发表机构
Zhejiang University; Huzhou Institute of Zhejiang University; Huzhou Normal University; Huzhou Vocational and Technical College（浙江大学; 浙江大学湖州研究院; 湖州师范学院; 湖州职业技术学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出协调多声场方法，利用声辐射力与声流协同实现毫米级螺旋机器人在受限流体环境的可控运动，提升了操控性，为相关生物医学应用提供支撑。
AI 中文摘要
声场驱动操控为控制微纳米级物体提供了非接触、非侵入式策略，但其向毫米级机器人的扩展受限于受限生物环境中推进效率不足的问题。本文提出一种协调多声场方法，利用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力。多物理场仿真捕捉了毫米级螺旋机器人在组合声场下的动力学特性，实验验证了其运动能力，包括平面导航、斜面攀爬及垂直运动；半自主导航实验进一步证实超声协同可显著提升操控性。在猪静脉血管内的体外测试显示，协调声场可在生物相关的受限环境下支持单向及往复运动。这些发现为将声微操控扩展至毫米级范围提供了机理解析，并为需要多功能、可控机器人运动的生物医学应用提供支持。
英文摘要
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.
