1. Self-propelled Helical Nanobelt Robots for Biomedical Applications Gilgueng HWANG, Stéphane REGNIER, Sinan HALIYO Sinan.Haliyo@upmc.fr http://www.isir.fr

2. In-vivo mobile nanorobots ? 1. Power source + 2. Actuation/propulsion 3. Sensing 4. Controlled bio-mechanical & chemical interactions + 5. External monitoring + 6. Wireless communication 7. Intelligence © Copyright 1996 by Scientific American

3. Artificial bacteria flagella Mag. bacteria S. Marcescens Bacteria Catalytic propulsion Molecular motor Behkam et al., APL, 90, 2008 Noji et al., CELL, 93, 1998 Honda et al., IEEE Mag., 32, 1996 Zhang et al.,APL,94,2009 Mei et al., Adv. Mat., 20, 2008 Mei et al., IEEE Bio., 55, 2008 Flagella swimming Actuation/propulsion Magnetic swimming Abbot et al.,IJRR,94,2009

4. Controlled bio-mechanical interactions  Optical & Magnetic tweezers F laser F viscosité External manipulation of passive particles  Millimeter to micrometer range  Piconewton force range  Indirect force measurement:  Optical detection + Interaction models  In-vitro only

5. A new active tool: Helical Nanobelts Bilayer Configuration Strained Bilayer Model by Atomic Lattice Mismatch

6. HNB design & fabrication  d 1, d 2 : layer thickness. E: Young modulus   : mismatch between bilayer. : Poisson’s ratio of the bilayer  Self-scrolling principle Metal connectors

8. Piezoresistive Force Sensing 10 μ m

9. Piezoresistance coefficient 249~890X higher than boron doped P+ Si cantilever Piezo. Coef. Π l ρ [E -10 Pa -1 ] Si Bulk-1.7~-9.4 Bn-Si-4 SiNW-3.5~-355 CNT-400 HNB-399~-3560  Hwang et al., ACS Nano Lett., 9, 554, 2009 Compared to other piezoresistors

10. Biocompatible force-sensing

11. And They Swim !

12. Electro-osmotic Actuation

13. Swimming performance

14. Electric vs magnetic field  Electric field provides the power source and the direction: the robot is self-propelled through elecro- osmosis Single FlagellumMultiflagella

15. Bio-chemical interactions www.golem-project.eu Design of DNA sequences for controllable micro-scale assembly

16. Nanoscale transport (coming soon) Reconfigurable Assembly Transport direction

17. Magnetic Resonance Imaging Near Infrared Fluorescent Imaging Altınolu et al. ©2008 ACS Nano External monitoring

18. Actuation mechanisms Approach Design parameters Electrical MotorOptical MotorMechanical motor Remote Power Source AC/DC electric fieldPulse wave laser (near infrared laser) Mechanical energy (oscillation, stress) Energy Conversion mechanism Electro-osmosis Dielectrophoresis PhotoconductivityPiezoelectricity MotionsGradient Pulling / Helical propeller Elastic tail oscillation / Pumping by torsion motion GeometrySingle/multiflagella (for SWARM behavior) Single/dual chirality (linear to rotary conversion) helical structure p-n junction (diode) or quantum well for rotating and pumping MaterialInGaAs/GaAs (incorporation with ZnO or Al increases piezo effect) InGaAs/InP (different resonance frequencies) Surface Chemistry Hydrophobic surface functionalization Target specific biological functionalization

19. Potential applications ?  Treatment of thrombosis  Targeted drug delivery  In-vivo detection / lab-on-chip analysis  Neural probing