Effects of acoustic levitation on the development of zebrafish, Danio rerio, embryos

Acoustic Actuators for the Manipulation of Micro/Nanorobots: State-of-the-Art and Future Outlooks

Compared to other actuating methods, acoustic actuators offer the distinctive capability of the contactless manipulation of small objects, such as microscale and nanoscale robots. Furthermore, they have the ability to penetrate the skin, allowing for the trapping and manipulation of micro/nanorobots that carry therapeutic agents in diverse media. In this review, we summarize the current progress in using acoustic actuators for the manipulation of micro/nanorobots used in various biomedical applications. First, we introduce the actuating method of using acoustic waves to manipulate objects, including the principle of operation and different types of acoustic actuators that are usually employed. Then, applications involving manipulating different types of devices are reviewed, including bubble-based microrobots, bubble-free robots, biohybrid microrobots, and nanorobots. Finally, we discuss the challenges and future perspectives for the development of the field.

Measurement of ultrasound velocity in yolk and blastula of fish embryo in vivo

An acoustic microscopy method for measuring the velocity of ultrasound in the yolk and blastula of bony fish embryos at early stages of development was proposed. The yolk and blastula were approximated as a sphere and a spherical dome, respectively, consisting of a homogeneous liquid. A theoretical model of ultrasonic wave propagation through a spherical liquid drop located on a solid substrate was developed in the ray approximation. The dependence of the wave propagation time on the speed of sound in the drop, its diameter, and the position of the focus of the ultrasonic transducer has been determined. It was shown that the velocity in the drop can be found by solving the inverse problem by minimizing the discrepancy between the experimental and model spatial distributions of the propagation time, assuming that the velocity in the immersion liquid and the radius of the drop are known. The velocities in the yolk and blastula of the loach (Misgurnus fossilis) embryo at the stage of development of the middle blastula were measured in vivo using a pulsed scanning acoustic microscope operating at a central frequency of 50 MHz. The yolk and blastula radii were determined from ultrasound images of the embryo. Acoustic microscopy measurements conducted with four embryos provide velocities of the acoustic longitudinal wave in the yolk and blastula. They were measured to be 1581 ± 5 m/s and 1525 ± 4 m/s when the temperature of the liquid in the water tank was kept at 22 ± 2 °C.

Oscillation Dynamics of Multiple Water Droplets Levitated in an Acoustic Field

This study aimed to improve and investigate the oscillation dynamics and levitation stability of acoustically levitated water droplets. Contactless sample manipulation technology in mid-air has attracted significant attention in the fields of biochemistry and pharmaceutical science. Although one promising method is acoustic levitation, most studies have focused on a single sample. Therefore, it is important to determine the stability of multiple samples during acoustic levitation. Here, we aim to understand the effect of multiple-sample levitation on levitation stability in acoustic fields. We visualized the oscillatory motion of multiple levitated droplets using a high-speed video camera. To characterize the dynamics of multiple levitating droplets, the oscillation frequency and restoring force coefficients of the levitated samples, which were obtained from the experimental data, were analyzed to quantify the droplet-droplet interaction. The oscillation model of the spring-mass system was compared with the experimental results, and we found that the number of levitating droplets and their position played an important role in the levitation stability of the droplets. Our insights could help us understand the oscillatory behavior of levitated droplets to achieve more stable levitation.

Kilohertz-Frequency Rotation of Acoustically Levitated Particles

The achievable rotational frequency of acoustically levitated particles is limited by the suspension stability and the achievable driving torque. In this work, a spherical ring arrangement of piezoelectric transducers and an improved excitation concept are presented to increase the rotational speed of an acoustically levitated particle by more than a factor of 10 compared to previously published results. A maximum rotational frequency of 3.6 kHz using asymmetric expanded polystyrene (EPS) particles is demonstrated. At such rotational speeds, high-frequency resonances of the transducers cause disturbances of the acoustic field which present a previously unexplored limit to the achievable manipulation rate of the particle. This limit is investigated in this work by means of calculations based on an analytical model and high precision measurements of the transducer characteristics beyond the conventional frequency range.

In vivo acoustic manipulation of microparticles in zebrafish embryos

In vivo micromanipulation using ultrasound is an exciting technology with promises for cancer research, brain research, vasculature biology, diseases, and treatment development. In the present work, we demonstrate in vivo manipulation of gas-filled microparticles using zebrafish embryos as a vertebrate model system. Micromanipulation methods often are conducted in vitro, and they do not fully reflect the complex environment associated in vivo. Four piezoelectric actuators were positioned orthogonally to each other around an off-centered fluidic channel that allowed for two-dimensional manipulation of intravenously injected microbubbles. Selective manipulation of microbubbles inside a blood vessel with micrometer precision was achieved without interfering with circulating blood cells. Last, we studied the viability of zebrafish embryos subjected to the acoustic field. This successful high-precision, in vivo acoustic manipulation of intravenously injected microbubbles offers potentially promising therapeutic options.

Contactless Picking of Objects Using an Acoustic Gripper

Acoustic levitation forces can be used to manipulate small objects and liquids without mechanical contact or contamination. This work presents analytical models based on which concepts for the controlled insertion of objects into the acoustic field are developed. This is essential for the use of acoustic levitators as contactless robotic grippers. Three prototypes of such grippers are implemented and used to experimentally verify the lifting of objects into an acoustic pressure field. Lifting of high-density objects (ρ > 7 g/cm3) from acoustically transparent surfaces is demonstrated using a double-sided acoustic gripper that generates standing acoustic waves with dynamically adjustable acoustic power. A combination of multiple acoustic traps is used to lift lower density objects (ρ≤0.25g/cm3) from acoustically reflective surfaces using a single-sided arrangement. Furthermore, a method that uses standing acoustic waves and thin reflectors to lift medium-density objects (ρ≤1g/cm3) from acoustically reflective surfaces is presented. The provided results open up new possibilities for using acoustic levitation in robotic grippers, which has the potential to be applied in a variety of industrial use cases.

Controlling oleogel crystallization using ultrasonic standing waves

Oleogels are lipid-based soft materials composed of large fractions of oil (> 85%) developed as saturated and hydrogenated fat substitutes to reduce cardiovascular diseases caused by obesity. Promising oleogels are unstable during storage, and to improve their stability careful control of the crystalline network is necessary. However, this is unattainable with state-of-the-art technologies. We employ ultrasonic standing wave (USSW) fields to modify oleogel structure. During crystallization, the growing crystals move towards the US-SW nodal planes. Homogeneous, dense bands of microcrystals form independently of oleogelator type, concentration, and cooling rate. The thickness of these bands is proportional to the USSW wavelength. These new structures act as physical barriers in reducing the migration kinetics of a liposoluble colorant compared to statically crystallized oleogels. These results may extend beyond oleogels to potentially be used wherever careful control of the crystallization process and final structure of a system is needed, such as in the cosmetics, pharmaceutical, chemical, and food industries.

Acoustic Microfluidics

Acoustic microfluidic devices are powerful tools that use sound waves to manipulate micro- or nanoscale objects or fluids in analytical chemistry and biomedicine. Their simple device designs, biocompatible and contactless operation, and label-free nature are all characteristics that make acoustic microfluidic devices ideal platforms for fundamental research, diagnostics, and therapeutics. Herein, we summarize the physical principles underlying acoustic microfluidics and review their applications, with particular emphasis on the manipulation of macromolecules, cells, particles, model organisms, and fluidic flows. We also present future goals of this technology in analytical chemistry and biomedical research, as well as challenges and opportunities.

Experimental study of the difference in deformation between normal and pathological, renal and bladder, cells induced by acoustic radiation force

Previous studies have shown that alterations in the mechanical properties of cells may be associated with the onset and progression of some forms of pathology. In this paper, an experimental study of two types of cells, renal (cancer) and bladder (cancer) cells, is described which used acoustic radiation force (ARF) generated by a high-frequency ultrasound focusing transducer and performed on the operating platform of an inverted light microscope. Comparing images of cancer cells with those of normal cells of the same kind, we find that the cancer cells are more prone to deform than normal cells of the same kind under the same ARF. In addition, cancer cells with higher malignancy are more deformable than those with lower malignancy. This means that the deformability of cells may be used to distinguish diseased cells from normal ones, and more aggressive cells from less aggressive ones, which may provide a more rapid and accurate method for clinical diagnosis of urological disease in the future.

Evaporation and drying kinetics of water-NaCl droplets via acoustic levitation

The acoustic levitation method (ALM) is expected to be applied as a container-less processing technology in the material science, analytical chemistry, biomedical technology, and food science domains because this method can be used to levitate any sample in mid-air and prevent nucleation and contamination due to the container wall. However, this approach can lead to nonlinear behavior, such as acoustic streaming, which promotes the evaporation of a levitated droplet. This study aims to understand the evaporation and precipitation kinetics of an acoustically levitated multicomponent droplet. An experimental investigation of the evaporation process of a salt solution droplet was performed, and the experimental results were compared with those of the d ²-law. The droplet was noted to evaporate in two stages owing to the precipitation of the salt. Because of the vapor pressure depression, the experimental data did not agree with the classical prediction obtained using the d ²-law. However, the experimental results were in partial agreement with those of the d ²-law when the vapor pressure depression was considered by using the concentration estimate at each time, as obtained from the experimental results. In addition, it was observed that the time when the salt completely precipitated could be estimated by using the extended theory. These findings provide physical and practical insights into the droplet evaporation mid-air for potential lab-in-a-drop applications.

V. G. K. Analysis of the effects of acoustic levitation to simulate the microgravity environment on the development of early zebrafish embryos

In this work, an acoustic standing wave field (ASWF) is used to simulate the space environment, which shows characteristics such as microgravity and the absence of containment and contact. Zebrafish embryos, used as the species under study in this work, were raised within the acoustic field by the authors, allowing the biological effects on such early zebrafish embryos, at each developmental stage and within the ASWF creating the acoustic levitation (AL) technology used, to be studied. In this way, the biological safety of thee specimens, simulating the space environment, could be carefully evaluated. Some important indexes of the process of zebrafish development, such as mortality, malformation rate, hatching rate, voluntary movement and heart rate were detected and analyzed. It has been found that the ASWF exerted considerable influence on the zebrafish embryos at the early development stage, influencing features such as the cleavage, blastula and gastrul stage, over the period 0–8 hour post fertilization (hpf). The zebrafish appear to show some features of teratogenesis, as well as lethal effects and a significant decrease of the hatching rate, after being treated by using the AL that was applied. Furthermore, it was observed that voluntary movements and the embryo heart rates apparently increased under these conditions. However, as the development of the embryo progressed into the bursa pharyngea stage (at 24–32 hpf), the influence of the ASWF creating the AL on zebrafish seemed almost to be insignificant, as there was no obvious difference between the characteristics of the experimental group and the control group. The experiment carried out has provided a scientific reference for the application of AL in this field, allowing the biological safety aspects of such zebrafish embryo development within a space environment to be evaluated.

Influence of acoustic standing wave field creating acoustic levitation, on each development stage of early zebrafish embryos has been studied.

Evaporation of droplet in mid-air: Pure and binary droplets in single-axis acoustic levitator

Acoustic levitation method (ALM) is a container-less processing method with applications in various fields, including material processing, biology, and analytical chemistry. Because it is a container-less processing technique, ALM could prevent nucleation and contamination of materials being processed via contact with a container wall. It is well-known that evaporation of a sample is an important process in container-less processing of materials; however, the mechanism of evaporation in multicomponent droplets in a single acoustic levitator is still unclear. Thus, we evaluate and understand the evaporation of an acoustically levitated multicomponent droplet and manipulate the evaporation process of the sample in this study. Specifically, we investigate the evaporation process of pure and multicomponent droplets using container-less processing experimentally. The evaporation processes and temporal evolution of the surface temperature of a multicomponent droplet were evaluated using a high-speed camera and radiation thermometer, respectively. We used water, ethanol, methanol, hexane, acetone, pentane, and binary solutions (solution of 25 wt%, 50 wt%, and 75 wt% ethanol, methanol, and acetone, respectively) as test samples to study the effect of saturated vapor pressure on evaporation. Ethanol, methanol, and acetone droplets evaporate in two different stages. It was observed that the water vapor in the air condensed during the evaporation process of these water-soluble droplets; hence, our experimental data did not agree with the theoretical prediction in accordance with the d² law. Nevertheless, the evaporation behavior in the first stage of evaporation was consistent with the theoretical prediction. Furthermore, for binary droplets, as the concentration of the resultant solution increased owing to evaporation, the transition time from the first to the second stage of evaporation also increased. Based on these observations, estimation equations for binary droplets were developed to ensure that the experimental and theoretical values were in good agreement.

Light sheet microscopy with acoustic sample confinement

Contactless sample confinement would enable a whole host of new studies in developmental biology and neuroscience, in particular, when combined with long-term, wide-field optical imaging. To achieve this goal, we demonstrate a contactless acoustic gradient force trap for sample confinement in light sheet microscopy. Our approach allows the integration of real-time environmentally controlled experiments with wide-field low photo-toxic imaging, which we demonstrate on a variety of marine animal embryos and larvae. To illustrate the key advantages of our approach, we provide quantitative data for the dynamic response of the heartbeat of zebrafish larvae to verapamil and norepinephrine, which are known to affect cardiovascular function. Optical flow analysis allows us to explore the cardiac cycle of the zebrafish and determine the changes in contractile volume within the heart. Overcoming the restrictions of sample immobilisation and mounting can open up a broad range of studies, with real-time drug-based assays and biomechanical analyses.

Automatic contactless injection, transportation, merging, and ejection of droplets with a multifocal point acoustic levitator

We present an acoustic levitation system that automatically injects, transports, merges and ejects liquid droplets in mid-air. The system consists of a phased array operating at 40 kHz on top of a plane reflector. The phase array generates multiple focal points at independent positions that form standing waves between the array and the reflector. In the reflector there is an inlet for a piezoelectric droplet injector which automatically inserts liquid droplets at the lower pressure nodes of the standing waves, and a hole that serves as an outlet for ejecting the processed droplets out of the system. Simulations of the acoustic radiation potential acting on the levitating droplets are in good agreement with the experiments. High-speed footage captured the functioning of the system in four fluidic operations: injection, transport, merging and ejection of liquid droplets. Having these operations integrated reliably into a single automatic system paves the way for the adoption of mid-air acoustophoretic processing in biological, chemical and pharmaceutical applications.

Acoustic tweezers for the life sciences

Acoustic tweezers are a versatile set of tools that use sound waves to manipulate bioparticles ranging from nanometer-sized extracellular vesicles to millimeter-sized multicellular organisms. Over the past several decades, the capabilities of acoustic tweezers have expanded from simplistic particle trapping to precise rotation and translation of cells and organisms in three dimensions. Recent advances have led to reconfigured acoustic tweezers that are capable of separating, enriching, and patterning bioparticles in complex solutions. Here, we review the history and fundamentals of acoustic-tweezer technology and summarize recent breakthroughs.

Acoustic Virtual Vortices with Tunable Orbital Angular Momentum for Trapping of Mie Particles

Acoustic vortices can transfer angular momentum and trap particles. Here, we show that particles trapped in airborne acoustic vortices orbit at high speeds, leading to dynamic instability and ejection. We demonstrate stable trapping inside acoustic vortices by generating sequences of short-pulsed vortices of equal helicity but opposite chirality. This produces a "virtual vortex" with an orbital angular momentum that can be tuned independently of the trapping force. We use this method to adjust the rotational speed of particles inside a vortex beam and, for the first time, create three-dimensional acoustics traps for particles of wavelength order (i.e., Mie particles).

TinyLev: A multi-emitter single-axis acoustic levitator

Acoustic levitation has the potential to enable novel studies due to its ability to hold a wide variety of substances against gravity under container-less conditions. It has found application in spectroscopy, chemistry, and the study of organisms in microgravity. Current levitators are constructed using Langevin horns that need to be manufactured to high tolerance with carefully matched resonant frequencies. This resonance condition is hard to maintain as their temperature changes due to transduction heating. In addition, Langevin horns are required to operate at high voltages (>100 V) which may cause problems in challenging experimental environments. Here, we design, build, and evaluate a single-axis levitator based on multiple, low-voltage (ca. 20 V), well-matched, and commercially available ultrasonic transducers. The levitator operates at 40 kHz in air and can trap objects above 2.2 g/cm³ density and 4 mm in diameter whilst consuming 10 W of input power. Levitation of water, fused-silica spheres, small insects, and electronic components is demonstrated. The device is constructed from low-cost off-the-shelf components and is easily assembled using 3D printed sections. Complete instructions and a part list are provided on how to assemble the levitator.

Acoustic levitation of an object larger than the acoustic wavelength

Levitation and manipulation of objects by sound waves have a wide range of applications in chemistry, biology, material sciences, and engineering. However, the current acoustic levitation techniques are mainly restricted to particles that are much smaller than the acoustic wavelength. In this work, it is shown that acoustic standing waves can be employed to stably levitate an object much larger than the acoustic wavelength in air. The levitation of a large slightly curved object weighting 2.3 g is demonstrated by using a device formed by two 25 kHz ultrasonic Langevin transducers connected to an aluminum plate. The sound wave emitted by the device provides a vertical acoustic radiation force to counteract gravity and a lateral restoring force that ensure horizontal stability to the levitated object. In order to understand the levitation stability, a numerical model based on the finite element method is used to determine the acoustic radiation force that acts on the object.

Acoustic levitation of liquid drops: Dynamics, manipulation and phase transitions

The technique of acoustic levitation normally produces a standing wave and the potential well of the sound field can be used to trap small objects. Since no solid surface is involved it has been widely applied for the study of fluid physics, nucleation, bio/chemical processes, and various forms of soft matter. In this article, we survey the works on drop dynamics in acoustic levitation, focus on how the dynamic behavior is related to the rheological properties and discuss the possibility to develop a novel rheometer based on this technique. We review the methods and applications of acoustic levitation for the manipulation of both liquid and solid samples and emphasize the important progress made in the study of phase transitions and bio-chemical analysis. We also highlight the possible open areas for future research.

Ultrasonic acoustic levitation for fast frame rate X-ray protein crystallography at room temperature

Increasing the data acquisition rate of X-ray diffraction images for macromolecular crystals at room temperature at synchrotrons has the potential to significantly accelerate both structural analysis of biomolecules and structure-based drug developments. Using lysozyme model crystals, we demonstrated the rapid acquisition of X-ray diffraction datasets by combining a high frame rate pixel array detector with ultrasonic acoustic levitation of protein crystals in liquid droplets. The rapid spinning of the crystal within a levitating droplet ensured an efficient sampling of the reciprocal space. The datasets were processed with a program suite developed for serial femtosecond crystallography (SFX). The structure, which was solved by molecular replacement, was found to be identical to the structure obtained by the conventional oscillation method for up to a 1.8-Å resolution limit. In particular, the absence of protein crystal damage resulting from the acoustic levitation was carefully established. These results represent a key step towards a fully automated sample handling and measurement pipeline, which has promising prospects for a high acquisition rate and high sample efficiency for room temperature X-ray crystallography.

Toward Contactless Biology: Acoustophoretic DNA Transfection

Acoustophoresis revolutionized the field of container-less manipulation of liquids and solids by enabling mixing procedures which avoid contamination and loss of reagents due to the contact with the support. While its applications to chemistry and engineering are straightforward, additional developments are needed to obtain reliable biological protocols in a contactless environment. Here, we provide a first, fundamental step towards biological reactions in air by demonstrating the acoustophoretic DNA transfection of mammalian cells. We developed an original acoustophoretic design capable of levitating, moving and mixing biological suspensions of living mammalians cells and of DNA plasmids. The precise and sequential delivery of the mixed solutions into tissue culture plates is actuated by a novel mechanism based on the controlled actuation of the acoustophoretic force. The viability of the contactless procedure is tested using a cellular model sensitive to small perturbation of neuronal differentiation pathways. Additionally, the efficiency of the transfection procedure is compared to standard, container-based methods for both single and double DNA transfection and for different cell types including adherent growing HeLa cancer cells, and low adhesion neuron-like PC12 cells. In all, this work provides a proof of principle which paves the way to the development of high-throughput acoustophoretic biological reactors.