用超声波协同驱动毫米级螺旋机器人，实现狭窄环境中的精准移动。
Acoustic-driven millimetric helical robot: ultrasonic synergistic manipulation in confined fluidic environment
- 利用声辐射力与声流的协同作用，提升毫米机器人推进效率。
- 实验验证其可在猪血管中实现正向与往返运动，速度可控。
- 适合生物医学应用，尤其对微创手术导航有潜在价值。
声场驱动操控提供了一种非接触、无创控制微纳米尺度物体的方法，但其在毫米级机器人上的应用受限于生物受限环境中的推进效率不足。本文提出一种多声场协同策略，通过声辐射力与声流的协同作用，实现毫米级螺旋机器人的可控运动并增强推进性能。多物理场仿真揭示了在复合声场下毫米级螺旋机器人的动态行为，实验验证了其平面导航、斜面攀爬及垂直运动能力。半自主导航实验进一步表明，超声协同显著提升了机动性。体外测试在猪静脉血管中证实，协同声场支持生物相关约束下的单向与往复运动。这些发现为声微操纵向毫米尺度扩展提供了机制理解，并支持需要多功能可控机器人移动的生物医学应用。
原文摘要 · Abstract (English)
Acoustic field-driven manipulation provides a non-contact and non-invasive strategy for controlling microscale and nanoscale objects, yet its extension to millimeter-scale robots was limited by insufficient propulsion efficiency in confined biological environments. Here, a coordinated multi-acoustic-field approach is introduced, which harnesses the synergistic action of acoustic radiation forces and acoustic streaming flows to enable controlled locomotion of millimeter-scale helical robots and enhance propulsion. Multiphysics simulations captured the dynamics of millimeter-scale helical robots under combined acoustic fields, and experimental validation demonstrated their locomotion capabilities, including planar navigation, inclined climbing, and vertical motion. Semi-autonomous navigation experiments further confirmed that ultrasonic synergy substantially improved maneuverability. In vitro tests in porcine venous vessels demonstrated that coordinated acoustic fields supported both unidirectional and reciprocating motion under biologically relevant confinement. These findings provide mechanistic insight into scaling acoustic micromanipulation to the millimetre regime and support biomedical applications requiring versatile and controllable robotic mobility.
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