Forceps control system based on transducer device, preparation method and control method

Abstract

The invention discloses a tweezers control system based on a transducer device, a preparation method and a control method, and relates to the field of physical field control, and the tweezers control system comprises the transducer device and an external field control device; the transducer device generates a space gradient electric field under remote excitation of ultrasound, magnetism and light generated by the external field control device, and non-contact and non-damage control on objects in different phase states of solid, liquid and gas is achieved based on dielectrophoretic force borne by the objects in the gradient electric field. According to the system, the size and the direction of the dielectrophoretic force can be cooperatively regulated and controlled through the transducer device and the external field control device, the object size is controlled to cover different dimensions from nanometer to centimeter, and accurate control over one or more objects can be achieved. The method has huge application potential in many innovative fields such as chemical reaction, biochemical sensing, cell manipulation, micro-nano robots and the like.

Description

Technical Field

[0001] The present application relates to the field of physical field manipulation, and in particular to a tweezer manipulation system based on a transducer device, a preparation method and a manipulation method. Background Art

[0002] Physical field manipulation technologies such as acoustic tweezers, magnetic tweezers, and acoustic tweezers can achieve non-contact manipulation of tiny objects, providing important tools for scientific research in many fields such as physics, chemistry, and biology. However, existing physical field manipulation technologies still face the problem of insufficient flexibility and adaptability. In particular, the precise manipulation of cross-scale objects in different phases in complex environments still faces huge challenges. For example, when an acoustic tweezer system that realizes object manipulation based on acoustic radiation force manipulates objects smaller than 100 nanometers, the acoustic radiation force will rapidly decay as the particle size decreases, making it difficult to manipulate smaller objects; and acoustic tweezers also face challenges in the parallel manipulation of multiple objects. Magnetic tweezers rely on the magnetism of the manipulated object itself or the need for magnetic particles to be labeled. Not only is the scope of application narrow, but it may also cause contamination of the manipulated object when manipulating biological samples. Optical tweezer manipulation is based on the change in light momentum caused by refraction when light penetrates the manipulated object, which has specific requirements for the light transmittance of the manipulated object; and optical tweezer manipulation relies on extremely high-energy excitation light fields (10 6 ~10 7 W cm -2 ), the heat generated by the focusing of high-energy light fields may cause damage to the manipulated objects. Summary of the invention

[0003] The present application discloses a tweezer manipulation system based on a transducer device, a preparation method, and a manipulation method. The ultrasound, magnetism, and light generated by the external field control device can excite the transducer device to form an electric field with a spatial gradient, and then based on the dielectrophoretic force exerted on the object under the gradient electric field, non-contact, non-destructive remote manipulation of objects in different phases such as solids (cells, polymer particles, etc.), liquids (water or organic solvents), and bubbles can be achieved. The system can achieve precise control of the size and direction of the dielectrophoretic manipulation force through an external field control device, and the manipulated objects cover different scales from nanometers to centimeters, and can achieve precise manipulation of single to multiple objects, and has great potential in many innovative fields such as chemical reactions, biochemical sensing, cell manipulation, micro-nano robots, etc.

[0004] Specifically, the first object of the embodiment of the present application is to provide a tweezers manipulation system based on a transducer device with high flexibility and adaptability, including: An external field control device that can generate ultrasound, magnetism or light with adjustable intensity, effective area, etc., and a transducer device that can generate electricity under the stimulation of external fields such as sound, magnetism or light.

[0005] Preferably, the external field control device can generate an excitation ultrasound energy density in the range of 10 to 10,000 mW cm -2 ; The excitation magnetic field intensity range is 0.1~10 mT; the excitation light field wavelength range is 350~1700 nm, and the energy density range is 10~10,000 mW cm -2 .

[0006] Preferably, the transducer device is composed of a transducer material or is composed of a transducer material and a substrate material. In the transducer device composed of a transducer material and a substrate material, the transducer material may cover the surface of the substrate material or be embedded in an array on the substrate material.

[0007] The present application has no strict requirements on the specific types of substrate materials and transducer materials, and the selection of them depends on the final use and the desired effect of the use. For example, in order to ensure the effect of the device itself in actual use, it is necessary to ensure that the substrate material and the transducer material are effectively composited, and the structural performance, mechanical performance and electrical performance of the composite device are guaranteed.

[0008] Preferably, the substrate material is at least one of the following materials: polymer, metal, ceramic, carbon-based material and a composite material based on the above materials.

[0009] Preferably, the transducer material has the ability to convert external field energy such as ultrasound, magnetism, light, etc. into electricity, and the material is at least one of piezoelectric material, piezoelectric ion gel, magnetocaloric material composite pyroelectric material, magnetostrictive material composite piezoelectric material, photodeformation material composite piezoelectric material, photovoltaic material, upconversion material composite photovoltaic material, photothermal or photocooling material composite pyroelectric material.

[0010] Wherein, preferably, the piezoelectric material is at least one of the following materials: poly(vinylidene fluoride), vinylidene fluoride-trifluoroethylene copolymer [P(VDF-TrFE)], vinylidene fluoride-chlorofluoroethylene copolymer [P(VDF-CFE)], vinylidene fluoride-chlorinated trifluoroethylene copolymer [P(VDF-CTFE)], vinylidene fluoride-hexafluoropropylene copolymer [P(VDF-HFP)], vinylidene fluoride-trifluoroethylene-chlorofluoroethylene terpolymer [P(VDF-TrFE-CFE)], vinylidene fluoride-trifluoroethylene-chlorinated trifluoroethylene terpolymer [P(VDF-TrFE-CTFE)] and vinylidene fluoride-trifluoroethylene-hexafluoropropylene terpolymer [P(VDF-TrFE-HFP)], nylon with an odd number of carbon atoms, polyacrylonitrile, polyimide, polyvinylidene Ferroelectric polymers represented by ferroelectric dicyanoacrylate and its copolymers, polyurea, polyphenylcyanoether, polyvinyl chloride, polyvinyl acetate, polypropylene, polytetrafluoroethylene, polylactic acid, etc., inorganic oxide ferroelectrics represented by lead titanate, lead zirconate titanate, barium titanate, potassium niobate, lithium niobate, lithium tantalate, bismuth titanate, strontium ruthenate, bismuth ferrite, etc., hydrogen bond ferroelectrics represented by potassium dihydrogen phosphate and triammonium sulfate, molecular-based ferroelectric compounds represented by Roxi salt, organic small molecule ferroelectrics represented by thiourea, crotonic acid, benzimidazole, β-glycine, γ-glycine, 2,2,3,3,4,4-hexafluoro-1,5-pentanediol (HFPD), etc., metal-organic hybrid ferroelectrics, bismuth layered perovskite structure ferroelectrics, tungsten bronze type ferroelectrics, perovskite type organic metal halide ferroelectrics and composite materials based on the above materials.

[0011] Preferably, the piezoelectric ion gel is at least one of the following materials: polyacrylic acid gel, polyacrylamide gel, polyacrylonitrile gel, chitosan gel, PSS-PEDOT composite gel, Na + , K + , Ca 2+ Composite gels combining metal ions and polymers, composite gels combining choline and other ionic liquids and polymers, and composite gel materials based on the above materials.

[0012] Preferably, the magnetocaloric composite pyroelectric material comprises any combination of magnetocaloric material and pyroelectric material; wherein the magnetocaloric material is at least one of the following materials: ferromagnetic metals and alloys represented by iron, cobalt, nickel, gadolinium, nickel, Ni-Co alloy, Ni-Co-Cr alloy, Fe-Ni alloy, Fe-Al alloy, Fe-Co-V alloy, and Nd-Fe-B alloy, ferromagnetic metals and alloys represented by ferroferric oxide, cobalt ferrite, zinc ferrite, Ni-Co , ferromagnetic ferrite materials represented by Ni-Co-Cu ferrite materials, rare earth magnetic materials represented by Tb-Dy-Fe and composite materials based on the above materials; the pyroelectric material is at least one of the following materials: poly(vinylidene fluoride), vinylidene fluoride-trifluoroethylene copolymer [P(VDF-TrFE)], vinylidene fluoride-chlorofluoroethylene copolymer [P(VDF-CFE)], vinylidene fluoride-chlorinated trifluoroethylene copolymer [P(VDF-CTFE)], vinylidene fluoride-hexafluoropropylene copolymer [P(VDF-HFP)], vinylidene fluoride-trifluoroethylene-chlorofluoroethylene terpolymer [P(VDF-TrFE-CFE)], vinylidene fluoride-trifluoroethylene-chlorinated trifluoroethylene terpolymer [P(VDF-TrFE-CTFE)] and vinylidene fluoride-trifluoroethylene-hexafluoropropylene terpolymer [P(VDF-TrFE-HFP) ], ferroelectric polymers represented by nylon with an odd number of carbon atoms, polyacrylonitrile, polyimide, polyvinylidene dicyanate and its copolymers, polyurea, polyphenylene cyanoether, polyvinyl chloride, polyvinyl acetate, polypropylene, polytetrafluoroethylene, polylactic acid, etc., inorganic oxide ferroelectrics represented by lead titanate, lead titanate zirconate, barium titanate, potassium niobate, lithium niobate, lithium tantalate, bismuth titanate, strontium ruthenate, bismuth ferrite, etc., potassium dihydrogen phosphate, triammonium sulfate, etc. Hydrogen-bonded ferroelectrics, molecular-based ferroelectric compounds represented by Roxi salt, organic small molecule ferroelectrics represented by thiourea, crotonic acid, benzimidazole, β-glycine, γ-glycine, 2,2,3,3,4,4-hexafluoro-1,5-pentanediol (HFPD), etc., metal-organic hybrid ferroelectrics, bismuth layered perovskite structure ferroelectrics, tungsten bronze ferroelectrics, perovskite-type organic metal halide ferroelectrics and composite materials based on the above materials.

[0013] Preferably, the magnetostrictive material composite piezoelectric material is any combination of the following magnetostrictive materials and the pyroelectric materials; wherein the magnetostrictive material is at least one of the following materials: magnetostrictive metals and alloys represented by iron, cobalt, nickel, gadolinium, nickel, Ni-Co alloy, Ni-Co-Cr alloy, Fe-Ni alloy, Fe-Al alloy, Fe-Co-V alloy, and Nd-Fe-B alloy, ferrite magnetostrictive materials represented by ferroferric oxide, cobalt ferrite, zinc ferrite, Ni-Co, and Ni-Co-Cu ferrite materials, rare earth giant magnetostrictive materials represented by Tb-Dy-Fe, and composite materials based on the above materials.

[0014] Preferably, the photodeformable material composite piezoelectric material includes any combination of photodeformable material and piezoelectric material; wherein the photodeformable material is at least one of a photoisomerization material or a ferroelectric inorganic photodeformable material, and the photoisomerization material includes at least one of azobenzene and its derivatives, spiropyran and its derivatives; the ferroelectric inorganic photodeformable material includes at least one of lead titanate, barium titanate, potassium niobate, lithium niobate, lithium tantalate, bismuth layered perovskite structure ferroelectric, tungsten bronze type ferroelectric, bismuth ferrite, potassium dihydrogen phosphate, triammonium sulfate, Roche salt, and perovskite type organic metal halide ferroelectric.

[0015] Preferably, the photovoltaic material is an inorganic thin film photovoltaic material represented by single crystal silicon, amorphous silicon, copper indium gallium selenide thin film, and cadmium telluride thin film, a dye-sensitized photovoltaic material represented by titanium dioxide and its composites, a perovskite photovoltaic material based on perovskite-type organic metal halides, and at least one of an organic photovoltaic material represented by polyacetylene, polythiophene, polyaniline, polypyrrole, and their derivatives and copolymers.

[0016] Preferably, the up-conversion material composite photovoltaic material is any combination of the following up-conversion materials and the piezoelectric material; wherein the up-conversion material includes yttrium oxide, yttrium oxysulfide, lanthanum fluoride, sodium yttrium fluoride, sodium gadolinium fluoride, and Yb 3+ Doped ZBLANP (ZrF4-BaF2-LaF3-AlF3-NaF-PbF2), Yb 3+ Doped KGd(WO4)2 crystal, Yb 3+ Doped yttrium lithium fluoride (YLF) crystal, Yb 3+ Doped KPb2Cl5 crystal, Yb 3+ Doped Y3Al5O 12 (YAG) crystal, Tm 3+ Doping ZBLANP, Tm 3+ Doped KGd(WO4)2 crystal, Tm 3+ Doped YLF crystal, Tm 3+Doped KPb2Cl5 crystal, Tm 3+ Rare earth ion-doped heavy metal glass or crystal materials with anti-Stokes effect, represented by doped YAG crystals, and composite materials based on the above materials.

[0017] Preferably, the photothermal or photocold material composite pyroelectric material is any combination of the following photothermal or photocold materials and the pyroelectric material; wherein the photothermal material is at least one of the following materials: carbon black, carbon nanotubes, graphene, black phosphorus, polydopamine, gold nanoparticles, gold nanorods, gallium-indium alloy liquid metal, black titanium dioxide, supramolecular metal organic framework (MOF) material, molybdenum disulfide (MoS2), transition metal carbide nitride and carbonitride two-dimensional material (MXene), small molecule photothermal agent represented by fluorine boron complex (BF2) and composite materials based on the above materials; the photocold material is at least one of the following materials: Yb 3+ Doped ZBLANP (ZrF4-BaF2-LaF3-AlF3-NaF-PbF2), Yb 3+ Doped KGd(WO4)2 crystal, Yb 3+ Doped yttrium lithium fluoride (YLF) crystal, Yb 3+ Doped KPb2Cl5 crystal, Yb 3+ Doped Y3Al5O 12 (YAG) crystal, Tm 3+ Doping ZBLANP, Tm 3+ Doped KGd(WO4)2 crystal, Tm 3+ Doped YLF crystal, Tm 3+ Doped KPb2Cl5 crystal, Tm 3+ Rare earth ion-doped heavy metal glass or crystal materials with anti-Stokes effect, represented by doped YAG crystals, and composite materials based on the above materials.

[0018] Accordingly, the present application proposes a tweezer manipulation system based on a transducer device, in which the frequency, pulse width, number of excitation points, excitation point morphology, excitation point spot area, and excitation point path of the ultrasound, magnetism, and light generated by the external field control device can all be tuned.

[0019] Among them, the manipulated objects are objects in different phases such as solids, liquids, bubbles, etc.

[0020] Among them, the diameter range of applicable manipulated objects is 1 nm ~ 10 cm.

[0021] Among them, the number of objects that can be manipulated simultaneously is 1 to 10,000.

[0022] The second object of the present application is to provide a method for preparing a tweezers manipulation system based on a transducer device, comprising: Provide an external field control device capable of generating focused ultrasound and a transducer device based on a transducer material; wherein the transducer device is composed of a transducer material or is a composite of a transducer material and a substrate material; wherein the transducer device is a composite of a transducer material and a substrate material, and the transducer material covers the surface of the substrate material or is arrayed and embedded on the substrate material; The ultrasonic generator as an external field control device is integrated with the transducer device to build a tweezers manipulation system based on the transducer device.

[0023] The third object of the present application is to provide a control method of a tweezers control system based on a transducer device, comprising: Turn on the ultrasonic generator and adjust the remote excitation parameters, thereby adjusting the spatial gradient electric field on the transducer device, changing the dielectrophoretic force exerted on the object under the gradient electric field, and controlling the object to move along a predetermined path.

[0024] Compared with the prior art, the beneficial effects of this application are: Compared with the classic acoustic tweezers, magnetic tweezers, and optical tweezers manipulation technologies and systems, the tweezers manipulation system based on transducers that generates spatial gradient electric fields under ultrasonic, magnetic, and optical excitations reduces the energy intensity required for manipulation, expands the size range of manipulated objects, and increases the number of objects that can be manipulated simultaneously. It is also suitable for different manipulation objects such as solid, liquid, and gas, as well as different manipulation environments such as solid-liquid interfaces, solid-gas interfaces, and liquid-liquid interfaces, significantly improving the flexibility and adaptability of existing physical field manipulation technologies and systems. It is expected to provide new tools for research in many innovative fields such as chemical reactions, biochemical sensing, cell manipulation, and micro-nano robots. The specific advantages are as follows: High flexibility and adaptability: The system of the present application can generate external fields with adjustable strength, effective area, etc., which means that it can be flexibly adjusted according to different control requirements. The transducer can generate electricity under the stimulation of various external fields, which increases the adaptability and application range of the system.

[0025] Non-contact, non-destructive manipulation: Manipulation of objects is achieved through dielectrophoretic force, avoiding the physical damage and contamination that may be caused by traditional mechanical manipulation. This is especially important for application scenarios where the integrity and cleanliness of objects need to be maintained.

[0026] Multi-phase control capability: The system of this application can realize the control of objects in different phases, such as solid, liquid, and gas. This multi-phase control capability enables the system to be applied to a wider range of fields, such as biomedicine, materials science, environmental monitoring, etc.

[0027] Precise control: By precisely adjusting the parameters of the external field and the electric field gradient generated by the transducer, precise manipulation of the object can be achieved. This precise control is critical for application scenarios that require high-precision positioning and operation.

[0028] Easy to integrate and expand: The system of this application has a high degree of integration and scalability. By combining with other technologies (such as microfluidics technology, optical imaging technology, etc.), the function and application scope of the system can be further expanded. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of a tweezers manipulation system based on a transducer device provided in the present application; Figure 2 Demonstrate the application of the tweezers manipulation system in manipulating the movement of objects in different phases; Figure 3 Demonstration of the application of the tweezers manipulation system in manipulating the movement of fish eggs in an electrolyte environment; Figure 4 This is a demonstration of the application of the tweezers manipulation system to manipulate the assembly of gel beads. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] In this application, the term "and / or" describes the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0032] In this application, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, "at least one of a, b, or c", or "at least one of a, b, and c" can all mean: a, b, c, ab (i.e., a and b), ac, bc, or abc, where a, b, and c can be single or multiple.

[0033] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution, some or all of the steps can be executed in parallel or sequentially, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0034] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0035] The weight of the relevant components mentioned in the embodiment description of the present application can not only refer to the specific content of each component, but also indicate the proportional relationship between the weights of the components. Therefore, as long as the content of the relevant components is proportionally enlarged or reduced according to the embodiment description of the present application, it is within the scope disclosed in the embodiment description of the present application. Specifically, the mass in the embodiment description of the present application can be a mass unit known in the chemical industry such as µg, mg, g, kg, etc.

[0036] The terms "first" and "second" are used only for descriptive purposes to distinguish objects such as substances from each other, and should not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. For example, without departing from the scope of the embodiments of the present application, the first XX may also be referred to as the second XX, and similarly, the second XX may also be referred to as the first XX. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0037] The present application proposes a tweezer manipulation system based on a transducer device. Specifically, the embodiment of the present application provides a tweezer manipulation system based on a transducer device, which is integrated with a transducer device and an external field control device. The core transducer device can form a spatial gradient electric field under the ultrasonic, magnetic, and optical remote excitation generated by the external field control device, and then based on the dielectrophoretic force exerted on the object under the gradient electric field, realize non-contact and non-destructive manipulation of objects in different phases of solid, liquid, and gas.

[0038] Preferably, the system of the present application is highly flexible and adaptable, and can generate ultrasonic, magnetic or optical external field control devices with adjustable intensity, effective area, etc., as well as transducer devices that can generate electricity under the excitation of external fields such as sound, magnetism or light.

[0039] The tweezers manipulation system of this application can perform well in non-contact and non-destructive manipulation, and has high flexibility and adaptability, and can be applied in multiple fields and meet different manipulation requirements. The specific principles include the following: (1) Integration of transducer and external field control device. The transducer is the core part of the system. It can generate a spatial gradient electric field under the stimulation of an external field (such as ultrasound, magnetism, or light). This electric field is the basis for manipulating objects. The external field control device is responsible for generating external fields such as ultrasound, magnetism, or light to stimulate the transducer. By adjusting the parameters of these external fields (such as intensity, frequency, direction, etc.), the electric field generated by the transducer can be precisely controlled.

[0040] (2) Dielectrophoretic force manipulation: When an object is in a gradient electric field, it will be affected by the dielectrophoretic force. The magnitude and direction of the dielectrophoretic force depend on the dielectric properties of the object, the electric field gradient, and the interaction between the object and the electric field. By adjusting the distribution and intensity of the electric field gradient, non-contact and non-destructive manipulation of objects in different phases (solid, liquid, gas) can be achieved. This manipulation method avoids the physical damage and contamination that may be caused by traditional mechanical manipulation.

[0041] In the above scheme, the system is integrated with an external field control device that can generate ultrasound, magnetism or light with adjustable intensity and effective area, and a transducer device that can generate electricity under the excitation of external fields such as sound, magnetism or light. Among them, the ultrasound, magnetism and light generated by the external field control device can excite its transducer device to form an electric field with a spatial gradient, and then based on the dielectrophoretic force exerted on the object under the gradient electric field, non-contact and non-destructive remote control of objects in different phases such as solids (cells, polymer particles, etc.), liquids (water or organic solvents), bubbles, etc. can be achieved. The system can achieve precise control of the size and direction of the dielectrophoretic control force through the external field control device, and the controlled objects cover different scales from nanometers to centimeters, and can achieve precise control of single to multiple objects. Compared with the classic acoustic tweezers, magnetic tweezers, and optical tweezers control technology and system, it reduces the energy intensity required for control, expands the size range of the controlled objects, increases the number of objects that can be controlled simultaneously, and is suitable for different control objects such as solid, liquid, and gas, as well as different control environments such as solid-liquid interface, solid-gas interface, and liquid-liquid interface, which significantly improves the flexibility and adaptability of existing physical field control technology and systems.

[0042] The external field control device can generate different external fields such as ultrasound, magnetism or light for excitation. The excitation ultrasound energy density range is 10~10,000 mW cm -2 ; The excitation magnetic field intensity range is 0.1~10 mT; the excitation light field wavelength range is 350~1700 nm, and the energy density range is 10~10,000 mW cm -2 ; Preferably, the transducer device is composed of a transducer material or is composed of a transducer material and a substrate material. In the transducer device composed of a transducer material and a substrate material, the transducer material may cover the surface of the substrate material or be embedded in an array on the substrate material.

[0043] It should be noted that the present application has no strict requirements on the specific types of substrate materials and transducer materials, and the selection of them depends on the final use and the desired effect of the use. For example, in order to ensure the effect of the device itself in actual use, it is necessary to ensure that the substrate material and the transducer material are effectively composited, and to ensure the structural performance, mechanical performance and electrical performance of the composite device.

[0044] Preferably, the substrate material is at least one of the following materials: polymer, metal, ceramic, carbon-based material and a composite material based on the above materials.

[0045] Preferably, the external field control device generates remote excitation with adjustable intensity and action area, including one or more of ultrasound, magnetism, and light; therefore, the transducer material provided in the embodiment of the present application has the ability to convert ultrasound, magnetism, light and other external field energy into electricity, and the transducer material can be at least one of piezoelectric material, piezoelectric ion gel, magnetocaloric material composite pyroelectric material, magnetostrictive material composite piezoelectric material, photodeformation material composite piezoelectric material, photovoltaic material, upconversion material composite photovoltaic material, photothermal or photocold material composite pyroelectric material. The following is a general selection of transducer materials, which is only used as an example and is not specifically limited.

[0046] Wherein, preferably, the piezoelectric material is at least one of the following materials: poly(vinylidene fluoride), vinylidene fluoride-trifluoroethylene copolymer [P(VDF-TrFE)], vinylidene fluoride-chlorofluoroethylene copolymer [P(VDF-CFE)], vinylidene fluoride-chlorinated trifluoroethylene copolymer [P(VDF-CTFE)], vinylidene fluoride-hexafluoropropylene copolymer [P(VDF-HFP)], vinylidene fluoride-trifluoroethylene-chlorofluoroethylene terpolymer [P(VDF-TrFE-CFE)], vinylidene fluoride-trifluoroethylene-chlorinated trifluoroethylene terpolymer [P(VDF-TrFE-CTFE)] and vinylidene fluoride-trifluoroethylene-hexafluoropropylene terpolymer [P(VDF-TrFE-HFP)], nylon with an odd number of carbon atoms, polyacrylonitrile, polyimide, polyvinylidene Ferroelectric polymers represented by ferroelectric dicyanoacrylate and its copolymers, polyurea, polyphenylcyanoether, polyvinyl chloride, polyvinyl acetate, polypropylene, polytetrafluoroethylene, polylactic acid, etc., inorganic oxide ferroelectrics represented by lead titanate, lead zirconate titanate, barium titanate, potassium niobate, lithium niobate, lithium tantalate, bismuth titanate, strontium ruthenate, bismuth ferrite, etc., hydrogen bond ferroelectrics represented by potassium dihydrogen phosphate and triammonium sulfate, molecular-based ferroelectric compounds represented by Roxi salt, organic small molecule ferroelectrics represented by thiourea, crotonic acid, benzimidazole, β-glycine, γ-glycine, 2,2,3,3,4,4-hexafluoro-1,5-pentanediol (HFPD), etc., metal-organic hybrid ferroelectrics, bismuth layered perovskite structure ferroelectrics, tungsten bronze type ferroelectrics, perovskite type organic metal halide ferroelectrics and composite materials based on the above materials.

[0047] Preferably, the piezoelectric ion gel is at least one of the following materials: polyacrylic acid gel, polyacrylamide gel, polyacrylonitrile gel, chitosan gel, PSS-PEDOT composite gel, Na + , K + , Ca 2+Composite gels combining metal ions and polymers, composite gels combining choline and other ionic liquids and polymers, and composite gel materials based on the above materials.

[0048] Preferably, the magnetocaloric composite pyroelectric material comprises any combination of magnetocaloric material and pyroelectric material; wherein the magnetocaloric material is at least one of the following materials: ferromagnetic metals and alloys represented by iron, cobalt, nickel, gadolinium, nickel, Ni-Co alloy, Ni-Co-Cr alloy, Fe-Ni alloy, Fe-Al alloy, Fe-Co-V alloy, and Nd-Fe-B alloy, ferromagnetic metals and alloys represented by ferroferric oxide, cobalt ferrite, zinc ferrite, Ni-Co , ferromagnetic ferrite materials represented by Ni-Co-Cu ferrite materials, rare earth magnetic materials represented by Tb-Dy-Fe and composite materials based on the above materials; the pyroelectric material is at least one of the following materials: poly(vinylidene fluoride), vinylidene fluoride-trifluoroethylene copolymer [P(VDF-TrFE)], vinylidene fluoride-chlorofluoroethylene copolymer [P(VDF-CFE)], vinylidene fluoride-chlorinated trifluoroethylene copolymer [P(VDF-CTFE)], vinylidene fluoride-hexafluoropropylene copolymer [P(VDF-HFP)], vinylidene fluoride-trifluoroethylene-chlorofluoroethylene terpolymer [P(VDF-TrFE-CFE)], vinylidene fluoride-trifluoroethylene-chlorinated trifluoroethylene terpolymer [P(VDF-TrFE-CTFE)] and vinylidene fluoride-trifluoroethylene-hexafluoropropylene terpolymer [P(VDF-TrFE-HFP) ], ferroelectric polymers represented by nylon with an odd number of carbon atoms, polyacrylonitrile, polyimide, polyvinylidene dicyanate and its copolymers, polyurea, polyphenylene cyanoether, polyvinyl chloride, polyvinyl acetate, polypropylene, polytetrafluoroethylene, polylactic acid, etc., inorganic oxide ferroelectrics represented by lead titanate, lead titanate zirconate, barium titanate, potassium niobate, lithium niobate, lithium tantalate, bismuth titanate, strontium ruthenate, bismuth ferrite, etc., potassium dihydrogen phosphate, triammonium sulfate, etc. Hydrogen-bonded ferroelectrics, molecular-based ferroelectric compounds represented by Roxi salt, organic small molecule ferroelectrics represented by thiourea, crotonic acid, benzimidazole, β-glycine, γ-glycine, 2,2,3,3,4,4-hexafluoro-1,5-pentanediol (HFPD), etc., metal-organic hybrid ferroelectrics, bismuth layered perovskite structure ferroelectrics, tungsten bronze ferroelectrics, perovskite-type organic metal halide ferroelectrics and composite materials based on the above materials.

[0049] Preferably, the magnetostrictive material composite piezoelectric material is any combination of the following magnetostrictive materials and the pyroelectric materials; wherein the magnetostrictive material is at least one of the following materials: magnetostrictive metals and alloys represented by iron, cobalt, nickel, gadolinium, nickel, Ni-Co alloy, Ni-Co-Cr alloy, Fe-Ni alloy, Fe-Al alloy, Fe-Co-V alloy, and Nd-Fe-B alloy, ferrite magnetostrictive materials represented by ferroferric oxide, cobalt ferrite, zinc ferrite, Ni-Co, and Ni-Co-Cu ferrite materials, rare earth giant magnetostrictive materials represented by Tb-Dy-Fe, and composite materials based on the above materials.

[0050] Preferably, the photodeformable material composite piezoelectric material includes any combination of photodeformable material and piezoelectric material; wherein the photodeformable material is at least one of a photoisomerization material or a ferroelectric inorganic photodeformable material, and the photoisomerization material includes at least one of azobenzene and its derivatives, spiropyran and its derivatives; the ferroelectric inorganic photodeformable material includes at least one of lead titanate, barium titanate, potassium niobate, lithium niobate, lithium tantalate, bismuth layered perovskite structure ferroelectric, tungsten bronze type ferroelectric, bismuth ferrite, potassium dihydrogen phosphate, triammonium sulfate, Roche salt, and perovskite type organic metal halide ferroelectric.

[0051] Preferably, the photovoltaic material is an inorganic thin film photovoltaic material represented by single crystal silicon, amorphous silicon, copper indium gallium selenide thin film, and cadmium telluride thin film, a dye-sensitized photovoltaic material represented by titanium dioxide and its composites, a perovskite photovoltaic material based on perovskite-type organic metal halides, and at least one of an organic photovoltaic material represented by polyacetylene, polythiophene, polyaniline, polypyrrole, and their derivatives and copolymers.

[0052] Preferably, the up-conversion material composite photovoltaic material is any combination of the following up-conversion materials and the piezoelectric material; wherein the up-conversion material includes yttrium oxide, yttrium oxysulfide, lanthanum fluoride, sodium yttrium fluoride, sodium gadolinium fluoride, and Yb 3+ Doped ZBLANP (ZrF4-BaF2-LaF3-AlF3-NaF-PbF2), Yb 3+ Doped KGd(WO4)2 crystal, Yb 3+ Doped yttrium lithium fluoride (YLF) crystal, Yb 3+ Doped KPb2Cl5 crystal, Yb 3+ Doped Y3Al5O 12 (YAG) crystal, Tm 3+ Doping ZBLANP, Tm 3+ Doped KGd(WO4)2 crystal, Tm 3+ Doped YLF crystal, Tm 3+Doped KPb2Cl5 crystal, Tm 3+ Rare earth ion-doped heavy metal glass or crystal materials with anti-Stokes effect, represented by doped YAG crystals, and composite materials based on the above materials.

[0053] Preferably, the photothermal or photocold material composite pyroelectric material is any combination of the following photothermal or photocold materials and the pyroelectric material; wherein the photothermal material is at least one of the following materials: carbon black, carbon nanotubes, graphene, black phosphorus, polydopamine, gold nanoparticles, gold nanorods, gallium-indium alloy liquid metal, black titanium dioxide, supramolecular metal organic framework (MOF) material, molybdenum disulfide (MoS2), transition metal carbide nitride and carbonitride two-dimensional material (MXene), small molecule photothermal agent represented by fluorine boron complex (BF2) and composite materials based on the above materials; the photocold material is at least one of the following materials: Yb 3+ Doped ZBLANP (ZrF4-BaF2-LaF3-AlF3-NaF-PbF2), Yb 3+ Doped KGd(WO4)2 crystal, Yb 3+ Doped yttrium lithium fluoride (YLF) crystal, Yb 3+ Doped KPb2Cl5 crystal, Yb 3+ Doped Y3Al5O 12 (YAG) crystal, Tm 3+ Doping ZBLANP, Tm 3+ Doped KGd(WO4)2 crystal, Tm 3+ Doped YLF crystal, Tm 3+ Doped KPb2Cl5 crystal, Tm 3+ Rare earth ion-doped heavy metal glass or crystal materials with anti-Stokes effect, represented by doped YAG crystals, and composite materials based on the above materials.

[0054] Accordingly, the present application proposes a tweezer manipulation system based on a transducer device, in which the frequency, pulse width, number of excitation points, excitation point morphology, excitation point spot area, and excitation point path of the ultrasound, magnetism, and light generated by the external field control device can all be tuned.

[0055] Among them, the manipulated objects are objects in different phases such as solids, liquids, bubbles, etc.

[0056] The applicable manipulated object diameter range is 1 nm ~ 10 cm. For example, it can be 1 nm, 5 nm, 10 nm, 50 nm, 1 00n, 400 nm, 600 nm, 700 nm, 900nm, 1cm, 5 cm, 10 cm, etc.

[0057] The number of objects that can be manipulated simultaneously is 1 to 10,000, for example, 1, 10, 50, 100, 130, 500, 700, 1000, 2000, 5000, 7000, 1,000, 5,000, 6,000, 8,000, 9,500, 10,000, etc.

[0058] In order to better illustrate the purpose, technical solutions and advantages of the present application, the present application will be further described below in conjunction with specific embodiments.

[0059] Example 1 A tweezers manipulation system based on a transducer device, the structure of which is as follows Figure 1 As shown in A, the tweezers manipulation system based on the transducer device is composed of an external field control device that can generate focused ultrasound and a transducer device based on piezoelectric material as the transducer material.

[0060] In this embodiment, the focused ultrasound power density generated by the external field control device is 10 mW cm -2 The transducer material is directly used as the transducer device, and the piezoelectric material constituting the transducer material is polylactic acid; the controlled object is a polymer ball with a diameter of 100 nm.

[0061] The construction and actual operation of the tweezers manipulation system based on the transducer device includes the following steps: 1) Construction of transducer device; Using dimethyl sulfoxide as a solvent, a polylactic acid solution with a concentration of 10 w / v% is prepared; the polylactic acid solution is cast on a flat silicon wafer surface and dried at 80 degrees Celsius to obtain a transducer device.

[0062] 2) Integrated construction of tweezers manipulation system based on transducer devices; As Figure 1 As shown in A, the ultrasonic generator as an external field control device is integrated with the transducer device to build a tweezers manipulation system based on the transducer device.

[0063] 3) Object manipulation of tweezer manipulation system based on transducer device; Turn on the ultrasonic generator and adjust the excitation power to move the focal position of the focused ultrasound on the transducer and manipulate the object to move along the laser movement path.

[0064] Example 2 A tweezers manipulation system based on a transducer device, the structure of which is as follows Figure 1 As shown in B, the transducer-based tweezer manipulation system is composed of an external field control device that can generate focused ultrasound and a transducer device based on piezoelectric ion gel as a transducer material.

[0065] In this embodiment, the focused ultrasound power density generated by the external field control device is 10,000 mW cm -2 The transducer device is composed of a transducer material laid flat on a substrate material, wherein the piezoelectric ion gel material constituting the transducer material is a composite gel of polyacrylic acid and polyacrylamide, and the substrate material is aluminum foil; the controlled object is a vegetable oil droplet with a diameter of 100 μm.

[0066] The construction and actual operation of the tweezers manipulation system based on the transducer device includes the following steps: 1) Construction of transducer device; Using deionized water as solvent, acrylic acid and acrylamide solutions with concentrations of 3 w / v% and 3 w / v% were prepared, and then a free radical photoinitiator was added; the solution was added to a mold with aluminum foil at the bottom and cross-linked under ultraviolet light to obtain a transducer device.

[0067] 2) Integrated construction of tweezers manipulation system based on transducer devices; As Figure 1 As shown in B, the ultrasonic generator as an external field control device is integrated with the transducer device to build a tweezers manipulation system based on the transducer device.

[0068] 3) Object manipulation of tweezer manipulation system based on transducer device; Turn on the ultrasonic generator and adjust the excitation power, thereby moving the focal position of the focused ultrasound on the transducer device and manipulating the object to move along the moving path of the focused ultrasound.

[0069] Example 3 A tweezers manipulation system based on a transducer device, the structure of which is as follows Figure 1 As shown in A, the tweezers manipulation system based on the transducer device is composed of an external field control device that can form a magnetic field and a transducer device based on magnetocaloric material and pyroelectric material as transducer material.

[0070] In this embodiment, the magnetic field intensity generated by the external field control device is 0.1 mT; the transducer material is directly used as the transducer device, wherein the magnetocaloric material constituting the transducer material is ferroferric oxide and the pyroelectric material is P (VDF-TrFE); the controlled object is a polymer ball with a diameter of 800 nm.

[0071] The construction and actual operation of the tweezers manipulation system based on the transducer device includes the following steps: 1) Construction of transducer device; Using dimethyl sulfoxide as a solvent, a P(VDF-TrFE) solution with a concentration of 10 w / v% was prepared; Fe3O4 nanoparticles with a solid content of 5 w / w% compared to P(VDF-TrFE) were added to the solution and ultrasonically dispersed for 30 minutes; the P(VDF-TrFE)-Fe3O4 mixed solution was cast on a flat silicon wafer surface and dried at 80 degrees Celsius to obtain a composite film layer; it was placed at 130 degrees Celsius for recrystallization and arc polarization treatment to obtain a transducer device.

[0072] 2) Integrated construction of tweezers manipulation system based on transducer devices; As Figure 1 As shown in A, the external magnetic field as an external field control device is integrated with the transducer device to build a tweezers manipulation system based on the transducer device.

[0073] 3) Object manipulation of tweezer manipulation system based on transducer device; Turn on the control power switch of the magnetic field and adjust the current intensity, thereby adjusting the magnetic field strength on the transducer device and controlling the object to move along a predetermined path.

[0074] Example 4 A tweezers manipulation system based on a transducer device, the structure of which is as follows Figure 1 As shown in A, the tweezers manipulation system based on the transducer device is composed of an external field control device that can form a magnetic field and a transducer device based on magnetostrictive materials and piezoelectric materials as transducer materials.

[0075] In this embodiment, the magnetic field intensity generated by the external field control device is 10 mT; the transducer material is directly used as the transducer device, wherein the magnetostrictive material constituting the transducer material is cobalt ferrite and the piezoelectric material is P (VDF-TrFE); the controlled object is a bubble with a diameter of 1 mm.

[0076] The construction and actual operation of the tweezers manipulation system based on the transducer device includes the following steps: 1) Construction of transducer device; Using dimethyl sulfoxide as a solvent, a P(VDF-TrFE) solution with a concentration of 10 w / v% was prepared; cobalt ferrite nanoparticles with a solid content of 5 w / w% compared to P(VDF-TrFE) were added to the solution and ultrasonically dispersed for 30 minutes; the P(VDF-TrFE)-cobalt ferrite mixture was cast on a flat silicon wafer surface and dried at 80 degrees Celsius to obtain a composite film layer; it was placed at 130 degrees Celsius for recrystallization and arc polarization treatment to obtain a transducer device.

[0077] 2) Integrated construction of tweezers manipulation system based on transducer devices; As Figure 1As shown in A, a permanent magnet as an external field control device is integrated with a transducer device to build a tweezers manipulation system based on the transducer device.

[0078] 3) Object manipulation of tweezer manipulation system based on transducer device; Move the distance between the permanent magnet and the transducer device, adjust the magnetic field strength, and then adjust the position of the permanent magnet to change the spatial distribution of the magnetic field strength on the transducer device, and control the object to move along a predetermined path.

[0079] Example 5 A tweezers manipulation system based on a transducer device, the structure of which is as follows Figure 1 As shown in C, the tweezers manipulation system based on the transducer device is composed of an external field control device that can generate ultraviolet light and a transducer device based on a transducer material made of a composite of a photodeformable material and a piezoelectric material.

[0080] In this embodiment, the wavelength of light generated by the external field control device is 350 nm, and the laser power density is 500 mW cm -2 The transducer material is arranged in an array on the surface of the substrate material, wherein the photodeformable material constituting the transducer material is azobenzene, the piezoelectric material is P (VDF-TrFE), and the substrate material is polydimethylsiloxane (PDMS); the manipulated object is a water droplet with a diameter of 1 mm.

[0081] The construction and actual operation of the tweezers manipulation system based on the transducer device includes the following steps: 1) Construction of transducer device; Using dimethyl sulfoxide as solvent, a P(VDF-TrFE) solution with a concentration of 10 w / v% was prepared; azobenzene with a solid content of 5 w / w% compared to P(VDF-TrFE) was added to the solution and ultrasonically dispersed for 30 minutes; the P(VDF-TrFE)-azobenzene mixed solution was cast on the surface of a flat silicon wafer and dried at 80 degrees Celsius to obtain a composite film layer; it was placed at 130 degrees Celsius for recrystallization and arc polarization treatment to obtain a transducer material. The P(VDF-TrFE)-GaIn composite transducer material was then cut into small circular pieces with a diameter of 1 mm and embedded on the surface of the PDMS film to obtain a transducer device.

[0082] 2) Integrated construction of tweezers manipulation system based on transducer devices; As Figure 1 As shown, the laser as an external field control device is integrated with the transducer device to build a tweezers manipulation system based on the transducer device. The laser wavelength is 350 nm.

[0083] 3) Object manipulation of tweezer manipulation system based on transducer device; Turn on the laser light source and adjust the excitation power, thereby moving the focusing position of the light source on the transducer device and manipulating the object to move along the laser movement path.

[0084] Example 6 A tweezers manipulation system based on a transducer device, the structure of which is as follows Figure 1 As shown in C, the tweezers manipulation system based on the transducer device is composed of an external field control device that can generate visible light and a transducer device based on photovoltaic materials as transducer materials.

[0085] In this embodiment, the wavelength of light generated by the external field control device is 550 nm, and the laser power density is 10,000 mWcm -2 The transducer material is arranged in an array on the surface of the substrate material, wherein the photovoltaic material constituting the transducer material is single crystal silicon and the substrate material is polydimethylsiloxane (PDMS); the controlled object is a water droplet with a diameter of 1 cm.

[0086] The construction and actual operation of the tweezers manipulation system based on the transducer device includes the following steps: 1) Construction of transducer device; Photovoltaic single crystal silicon was cut into 5 mm × 5 mm square pieces and embedded on the surface of PDMS film to make the transducer device.

[0087] 2) Integrated construction of tweezers manipulation system based on transducer devices; As Figure 1 As shown in C, the laser as an external field control device is integrated with the transducer device to build a tweezers manipulation system based on the transducer device. The laser is a 550 nm laser.

[0088] 3) Object manipulation of tweezer manipulation system based on transducer device; Turn on the laser light source and adjust the excitation power, thereby moving the focusing position of the light source on the transducer device and manipulating the object to move along the laser movement path.

[0089] Example 7 A tweezers manipulation system based on a transducer device, the structure of which is as follows Figure 1 As shown in C, the tweezer manipulation system based on the transducer device is composed of an external field control device that can generate near-infrared light and a transducer device based on a transducer material made of a composite of photovoltaic material and up-conversion material.

[0090] In this embodiment, the wavelength of light generated by the external field control device is 1700 nm, and the laser power density is 800 mW cm -2The transducer material is arranged in an array on the surface of the substrate material, wherein the photovoltaic material constituting the transducer material is P3HT, the upconversion material is lanthanum fluoride, and the substrate material is polydimethylsiloxane (PDMS); the manipulated object is a cell with a diameter of about 5 μm.

[0091] The construction and actual operation of the tweezers manipulation system based on the transducer device includes the following steps: 1) Construction of transducer device; Using dimethyl sulfoxide as solvent, a P3HT solution with a concentration of 10 w / v% was prepared; lanthanum fluoride particles with a solid content of 5 w / w% compared to P3HT were added to the solution and ultrasonically dispersed for 30 minutes; the P3HT-lanthanum fluoride mixed solution was cast on the surface of a flat silicon wafer and dried at 80 degrees Celsius to obtain a transducer material. The P3HT-lanthanum fluoride composite transducer material was then cut into small circular pieces with a diameter of 1 mm and embedded on the surface of the PDMS film to obtain a transducer device.

[0092] 2) Integrated construction of tweezers manipulation system based on transducer devices; As Figure 1 As shown in C, the laser as an external field control device is integrated with the transducer device to build a tweezers manipulation system based on the transducer device. The laser is a 1700 nm laser.

[0093] 3) Object manipulation of tweezer manipulation system based on transducer device; Turn on the laser light source and adjust the excitation power, thereby moving the focusing position of the light source on the transducer device and manipulating the object to move along the laser movement path.

[0094] Example 8 A tweezers manipulation system based on a transducer device, the structure of which is as follows Figure 1 As shown in C, the tweezers manipulation system based on the transducer device is composed of an external field control device that can generate near-infrared light and a transducer device based on a transducer material made of a composite of photothermal material and pyroelectric material.

[0095] In this embodiment, the wavelength of light generated by the external field control device is 808 nm, and the laser power density is 10 W cm -2 The transducer material is arranged in an array on the surface of the substrate material, wherein the photothermal material constituting the transducer material is liquid metal, the pyroelectric material is P (VDF-TrFE), and the substrate material is polydimethylsiloxane (PDMS); the manipulated object is a water droplet with a diameter of 10 cm.

[0096] The construction and actual operation of the tweezers manipulation system based on the transducer device includes the following steps: 1) Construction of transducer device; Using dimethyl sulfoxide as solvent, a P(VDF-TrFE) solution with a concentration of 10 w / v% was prepared; GaIn liquid metal particles with a solid content of 5 w / w% compared to P(VDF-TrFE) were added to the solution and ultrasonically dispersed for 30 minutes; the P(VDF-TrFE)-GaIn liquid metal mixture was cast on the surface of a flat silicon wafer and dried at 80 degrees Celsius to obtain a composite film layer; it was placed at 130 degrees Celsius for recrystallization and arc polarization treatment to obtain a transducer material. The P(VDF-TrFE)-GaIn composite transducer material was then cut into small circular pieces with a diameter of 1 mm and embedded on the surface of the PDMS film to obtain a transducer device.

[0097] 2) Integrated construction of tweezers manipulation system based on transducer devices; As Figure 1 As shown, the laser as an external field control device is integrated with the transducer device to build a tweezers manipulation system based on the transducer device. The laser is an 808 nm laser.

[0098] 3) Object manipulation of tweezer manipulation system based on transducer device; Turn on the laser light source and adjust the excitation power, thereby moving the focusing position of the light source on the transducer device and manipulating the object to move along the laser movement path.

[0099] The tweezers manipulation system prepared in this application is used in an application example to obtain Figures 2 to 4 The experimental results are as follows. Figure 2 Demonstration of the application of the tweezers manipulation system in manipulating the movement of objects in different phases. Figure 3 Demonstration of the application of the tweezers manipulation system in manipulating the movement of fish eggs in an electrolyte environment. Figure 4 The application demonstration of the tweezers manipulation system manipulating the assembly of gel beads. Analysis shows that the tweezers manipulation system of the present application has the following advantages: 1. Ability to manipulate multi-phase objects: Figure 2 The results show that the tweezers manipulation system can manipulate objects in different phases (such as solid, liquid, and gas). This shows that the system has high adaptability and flexibility and can cope with a variety of experimental conditions and experimental objects.

[0100] 2. Stability in electrolyte environment: Figure 3 The system was shown to be able to manipulate fish eggs in an electrolyte environment, which means that the system is not only effective in conventional environments, but can also work stably in more challenging electrolyte environments.

[0101] 3. Precision control and assembly capabilities: Figure 4 In the experiment, the system was able to manipulate small gel spheres for assembly, demonstrating its ability to precisely manipulate tiny objects.

[0102] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A forceps manipulation system based on a transducer device, characterized in that: Including transducer devices and external field control devices; The external field control device is used to generate remote excitation with adjustable intensity and effective area to the transducer device; The transducer device is used to form a spatial gradient electric field under the remote excitation generated by the external field control device, and then non-contact and non-destructive manipulation of solid, liquid and / or gas objects in different phases based on the dielectrophoretic force exerted on the object under the gradient electric field; The transducer device is composed of a transducer material or is composed of a transducer material and a substrate material. In the transducer device composed of a transducer material and a substrate material, the transducer material covers the surface of the substrate material or is arrayed and embedded on the substrate material.

2. The forceps manipulation system based on a transducer device as claimed in claim 1, characterized in that: The remote excitation with adjustable intensity and action area generated by the external field control device includes one or more of ultrasound, magnetism, and light; the energy density of the excitation ultrasound is in the range of 10 to 10,000 mW cm -2 ; The excitation magnetic field intensity range is 0.1~10 mT; the excitation light field wavelength range is 350~1700 nm, and the energy density range is 10~10,000 mW cm -2 .

3. The forceps manipulation system based on a transducer device as claimed in claim 1, characterized in that: The substrate material is at least one of the following materials: polymer, metal, ceramic, carbon-based material and a composite material based on the above materials.

4. The forceps manipulation system based on a transducer device as claimed in claim 1, characterized in that: The energy conversion material is at least one of piezoelectric material, piezoelectric ion gel, magnetocaloric material composite pyroelectric material, magnetostrictive material composite piezoelectric material, photodeformation material composite piezoelectric material, photovoltaic material, upconversion material composite photovoltaic material, photothermal or photocooling material composite pyroelectric material.

5. The forceps manipulation system based on a transducer device as claimed in claim 4, characterized in that: The piezoelectric material is at least one of the following materials: ferroelectric polymer, inorganic oxide ferroelectric, hydrogen bond ferroelectric, molecular-based ferroelectric compound, organic small molecule ferroelectric, metal-organic hybrid ferroelectric, bismuth layered perovskite structure ferroelectric, tungsten bronze type ferroelectric perovskite type organic metal halide ferroelectric and composite materials based on the above materials; Preferably, the ferroelectric polymer includes poly(vinylidene fluoride), vinylidene fluoride-trifluoroethylene copolymer, vinylidene fluoride-chlorofluoroethylene copolymer, vinylidene fluoride-chlorinated trifluoroethylene copolymer, vinylidene fluoride-hexafluoropropylene copolymer, vinylidene fluoride-trifluoroethylene-chlorofluoroethylene terpolymer, vinylidene fluoride-trifluoroethylene-chlorinated trifluoroethylene terpolymer and vinylidene fluoride-trifluoroethylene-hexafluoropropylene terpolymer, nylon with an odd number of carbon atoms, polyacrylonitrile, polyimide, polyvinylidene cyanide and its copolymer, polyurea, polyphenylene cyano ether, polyvinyl chloride, polyvinyl acetate The inorganic oxide ferroelectric comprises at least one of lead titanate, lead zirconate, barium titanate, potassium niobate, lithium niobate, lithium tantalate, bismuth titanate, strontium ruthenate and bismuth ferrite; the hydrogen bond type ferroelectric comprises at least one of potassium dihydrogen phosphate and triammonium sulfate; the molecular-based ferroelectric compound comprises Roxi salt; the organic small molecule ferroelectric comprises at least one of thiourea, crotonic acid, benzimidazole, β-glycine, γ-glycine and 2,2,3,3,4,4-hexafluoro-1,5-pentanediol; The piezoelectric ion gel is at least one of the following materials: polyacrylic acid gel, polyacrylamide gel, polyacrylonitrile gel, chitosan gel, PSS-PEDOT composite gel, Na + , K + , Ca 2+ Composite gels combining metal ions and polymers, composite gels combining choline and other ionic liquids and polymers, and composite gel materials based on the above materials.

6. The forceps manipulation system based on a transducer device as claimed in claim 4, characterized in that: The magnetocaloric material composite pyroelectric material includes any combination of magnetocaloric material and pyroelectric material; Wherein, the magnetocaloric material is at least one of the following materials: ferromagnetic metals and alloys, ferromagnetic ferrite materials, rare earth magnetic materials and composite materials based on the above materials; ferromagnetic metals and alloys include iron, cobalt, nickel, gadolinium, nickel, Ni-Co alloy, Ni-Co-Cr alloy, Fe-Ni alloy, Fe-Al alloy, Fe-Co-V alloy, Nd-Fe-B alloy; ferromagnetic ferrite materials include ferroferric oxide, cobalt ferrite, zinc ferrite, Ni-Co, Ni-Co-Cu ferrite materials; rare earth magnetic materials include Tb-Dy-Fe; The pyroelectric material is at least one of the following materials: ferroelectric polymer, inorganic oxide ferroelectric, hydrogen bond ferroelectric, molecular ferroelectric compound, organic small molecule ferroelectric, metal-organic hybrid ferroelectric, bismuth layered perovskite structure ferroelectric, tungsten bronze type ferroelectric perovskite type organic metal halide ferroelectric and composite materials based on the above materials; Preferably, the ferroelectric polymer includes: poly(vinylidene fluoride), vinylidene fluoride-trifluoroethylene copolymer, vinylidene fluoride-chlorofluoroethylene copolymer, vinylidene fluoride-chlorinated trifluoroethylene copolymer, vinylidene fluoride-hexafluoropropylene copolymer, vinylidene fluoride-trifluoroethylene-chlorofluoroethylene terpolymer, vinylidene fluoride-trifluoroethylene-chlorinated trifluoroethylene terpolymer and vinylidene fluoride-trifluoroethylene-hexafluoropropylene terpolymer, nylon with an odd number of carbon atoms, polyacrylonitrile, polyimide, polyvinylidene cyanide and its copolymer, polyurea, polyphenyl cyano ether, polyvinyl chloride , polyvinyl acetate, polypropylene, polytetrafluoroethylene, polylactic acid; inorganic oxide ferroelectrics include lead titanate, lead zirconate, barium titanate, potassium niobate, lithium niobate, lithium tantalate, bismuth titanate, strontium ruthenate, bismuth ferrite; hydrogen bond ferroelectrics include at least one of potassium dihydrogen phosphate and triammonium sulfate; molecular-based ferroelectric compounds include Roxi salt; organic small molecule ferroelectrics include thiourea, crotonic acid, benzimidazole, β-glycine, γ-glycine, 2,2,3,3,4,4-hexafluoro-1,5-pentanediol; Preferably, the magnetostrictive material composite piezoelectric material is any combination of the following magnetostrictive material and the pyroelectric material; Wherein, the magnetostrictive material is at least one of the following materials: magnetostrictive metals and alloys, ferrite magnetostrictive materials, rare earth giant magnetostrictive materials, and composite materials based on the above materials; Among them, magnetostrictive metals and alloys include iron, cobalt, nickel, gadolinium, nickel, Ni-Co alloy, Ni-Co-Cr alloy, Fe-Ni alloy, Fe-Al alloy, Fe-Co-V alloy, and Nd-Fe-B alloy; ferrite magnetostrictive materials include ferroferric oxide, cobalt ferrite, zinc ferrite, Ni-Co, and Ni-Co-Cu ferrite materials, and rare earth giant magnetostrictive materials include Tb-Dy-Fe.

7. The forceps manipulation system based on a transducer device as claimed in claim 4, characterized in that: The photodeformable material composite piezoelectric material includes any combination of photodeformable material and piezoelectric material; Wherein, the photoinduced deformation material is at least one of a photoisomerization material or a ferroelectric inorganic photoinduced deformation material, the photoisomerization material includes at least one of azobenzene and its derivatives, spiropyran and its derivatives; the ferroelectric inorganic photoinduced deformation material includes at least one of lead titanate, barium titanate, potassium niobate, lithium niobate, lithium tantalate, bismuth layered perovskite structure ferroelectric, tungsten bronze type ferroelectric, bismuth ferrite, potassium dihydrogen phosphate, triammonium sulfate, Roche salt, and perovskite type organic metal halide ferroelectric; Preferably, the photovoltaic material includes at least one of an inorganic thin film photovoltaic material, a dye-sensitized photovoltaic material, a perovskite photovoltaic material, and an organic photovoltaic material; The inorganic thin film photovoltaic material includes at least one of single crystal silicon, amorphous silicon, copper indium gallium selenide thin film, and cadmium telluride thin film; the dye-sensitized photovoltaic material includes titanium dioxide and its composites; the perovskite photovoltaic material is a perovskite photovoltaic material based on perovskite-type organic metal halide; and the organic photovoltaic material includes at least one of polyacetylene, polythiophene, polyaniline, polypyrrole, and its derivatives and copolymers; Preferably, the up-conversion material composite photovoltaic material is any combination of the following up-conversion materials and the piezoelectric material; wherein the up-conversion material includes rare earth ion-doped heavy metal glass or crystal material with anti-Stokes effect and a composite material based on the above materials; Among them, rare earth ion doped heavy metal glass or crystal materials with anti-Stokes effect include: yttrium oxide, yttrium oxysulfide, lanthanum fluoride, sodium yttrium fluoride, sodium gadolinium fluoride and Yb 3+ Doped ZBLANP, Yb 3+ Doped KGd(WO4)2 crystal, Yb 3+ Doped lithium yttrium fluoride crystal, Yb 3+ Doped KPb2Cl5 crystal, Yb 3+ Doped Y3Al5O 12 Crystal, Tm 3+ Doping ZBLANP, Tm 3+ Doped KGd(WO4)2 crystal, Tm 3+ Doped YLF crystal, Tm 3+ Doped KPb2Cl5 crystal, Tm 3+ At least one of doped YAG crystals; Preferably, the photothermal or photocold material composite pyroelectric material is any combination of the following photothermal or photocold material and the pyroelectric material; Wherein, the photothermal material is at least one of the following materials: small molecule photothermal reagents and composite materials of small molecule photothermal reagents; small molecule photothermal reagents include: carbon black, carbon nanotubes, graphene, black phosphorus, polydopamine, gold nanoparticles, gold nanorods, gallium-indium alloy liquid metal, black titanium dioxide, supramolecular metal organic framework materials, molybdenum disulfide, transition metal carbide nitride and carbonitride two-dimensional materials, fluorine-boron complexes; The optical cooling material is at least one of the following materials: rare earth ion doped heavy metal glass or crystal material with anti-Stokes effect and composite materials based on the above materials; rare earth ion doped heavy metal glass or crystal material with anti-Stokes effect includes: Yb 3+ Doped ZBLANP, Yb 3+ Doped KGd(WO4)2 crystal, Yb 3+ Doped lithium yttrium fluoride crystal, Yb 3+ Doped KPb2Cl5 crystal, Yb 3+ Doped Y3Al5O 12 Crystal, Tm 3+ Doping ZBLANP, Tm 3+ Doped KGd(WO4)2 crystal, Tm 3+ Doped YLF crystal, Tm 3+ Doped KPb2Cl5 crystal, Tm 3+ Doped YAG crystal.

8. The forceps manipulation system based on a transducer device as claimed in claim 1, characterized in that: The frequency, pulse width, number of excitation points, shape of excitation points, area of ​​excitation points and path of excitation points generated by the external field control device for ultrasound, magnetism and light can be tuned; The diameter of the manipulated object ranges from 1 nm to 10 cm; The number of objects ranges from 1 to 10,000.

9. A method for preparing a forceps manipulation system based on a transducer device according to claim 1, characterized in that: include: Provide an external field control device capable of generating focused ultrasound and a transducer device based on a transducer material; wherein the transducer device is composed of a transducer material or is a composite of a transducer material and a substrate material; wherein the transducer device is a composite of a transducer material and a substrate material, and the transducer material covers the surface of the substrate material or is arrayed and embedded on the substrate material; The ultrasonic generator as an external field control device is integrated with the transducer device to build a tweezers manipulation system based on the transducer device.

10. A control method of a forceps control system based on a transducer device according to claim 1, characterized in that: include: Turn on the ultrasonic generator and adjust the remote excitation parameters, thereby adjusting the spatial gradient electric field on the transducer device, changing the dielectrophoretic force exerted on the object under the gradient electric field, and controlling the object to move along a predetermined path.

Images