The term was first defined in 2006 by the International Astronomical Union (IAU) as follows: "All other objects, except satellites, orbiting the Sun shall be referred to collectively as 'Small Solar System Bodies'".
It is not presently clear whether a lower size bound will be established as part of the definition of small Solar System bodies in the future, or if it will encompass all material down to the level of meteoroids, the smallest macroscopic bodies in orbit around the Sun.
Except for the largest, which are in hydrostatic equilibrium, natural satellites (moons) differ from small Solar System bodies not in size, but in their orbits.
Some of the larger small Solar System bodies may be reclassified in future as dwarf planets, pending further examination to determine whether or not they are in hydrostatic equilibrium.
These two belts possess some internal structure related to perturbations by the major planets (particularly Jupiter and Neptune, respectively), and have fairly loosely defined boundaries.