Nanorobots for Laparoscopic Cancer Surgery Using 3D Simulation Abstract This paper presents an innovative hardwarearchitecture for medical nanorobots, using nanobioelectronics, clinical data, and wireless technologies, as embedded integrated system devices for molecular machine data transmission and control upload, and show how to use it in cancer surgery. The integration of medical nanorobotics and surgical teleoperation has the use of robotic laparoscopy concepts. To illustrate the proposed approach, we applied advanced 3D simulation techniques as a practical choice on methodology for molecular machine integrated system analyses and biomedical instrumentation prototyping. Introduction Nanorobots are expected to provide advances inmedicine through the miniaturization from microelectronics to nanoelectronics. This work presents a nanorobot architecture based on nanobioelectronics for the gradual development and future use of nanorobots to cancer surgery. Cancer can be successfully treated with current stages of
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Nanorobots for Laparoscopic Cancer
Surgery Using 3D Simulation
Abstract
This paper presents an innovative
hardwarearchitecture for medical
nanorobots, using
nanobioelectronics, clinical data, and
wireless technologies, as embedded
integrated system devices for
molecular machine data transmission
and control upload, and show how to
use it in cancer surgery. The
integration of medical nanorobotics
and surgical teleoperation has the use
of robotic laparoscopy concepts. To
illustrate the proposed approach, we
applied advanced 3D simulation
techniques as a practical choice on
methodology for molecular machine
integrated system analyses and
biomedical instrumentation
prototyping.
IntroductionNanorobots are expected to provide
advances inmedicine through the
miniaturization from
microelectronics to nanoelectronics.
This work presents a nanorobot
architecture based on
nanobioelectronics for the gradual
development and future use of
nanorobots to cancer surgery. Cancer
can be successfully treated with
current stages of medicalsurgery
tools. However, a decisive factor to
determinethe chances for a patient
with cancer to survive is: howprecise
can the surgeon eliminate malignant
tissuesfrom the patient’s body.
Preoperative lymph nodestaging with
computerized tomography or
magnetic resonance imaging (MRI)
has been disappointing since
sensitivity and specificity are limited
[13]. The successof Retroperitoneal
Lymph Node Dissection (RPLND)is
directly related with determining
areas associatedwith tumor cell
invasion. Nanorobots can
provideinformation for the surgeons
to deal with the medicalprocedure
precisely mapping the target areas
requiring dissection. The nanorobot
capability to detect cancertargets is
demonstrated through extensive
analyses. Theconclusions for the
proposed model are obtained with
real time 3D simulation based on
clinical parameters.
The architecture of nanorobot
The architecture is based on two criteria,
which are means of nanorobot
navigation and methods to attach to the
cancerous cells. The way a nanorobot
moves in a liquid environment is the
main consideration during the design. It
is important that the device is able to
have a smooth trajectory path while
navigating in theblood environment and
at the same time does not cause any
damage to other cells. Another judging
criterion is the method that the
nanorobot use to attach to the cancerous
cells before
the near infrared laser is shone. The
tentacles need to have a very high
responsive rate in order to move its
tentacles forward just in time to capture
the cancerous cell once it is detected. On
the other hand, a microcomputer
consisting of a miniature processor
might be needed to provide a ‘brain’ to
the nanorobot. Therefore, the
architecture proposed in this research is
shown in figure 1. Robot architecture
consists of Body, Ultrasonic Sensors,
Folate material and Flagellas as shown
in figure 1. The body of the nanorobot
will be constructed from carbon
nanotube due to its intrinsic property
where they tend to absorb near infrared
light waves, which are slightly longer
than visible rays of light, and pass
harmlessly through human cells.
Ultrasonic sensors are attached around
the body of the nanorobot for collision
avoidance purposes. This is to prevent
nanorobot from knocking onto each
other as well as other cells in the blood
vessels. Folate materials on the body of
the nanorobot act as an agent that will
cause the attraction of the nanorobot to
the cancerous cells, which is also known
as the folate-receptor cells. For modeling
purposes, the folate material is modeled
as an object attached to the nanorobot,
rather than a coating so that the viewer
can have a better visualization of the
treatment process. The flagella provide
the movement the nanorobot in the blood
environment. It is powered by flagella
motors, which is a set of rotary motor
that is able to generate an impressive
torque, driving a long, thin, helical
filament that extends several cell bodies
into the external medium. These are
necessary to help the cell decide which
way to go, depending on the change of
concentration of nutrients in the
surroundings. The rotary motion
imparted to the flagella needs to be
modulated to ensure the cell is moving
in the proper direction as well as all
flagella of the given nanorobot are
providing a concerted effort towards it.
When the motors rotate the flagella in a
counterclockwise direction as viewed
along the flagella filament from outside,
the helical flagella create a wave away
from the cell body. Adjacent flagella
subsequently intertwine in a propulsive
corkscrew manner and propel the
nanorobot. When the motor rotates
clockwise, the flagella fly apart, causing
the bacteria to tumble, or change its
direction. The flagella motors allow the
nanorobot to move at speed as much as
25 µm/sec with directional reversals
occurring approximately 1 per sec. The
assembled nanorobot is roughly
approximate to be within the range of
0.5 microns to 0.8 microns, taking into
consideration the size of the smallest
blood vessels, which is the capillary. The
size of a capillary is found to be around
5 to 10 µm in diameter. Having to design
a nanorobot within that range, the
nanorobot can definitely navigates in the
blood stream.
Robotic Laparoscopy
Laparoscopy has some different robotic
systems currently in use A laparoscopic
system can use voice (or pedal) control
to direct the movements of a robotic
arm. The arm usually holds a
laparoscope, although it may
alternatively hold a laparoscopic
retractor. A preprogrammed voice card
that allows the device to understand and
respond to the surgeon commands
is normally used. Laparoscopic
images are steadier, with fewer camera
changes and inadvertent instrument
collisions than an inexperienced human
assistant .It has proved very popular for
procedures such as laparoscopic radical
prostatectomy and laparoscopic
pyeloplasty. As an example, the daVinci
Surgical System has been responsible for
the huge surge in the number of robotic
procedures performed in the past 5
years. Robotic prostatectomy now
accounts for over 10% of radical
prostatectomies performed in the USA, a
proportion that is increasing year on year
.The daVinci is the most advanced
master–slave system developed until
now (Fig. 1). The basic principle
involves control of three (or four)
roboticarms by a surgeon sitting at a
console. The system hasthree
components: (a) a surgeon console, (b) a
patientsidecart and (c) an image-
processing or insufflation stack. In our
work, the proposed approach includes
the analyses of the additional
component: (d) nanorobots.Console: The
surgeon controls the robot from a
console placed away from the operating
table. The three-dimensional view from
the endoscope is projected in the console
at 610 magnification. The surgeon’s
thumb and forefinger control the
movementsof the robotic arms. Foot
pedals allow control of diathermy and
other energy sources. Motion
scalingenhances the elimination of
tremor, allowing verysmooth and precise
movements.Patient-side cart: The robotic
arms are mounted on this cart, one of
which holds the high-resolution three
dimensional endoscope.Image-
processing/insufflation stack: The
stackcontains the camera-control units
for the three dimensional imaging
system, image-recording devices,a
laparoscopic insufflator and a monitor
allowing two dimension alvision for the
assistants. Current laparoscopic
instrumentation allows only 4
df.However, the daVinci Surgical
System provides a 7 df that the human
wrist normally enjoys, making complex
laparoscopic procedures smooth. The
threedimension alvision, enhanced
magnification and motion scaling all
make life a little easier for the operating
surgeon.Nanorobots: for the surgery
procedures, the nanorobots are used as
integrated tools with embedded high
precision transducers for mapping
specific areas requiring dissection (Fig.
2). During the surgery, they can helps to
locate medical targets reporting tumor
cellinvasion, saving time and improving
productivity. Realtime additional
measurement based on chemical patterns
established to be monitored from the
surgeons can also be provided.Nanorobot for Laparoscopy