The present invention includes new medical techniques involving radiation and electromagnetic actuation of reagents deployed and directed within bodily fluids (e.g., the bloodstream, digestive tract, or lymph ducts) of a patient. In one aspect of the invention, a medical reagent and/or particle is provided with multiple dipoles, oriented differently in three-dimensional space, allowing a remote control system to drive the acceleration and three-dimensional orientation of the medical agent or particle according to a three-dimensional path. In some embodiments, the medical reagent and/or particle is energized remotely to an activation energy level, and then driven into the treatment target. The design of each small-scale machine may include different sub-devices and electrostatic charges or magnetic dipoles, at different surface or internal locations. In some aspects, the sub-devices include actuable housings and other sub-devices, to deliver drugs or other factors at specific locations commanded by the control system or a user.