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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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This content will become publicly available on August 17, 2026
Robots With Acoustic Vortex End Effectors for Contactless Manipulation of Objects Within Phantom Channels With Real-Time Ultrasound Imaging Guidance
Abstract Leveraging robot-assisted technology to manipulate tiny objects has shown significant potential in the fields of engineering, chemistry, and biology. However, achieving high-resolution, non-invasive manipulation of objects shielded by biological barriers remains a major challenge. In this work, we present a robot-assisted acoustic vortex end effector system capable of generating acoustic vortex beams for contactless manipulation of small objects. First, instead of generating a fixed acoustic vortex beam, our acoustic end effector can tune the chirality of the vortex beam by adjusting the topological charge number encoded in the holographic lens, allowing for customization of the size of the corresponding potential well to accommodate various sizes of trapped particle. Second, by leveraging acoustic vortex beams as a non-invasive manipulator, we successfully achieved acoustic manipulation through biomimetic barriers. In a proof-of-concept experiment, we demonstrated the high-resolution contactless acoustic manipulation of a plastic ball (3 mm diameter) within a straight phantom mimic-vessel. Third, by combining the acoustic vortex end effector with a real time ultrasound imaging system, our approach enables continuous, real-time monitoring of the entire acoustic manipulation process. This integration paves the way for acoustic trapping and manipulation in non-transparent environments. Overall, our research demonstrates the advantages of acoustic manipulation technologies in biomedical and clinical applications, offering a biocompatible solution for medical interventions in the future.
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- PAR ID:
- 10657176
- Publisher / Repository:
- American Society of Mechanical Engineers
- Date Published:
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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