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SonoTweezer: An Acoustically Powered End-Effector for Underwater Micromanipulation
Summary
We developed SonoTweezer, a compact ultrasonic device for precise underwater manipulation of small agents. This technology enables advanced robotic surgery and dual imaging/manipulation capabilities using ultrasound waves.
Area of Science:
- Biomedical Engineering
- Robotics
- Acoustics
Background:
- Contactless micromanipulation is crucial for minimally invasive surgeries.
- Acoustically powered phased arrays offer advanced manipulation capabilities.
- Existing multi-transducer arrays are often large and complex.
Purpose of the Study:
- To develop a compact, low-power ultrasonic device for underwater micromanipulation.
- To demonstrate the device's capability for precise manipulation of sub-millimeter agents.
- To explore its integration with medical ultrasound imaging.
Main Methods:
- Designed and fabricated a compact six-transducer ultrasonic array (SonoTweezer).
- Utilized numerical simulations for parametric investigation and design optimization.
- Integrated the array with a robotic manipulator for long-range and fine-step actuation.
- Demonstrated manipulation under medical ultrasound imaging.
Main Results:
- SonoTweezer achieves high pressure magnitudes (300 kPa) at low voltage (25 V).
- Successfully actuated sub-millimeter agents over distances exceeding 100 times their body length.
- Demonstrated precise, sub-millimeter maneuvering of agents.
- Showcased simultaneous ultrasonic manipulation and imaging.
Conclusions:
- SonoTweezer offers a compact and effective solution for underwater micromanipulation.
- Its capabilities are suitable for clinical applications in biological media.
- The integration with ultrasound imaging opens new avenues for diagnostic and therapeutic interventions.
