Recent advances in contactless micromanipulation strategies have revolutionized prospects of robotic manipulators as next-generation tools for minimally invasive surgeries. In particular, acoustically powered phased arrays offer dexterous means of manipulation both in air and water. Inspired by these phased arrays, we present SonoTweezer: a compact, low-power, and lightweight array of immersible ultrasonic transducers capable of trapping and manipulation of sub-mm sized agents underwater. Based on a parametric investigation with numerical pressure field simulations, we design and create a six-transducer configuration, which is small compared to other reported multi-transducer arrays (16-256 elements). Despite the small size of array, SonoTweezer can reach pressure magnitudes of 300 kPa at a low supply voltage of 25 V to the transducers, which is in the same order of absolute pressure as multi-transducer arrays. Subsequently, we exploit the compactness of our array as an end-effector tool for a robotic manipulator to demonstrate long-range actuation of sub-millimeter agents over a hundred times the agent's body length. Furthermore, a phase-modulation over its individual transducers allows our array to locally maneuver its target agents at sub-mm steps. The ability to manipulate agents underwater makes SonoTweezer suitable for clinical applications considering water's similarity to biological media, e.g., vitreous humor and blood plasma. Finally, we show trapping and manipulation of micro-agents under medical ultrasound (US) imaging modality. This application of our actuation strategy combines the usage of US waves for both imaging and micromanipulation.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    SonoTweezer:An Acoustically Powered End-Effector for Underwater Micromanipulation


    Beteiligte:
    Mohanty, Sumit (Autor:in) / Fidder, Robbert-Jan (Autor:in) / Matos, Pedro M. (Autor:in) / Heunis, Christoff M. (Autor:in) / Kaya, Mert (Autor:in) / Blanken, Nathan (Autor:in) / Misra, Sarthak (Autor:in)

    Erscheinungsdatum :

    2022-03-01


    Anmerkungen:

    Mohanty , S , Fidder , R-J , Matos , P M , Heunis , C M , Kaya , M , Blanken , N & Misra , S 2022 , ' SonoTweezer : An Acoustically Powered End-Effector for Underwater Micromanipulation ' , Ieee transactions on ultrasonics ferroelectrics and frequency control , vol. 69 , no. 3 , pp. 988-997 . https://doi.org/10.1109/TUFFC.2022.3140745



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    An Acoustically Active Fairing for Autonomous Underwater Vehicles

    Atwood, D. K. / Dionesotes, N. T. / Wilson, D. T. et al. | British Library Conference Proceedings | 1995


    UNDERWATER VEHICLE HAVING DIRECTIONAL EFFECTOR

    WILBY ANDREW D / MISULIA JOESPH M | Europäisches Patentamt | 2022

    Freier Zugriff

    UNDERWATER VEHICLE HAVING DIRECTIONAL EFFECTOR

    WILBY ANDREW D / MISULIA JOSEPH M | Europäisches Patentamt | 2020

    Freier Zugriff

    UNDERWATER VEHICLE HAVING DIRECTIONAL EFFECTOR

    WILBY ANDREW D / MISULIA JOESPH M | Europäisches Patentamt | 2020

    Freier Zugriff

    UNDERWATER VEHICLE HAVING DIRECTIONAL EFFECTOR

    WILBY ANDREW D / MISULIA JOESPH M | Europäisches Patentamt | 2024

    Freier Zugriff