# 声场驱动毫米级螺旋机器人：受限流体环境中的超声协同操控

> 原文链接：https://robotics.hellobike.com/papers/2026-08-06-2608-05746
> 频道：papers | 更新日期：2026-08-06 | 标签：arxiv, cs.RO
> 核心摘要：针对受限生物环境中毫米级机器人声推进效率不足，提出多声场协同方法，并在仿真、运动实验和猪静脉体外测试中验证。

# 声场驱动毫米级螺旋机器人：受限流体环境中的超声协同操控

::: v-pre
> 原文链接：[Acoustic-driven millimetric helical robot: ultrasonic synergistic manipulation in confined fluidic environment](https://arxiv.org/abs/2608.05746)（arXiv 2608.05746 · 发布日期：2026-08-06）

**Acoustic-driven millimetric helical robot: ultrasonic synergistic manipulation in confined fluidic environment**

针对受限生物环境中毫米级机器人声推进效率不足，提出多声场协同方法，并在仿真、运动实验和猪静脉体外测试中验证。

## 核心要点

- 声场操控虽适用于微纳对象，但扩展到受限生物环境中的毫米级机器人受推进效率限制。
- 方法协调多个声场，结合声辐射力与声流的协同作用，实现螺旋机器人受控运动并增强推进。
- 多物理场仿真刻画联合声场动力学，实验展示平面导航、斜面攀爬和垂直运动能力。
- 半自主导航显示机动性显著提升，猪静脉体外测试支持单向与往复运动。

**验证范围与局限**：验证限于多物理场仿真、运动实验及猪静脉血管体外测试。

## 英文摘要 (Abstract)

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.

作者：Hanlin Wang, Xin Wang, Xinwei Wei, Jiaxu Liu, Le Wang, Shengze Cai, Chao Xu
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## 原始参考来源 (Sources)

- [arXiv 2608.05746：Acoustic-driven millimetric helical robot: ultrasonic synergistic manipulation in confined fluidic environment](https://arxiv.org/abs/2608.05746)