, 3 Antifungal agents, 366
Nanomedicine, Volume I: Basic Capabilities, by Robert A. Freitas Jr. ©1999 Landes Bioscience.
490 Nanomedicine • Volume I
Biogalvanic energy, 152 Brenner, Donald W., Preface, 58, 135, 358, Afterword
Biological power levels, 170, 171 Bright, Richard, 10
Biological engineering, 27-29 Brin, David, Preface
Bioluminescence, 114, 147, 298 Broadcast architecture, 65
Biorobots, 29, 32-35 Bronchial system, human, quantification, 219
Biosensors, 93 Bronchography, human, 219-222
Biotechnology, 31, 43-46 Brookhaven National Laboratory, 71
Biotechnology vs. nanotechnology, 21, 22, 31-35 Broughton, Jeremy Q., 341
Bishop, Forrest, Preface Brownian bombardment, effect on nanomachines, 39-40
Bishop, W.J., Preface, 3 Brownian computers, 352
Bivalvane, 48, 49 Brownian motion/diffusion, 39-40, 72, 124, 180, 235, 245, 302, 305,
Black ass testicles, 4 314, 321, 323
Black Death, see plague Brownian motor, 142, 149, 155
Blackout, see communications blackout Brownian rotation, 72, 100, 102, 237, 305
Blazie Engineering, Inc., 198 Buckling force, 266, 280, 286-287, 329, 331, 358, 370-371
Blish, James, 27 Buckyballs and buckytubes, 51, 53, 58
Block exchange model, 133, 134 Bufagin, see arenobufagin
Block, Steven M., 93, 110 Bulk modulus, Appendix A
Blood, Bumpers, metamorphic (nanorobot), 124, 126, 136-137
circulation, 210-211 Buoyancy (nanorobot), 331-332, 358-359
composition, Appendix B Burke, William, 11
Blood flow, Burney, Fanny, 11
cell-free plasmatic zone, 302, 305, 312 Burton, Alan C., 239
inlet length, 302 Bush, Vannevar, 343
parabolic velocity profile, 302-303 Butler, J.F., 332
plug and partial-plug, 303, 304 Butterflies, 134, 287, 334
Blood groups, 250-252 Butterfly molecule, 49
Blood perfusion rates, tissues and organs, 214
Blood pressure and pulse, 116
Blood, radial distribution of elements, 301 C
Blood temperature, 239, 240 CAD/CAM/CASD, 64, 68
Blood transfusions, 14 Cadherins, 254, 314, 315
Blood viscosity, 72, 299-301 Calcium, 79, 193, 194, 204, 260, 367
Bloodletting or bleeding, see venesection Calixarenes, 48, 49, 86
Blundell, James, 14 Calorimeters, 108
Body cell mass (BCM), 247 Calsequestrin, 194
Boehm, Frank, Preface CalTech, 16, 62
Bohr radius, Appendix A CambridgeSoft, 64
Bohringer, Karl-Fredrich, 293 Cambridge University, 193
Boiling point, CAMEO, 64
constants, molal, 374 Cammann, George P., 10
function of pressure, 354 cAMP, see cyclic AMP
function of solute concentration, 373 Campbell, E.J.M., 19
various substances, 374 Cannabis, 4
Boltzmann’s constant, Appendix A Canon, 191
Bond energy and length, Appendix A Capillaries,
Boolean logic/gates, 284-285, 343-344, 349-350, 352 microcirculation, 211-214
Boron, 143, 152, 166 minimum diameter, 211-213
Bose-Einstein condensates, 341 Capillary forces, 278-280
Bossert, William H., 179 Carbohydrates, combinatoric diversity, 254
Boswell, Jonathan, Preface CarboLex, 52
Botulin toxin, LD50, 365 Carbolic acid, 13
Boundary layer effects, 312 Carbon, phases with pressure, 356
Bova, Ben, 31 Carbon dioxide,
Bowling, R. Allen, 275 liquid, 356
Bradbury, Robert J., Preface, 21, 29, 35, 179, 180, 196, 297, 298, solidification with pressure, 356
351, 361, 362, 368, 369, 371 Carbon monoxide, 86, 87, 197, 374
Bradwell, Stephen, 8 Carbon nanotubes, see nanotubes, fullerenes
Braille-like displays, 129, 133, 136, 183, 198 Carbyne, 140
Bramblett, Claud A., Preface Carcerands, 48, 86
Brandeis University, 64 Carnot efficiency, 142, 152, 170
Brandt, S.A., 337 Carter, Kenneth C., 270
Bray, Dennis, 193 Cartotaxis, 234-235
Breakdown voltage, 109, 141, 291, Appendix A CAS, 64
Brefeldin A, 363 CAS Registry, 46
492 Nanomedicine • Volume I
Holistic medicine, 23 International Society for Molecular Electronics and Biocomputing, 345
Hollerith Tabulator, 69 Internet, nanorobot communication analogs, 182, 186
Honey, as embalming agent, 3 Intestines (human organ), 223, 225-227
Honeybees, energy and flight data, 170, 171, 334 Intoximeter, 153
Hooke’s law, 97, 281 Intracellular mediators, 193, 194, 195
Hormones, endocrine, 193, 194, 195 Iodoacetate, 366
Horn, T., 45 Iodophors, 366
Hornet venom, 365 Ion channel switch sensor, 80, 94
Horwitz, Alan F., 317 Ion concentration cells (energy), 152
Hovering flight, 333-334 Ionophores, 365
Hughes, Robert Earl, 209 Iri, Keeper of the Royal Rectum, 4
Human blood composition, Appendix B Isotopes,
Human body, bulk properties, 105
asymmetries, 216, 230 discrimination, 104-105
cell count, 247 separation, 77, 104-105
cell types, 252, Appendix C Isozymes, 246
chemical composition, 71; see also chemical composition Itoh, Toshihiro, 60
chemical energy resources, 147 Iwamura, H., 26, 48
content by volume, 230, 231
organs, quantification, 231
Human Genome Project, 15, 255 J
Hydraulic tethers, 167 Jacobson, Homer, 66
Hydrodynamics, Jacobstein, Neil, Preface
flows in cells, 100 Jamming, 181
of nanorobots, 123, 305-308 Janowitz, Henry D., 223
Hydroflip computer, 285, 343 Jansky, Jan, 14
Hydrogen, Java man, 1
abstraction tool, 58, 59 Jaynes, Julian, 25
bond, 84 Jenner, Edward, 9-10
solidification with pressure, 141, 356 Jeon, K.W., 28
Hydrophobic forces, 84 Jerk, see accelerative onset
Hygeia, 5 Jet propulsion, 311
Hypatia, 6 Jewson, N., 23
Hyperchem, 64 JKR theory of adhesion, 276, 278
Hypercube Inc., 64 JNK cascade, 111, 115
Hypergolic fuels, 142, 169 Joachim, Christian, 40, 346
Hypochromic effect, 369 Joint, human skeletal (diarthrodial), 229
Hypodermic syringe, 10 Jolt, see accelerative onset
Hypsithermal limit, 175-176 Jones, Christopher, Preface
Jones, Tanya, Preface
Jorgensen, William L., 64
I Journal of Microelectromechanical Systems, 41
IBM, 55, 56, 57, 58, 60, 191, 207, 343 Journal of Micromechanics and Microengineering, 41
“IBM” logo (IBM Research Division), 57, 58 Journal of the American Medical Association, 30
IBM Selectric typewriter, 190 Junctions,
Ice (water), communicating, 137
allotropic forms, 106, 354, 355-356, 373 physical, 136-137
progressive burrowing, 373 Jung, Carl G., 25
uppermost molecular layers, 373 Jung, T.A., 59
viscosity, 299
Ideal gas law, 354
Iikura, Shoichi, 288 K
Illness, self-limiting, 22 Kaehler, Ted, Preface, 31
Immunocytes, 209 Kahn, Carol, 31
Immunological synapse, 135, 350, 362 Karino, Takeshi, 307
Index of refraction, 169, Appendix A Karnis, A., 304
Inflation of graphene tube, 132-133 Karplus, M., 86
Information toxicity, 178 Karyoskeleton, 269
Inmessaging, 189-192 Katanin, 368
Institute for Microtechnology, 333 Katchalsky, A., 148, 149
Institute for Molecular Manufacturing (IMM), Preface Kauffman, Stuart A., 85
Integrated Micromachines, 41 KDEL, 260
Integrins, 137, 232, 246, 253, 264, 314, 318, 320, 326, 328 Kelly, B.T., 132
Intelligent Motion Surfaces, 293 Kelly, Kevin, 35
Interactive Simulations Inc., 64 Kelly, T. Ross, 49
Basic Capabilities • Index 499
Kelvin, Lord (William Thomson), 127 Leukocyte, see white blood cell
Kerr medium, 111 Leung, Kevin, Preface
Kesselman, M.L., 152 Levine, Philip, 14
Kim, Yun, 57 Levitation, electrodynamic, 151
Kinesin motor, 147, 293, 324, 328 Levitin, Lev B., 177, 353
Kinesthesis, 118, 198-199 Lewin, Benjamin, 193, 371
King, Barry G., 189, 220, 229 Lewis, Eric. W., Preface
King, Penny, Preface Lewis, James B., Preface
King Asa, 7 Libavius, Andreas, 14
King Menelaus, 5 Liberman, E.A., 349
King Ptolemy, 6 Library at Alexandria, 5, 6
Kinnaert, P., 216 Library nodes, 188, 210, 238, 353
Kircher, Athanasius, 13 Library of Congress, 187
Klatz, Ronald, 16, 31 Librium, 15
Knight, Thomas F., Jr., 349 Lichtman, M.A., 301
Knoch, Tobias A., Preface, 271, 272 Lieber, Charles M., 57, 59
Knox, Robert, 11 Ligand gating (transport channels), 79
Ko, W.H., 144 Ligand-receptor dynamics, 86
Koch, Robert, 13 Ligand-receptor mapping, 90-91
Koller, Carl, 12 Light-emitting devices (LEDs), 136, 145, 202
Kollman, Peter A., 44 Lighthill, J., 308
Kooistra, Jeffrey D., Preface Lightning, 109, 110
Koshland, D.E., Jr., 96 Likharev, Konstantin K., 353
Kozaki, Masatoshi, 349 Lincoln Laboratory, 41
Kral, Peter, 57 Lindqvist, T., 303
Krebs cycle, see TCA cycle Linear accelerator (nuclear), nanoscale, 111, 159
Kringles, 91 Linear expansion, coefficient of, 108, Appendix A
Kroo, I., 334 Lion alcolmeter, 153
Krummenacker, Markus, Preface, 34, 79, 81, 178, 294, 297 Lipid bilayer, see cell membrane lipid bilayer
Kupffer cells, 233, 248, 326 Lipids, 146, 261
Kurzweil, Raymond, 31, 191 Lipowsky, H.H., 244, 245
Kusumi, A., 315 Liquid oxygen (LOX), 149
Kwon, Young-Kyun, 348 Lister, Joseph, 13
Liver (human organ), 232-234, 246
L Load error, 240
Locomotion,
Laennec, Rene Theophile Hyacinthe, 10 aerial, 330-335
LAHSA, 64 amoeboid, 317-318, 326-327
Laing, Richard, 26, 28 ECM brachiation, 319-320, 324
Lakkaraju, Sarma, Preface ex vivo, 328-335
Lamins, nuclear, see nuclear lamins histological, 318-321
Lampietro, 241 inchworm, 318
Lampton, Christopher, 31 in cyto, 324-325
Landauer, Rolf, 177, 350, 352 in nucleo, 272, 324, 325
Landes, Ronald G., Preface intercellular, 320-321
Landsteiner, Karl, 14 legged, 316-317
Langowski, Jorg, 271 nanorobot, 298-335
Laplace equation, 279-280 nanorobot “freeway”, 302, 305, 312
Large molecules, binding and transport, 91-92 on cell surfaces, see cytoambulation
Larmor frequency, 113 on dental surface, 328-329
Larrey, Dominique Jean, 10, 11 on epidermis, 329-330
Laser ablation rates, 369 on walls and ceilings, 330
Lattice spacing, Appendix A saltation (hopping), 330
LD50, 158, 178, 179, 365, 366 speed limit,
Leach, Geoff I., 51, 56, 63 between cells, 320
Leakey, Louis, 1 during cytocarriage, 327
Lean body mass (LBM), 247 during cytopenetration, 321, 322
LED, see light emitting devices during sanguinatation, 312
Lehn, Jean-Marie, 39, 47, 50, 83 inside cells, 268, 324-325
Leiber, Fritz, 27 inside nucleus, 272, 325
Leitl, Eugene, Preface through ECM/tissues, 320, 325
Leonardo da Vinci, 35 swimming, see natation
Leptin, 119, 246 tank-tread rolling, 317
Lesk, Michael, 186 Loewy, Ariel G., 265
Leukel, Francis, 201 Logajan, James, Preface, 101, 202
500 Nanomedicine • Volume I
conversion/transduction, 142-160
electrical vs. mechanical, 173-174 R
extradermal acoustic sources, 161-162, 205 Radar microchips, 191
global dissipation, 175, Appendix A Radiation damage, of nanomachines, 40
nanorobot, 139-176 Radiation dosage (LD50), 158
nanorobot locomotion, 308 Radiation shielding, alpha particles, 156, 158
nuclear, 142, 156-160, 170 Radiative heat transfer, classical, 143, 152, 157, 175
output, human, 170, 171 Radiative heat transfer, near-field anomalous, 143, 152
pill, 157 Radio pills, 189
pressurized fluids, 140 Radio signals, see TV/radio
solar, 121, 155-156, 205 Radioactive thermal generators (RTGs), 157
transmission, 160-170 Radiofrequency antenna, neurons used as, 342
Power Braille, 198 Radiofrequency dipole antenna, electric vs. magnetic, 182
Prandtl, L., 334 Radiofrequency perception by humans, see microwave hearing
Praxagoras of Cos, 6 Radiofrequency power,
Pregnancy, see childbirth attenuation, 164, 165
Presentation semaphore, see semaphore safe exposure limits, 163-164
Pressure-altered biological properties, 356, 357, 368 transmission, 156, 162-165
Pressure-altered physical properties, 355-356 Radiofrequency receivers, 110, 164-165, 182-183
Pressure sensors, 105-107 Radiolarians, 52, 53, 126
Pressure storage and ballasting, 353-359 Radionuclides,
Pressure transducers, high-frequency, 106, 145-146, 161-163, as power source, 156-159, 170
181-182 power density, 157
Pressure vessels and hulls, 353-354, 358 Radius,
Pressure vessels, leakage and flammability, 356, 358 particles, Appendix A
Pressures, comparative, 355 planetary, Appendix A
Pressurized fluids, energy content, 140 Ramstrom, Olof, 88
Price, Charles, 28 Random-walk giant loop (RWGL) model, 271, 272
Prime Centrum (at T-10), 235 Rank, Otto, 25
Princeton Simulations, 64 Raoult’s law, 76
Prismanes, 48 Ras superfamily, 326-327
Prisms (hexagonal, square, triangular), 124, 125, 126, 127 Rattlesnakes, 107, 137
Prognosis, 6, 22 Rayleigh, Lord, 167
Proof, U.S. unit of concentration for ethanol-water mixtures, 375 RBC (red blood cell),
Propellanes, 48, 50 generally, 72, 129, 130, 212-213, 229, 247, 250-252, 254, 258,
Prophyllaxis, 23 265, 269, 276, 278, 299-301, 303, 305, 306, 307, 308,
Proprioception, 118-119 312, 313, 315, 316, 326
Proteasomes, 262, 361 osmotic lysis, 314
Protein Data Bank, 71 REACCS, 64
Protein denaturation, 356, 357, 375 Reaction rate, temperature coefficient, 108
Protein fold design, 44 RealMol/CAVE/NAMD, 64
Protein fold families, 91 Rebek, Julius, 48, 63
Protein folding, thermal dependence, 108 Receptor array, 93-94
Protein surface area (ellipsoidal), 87 Receptor-based transport, 80-82
Proton exchange membrane (PEM), 153 Receptor design, 86-87, 88-90
Proton pump, 148, 155 Receptor sensor, 96-97
Ptolemy, 6 Reciprocity theorem (electromagnetic field theory), 182
Pulmonary arterial network, quantification, 213 Red blood cell, see RBC
Pumps (fluid), 282-285 Refractive index, 169, Appendix A
Purcell, Edward M., 73, 95, 96, 305, 309, 311 Refrigerators, micron-scale, 374-375
Purdue University, 347 Regelation, 373
Pyro-electric effect, 144 Rehn, Ludwig, 14
Reifman, Edward M., Preface, 31, 329
Replicators, 59, 65-67
Q information content, 65
Q (resonator or circuit), 104, 164, 340 medical nanorobots, 35, 67
Quantum computers, 352 unit growth, 67
Quantum effects, on nanomachines, 39 unit replication, 66, 67
Quantum game theory, 352 Requicha, A., 59
Quastler, H., 190 Resistivity, Appendix A; and see conductivity, electrical
Quate, Calvin F., 56, 60 Resonance frequency,
Queen Anne (England), 9 acoustic, 161, 354
Queen Mary (England), 9 mechanical, 106, 161
Queen Victoria (England), 12 NMR, 104, 113-114
Quorum sensing, 181, 246 Respirocytes, 32, 66, 209, 342, Afterword
Basic Capabilities • Index 505