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Robotic manipulation of small objects has shown great potential for engineering, biology, and chemistry research. However, existing robotic platforms have difficulty in achieving contactless, high-resolution, 4-degrees-of-freedom (4-DOF) manipulation of small objects, and noninvasive maneuvering of objects in regions shielded by tissue and bone barriers. Here, we present chirality-tunable acoustic vortex tweezers that can tune acoustic vortex chirality, transmit through biological barriers, trap single micro- to millimeter-sized objects, and control object rotation. Assisted by programmable robots, our acoustic systems further enable contactless, high-resolution translation of single objects. Our systems were demonstrated by tuning acoustic vortex chirality, controlling object rotation, and translating objects along arbitrary-shaped paths. Moreover, we used our systems to trap single objects in regions with tissue and skull barriers and translate an object inside a Y-shaped channel of a thick biomimetic phantom. In addition, we showed the function of ultrasound imaging–assisted acoustic manipulation by monitoring acoustic object manipulation via live ultrasound imaging.
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Acoustodynamic mass determination: Accounting for inertial effects in acoustic levitation of granular materials
Acoustic traps use forces exerted by sound waves to confine and transport small objects. The dynamics of an object moving in the force landscape of an acoustic trap can be significantly influenced by the inertia of the surrounding fluid medium. These inertial effects can be observed by setting a trapped object in oscillation and tracking it as it relaxes back to mechanical equilibrium in its trap. Large deviations from Stokesian dynamics during this process can be explained quantitatively by accounting for boundary-layer effects in the fluid. The measured oscillations of a perturbed particle then can be used not only to calibrate the trap but also to characterize the particle.
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- Award ID(s):
- 2104837
- PAR ID:
- 10511597
- Publisher / Repository:
- American Physical Society
- Date Published:
- Journal Name:
- Physical Review E
- Volume:
- 108
- Issue:
- 6
- ISSN:
- 2470-0045
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1103/PhysRevE.108.064903
