THE CHALLENGE Contactless manipulation of objects is a critical need in various fields, particularly in biomedical applications where non-invasive techniques are essential. Traditional methods often require direct contact with the objects being manipulated, which can lead to unwanted disturbances or damage, especially when dealing with delicate biological tissues or operating within complex biological environments. The ability to precisely control and move objects without physical interference opens up possibilities for advanced medical procedures, targeted drug delivery, and intricate biological research, where maintaining the integrity of the surrounding environment is paramount. Many existing technologies, such as optical tweezers and magnetic manipulation systems, struggle with limitations in penetration depth, control precision, and the range of materials they can effectively manipulate. Optical methods, for example, are often hindered by scattering and absorption in biological tissues, reducing their applicability in medical settings. Magnetic systems may require specially designed objects with specific magnetic properties, restricting their use to certain scenarios. Additionally, real-time monitoring and feedback mechanisms are frequently inadequate, making it difficult to achieve precise control and stability during manipulation tasks. These limitations highlight the need for more advanced solutions that can overcome the barriers imposed by current technologies.
OUR SOLUTION The robot-assisted acoustic tweezers system enables precise contactless manipulation of objects by generating tunable acoustic vortex beams through coaxial holographic chiral lenses paired with inner and outer ring transducers operating at distinct frequencies. By independently managing the excitation signals of these transducers, the system can adjust the chirality of the acoustic vortex beams, allowing for meticulous control over angular momentum. This capability facilitates four degrees of freedom in manipulation: three-dimensional translation achieved via robotic positioning and rotational control through chirality tuning. Additionally, the integration of ultrasound imaging allows for real-time monitoring of the manipulation process within opaque media, ensuring accurate control even when direct visual observation is not possible. The system is capable of operating through biological barriers such as tissue and bone, functioning effectively as a contactless gripper that can trap, rotate, and translate objects with high precision.
What sets this technology apart is its sophisticated integration of acoustic physics and programmable robotics, which together provide unparalleled control in four degrees of freedom without any physical contact. The use of coaxial holographic chiral lenses and dual-frequency transducers enables the fine-tuning of acoustic vortex beams and total angular momentum, allowing for complex manipulation tasks like trapping and rotating objects through thick biological barriers. The inclusion of ultrasound imaging for real-time feedback in non-transparent environments ensures reliable and precise operation where traditional methods may fail. Moreover, the system has been experimentally validated across various challenging scenarios, demonstrating its versatility and superiority in non-invasive manipulation. These unique features make it exceptionally valuable for advanced biomedical applications, such as manipulating blood clots or disintegrating kidney stones without invasive procedures.
Figure: Robot-assisted chirality-tunable acoustic vortex tweezers for contactless 4-DOF object manipulation. (A) System schematic with robotic arm integration. (B) 3D translation and rotation control of trapped objects. (C) Object manipulation through thick tissue. (D) Navigation and trapping in complex blood vessels. (E) Object control within the skull.
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