A control device and control method combining acoustic tweezers and magnetic tweezers

Abstract

The present application provides a manipulation device and a manipulation method combining acoustic tweezers and magnetic tweezers, comprising: an acoustic tweezers component, used to form a manipulation sound field in a manipulation area, and control the manipulation object to move in the manipulation area; a magnetic tweezers component located on one side of the acoustic tweezers component, used to form a manipulation magnetic field in the manipulation area, and control the manipulation object to rotate at the current position; wherein the manipulation object has magnetism. The manipulation device and the manipulation method provided by the technical solution of the present invention realize non-contact and precise manipulation of the movement of the manipulation object.

Description

Technical Field

[0001] The present invention relates to the field of micro-nano particle manipulation, and more specifically, to a manipulation device and a manipulation method combining acoustic tweezers and magnetic tweezers. Background Art

[0002] Acoustic tweezers and magnetic tweezers are two emerging contactless manipulation technologies with significant application potential in biomedical research fields such as non-invasive surgery, targeted therapy, and cell control.

[0003] Acoustic tweezers form an acoustic potential well in space, confine the manipulated object in the acoustic well, and control the motion of the object captured in the acoustic well by deflecting the acoustic well position. Magnetic tweezers manipulate the motion of a magnetic manipulated object by changing the magnetic field. When the manipulated object is inconsistent with the direction of the external magnetic field, the manipulated object will receive a rotational torque related to the magnetic field direction until it is consistent with the direction of the external magnetic field, and then the magnetic manipulated object can be rotated by changing the direction of the magnetic field.

[0004] For the acoustic tweezers manipulation technology, since the acoustic potential well has a three-dimensional restriction capability, the acoustic tweezers device can achieve precise three-dimensional movement, but its control accuracy for rotating the operating object at the current position is not high. In addition, for the magnetic tweezers manipulation technology, although the accuracy of rotating the operating object at the current position is very high and the rotation direction is not restricted, when a single magnetic tweezers device controls the movement of the operating object, it cannot achieve precise movement and must be combined with high-response feedback control. Therefore, it is difficult to control the precise movement and precise rotation of the object through the magnetic tweezers control technology, and the structure is complex.

[0005] Therefore, how to achieve precise movement and rotation of a controlled object is one of the problems to be solved urgently in this field. Summary of the invention

[0006] In view of this, the present application provides a manipulation device and a manipulation method combining acoustic tweezers and magnetic tweezers to achieve precise control of the manipulated object.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A control device combining acoustic tweezers and magnetic tweezers, the control device comprising:

[0009] An acoustic tweezers assembly, used to form a manipulation sound field in a manipulation area, and control the movement of a manipulated object in the manipulation area;

[0010] A magnetic tweezers assembly located on one side of the acoustic tweezers assembly is used to form a control magnetic field in the control area to control the control object to rotate at the current position;

[0011] Wherein, the manipulated object is magnetic.

[0012] Optionally, the control device includes:

[0013] The first control system controls the acoustic tweezers assembly to emit a first acoustic wave signal in a first time period to obtain an acoustic wave image formed by the manipulated object reflecting the first acoustic wave signal, and controls the acoustic tweezers assembly to emit a second acoustic wave signal in a second time period based on the acoustic wave image to control the movement of the manipulated object.

[0014] Optionally, the control device includes:

[0015] The second control system is used to control the magnetic tweezers assembly and the manipulation magnetic field formed by the magnetic tweezers assembly.

[0016] Optionally, the magnetic tweezers assembly comprises:

[0017] A first electromagnetic coil group, comprising a plurality of electromagnetic coils perpendicular to a first direction, for controlling the rotation of the manipulated object in the first direction;

[0018] A second electromagnetic coil group, comprising a plurality of electromagnetic coils perpendicular to the second direction, for controlling the rotation of the manipulated object in the second direction;

[0019] A third electromagnetic coil group, comprising a plurality of electromagnetic coils perpendicular to a third direction, for controlling the rotation of the manipulated object in the third direction;

[0020] The first direction, the second direction and the third direction are perpendicular to each other.

[0021] Optionally, the acoustic tweezers assembly comprises:

[0022] The ultrasonic probe is used to emit sound waves toward the control area to form the control sound field.

[0023] Optionally, the control device includes:

[0024] The ultrasonic control component located on the side of the ultrasonic probe facing the magnetic tweezers assembly is used to adjust the control sound field so that the control sound field coincides with the control magnetic field.

[0025] Optionally, the ultrasound probe includes:

[0026] A phased ultrasonic array, wherein the phased ultrasonic array comprises a plurality of transducers arranged in an array, and the phased ultrasonic array emits sound waves toward the control area to form the control sound field.

[0027] Optionally, the manipulated object includes:

[0028] Particles that are magnetic or combined with magnetic particles.

[0029] The present invention also provides a control method, characterized in that it is applied to any of the above control devices, comprising:

[0030] Obtaining the current position of the controlled object;

[0031] The manipulated object is controlled to move within the manipulated area by using the manipulated acoustic field formed by the acoustic tweezers assembly and the manipulated magnetic field formed by the magnetic tweezers assembly;

[0032] The control sound field is used to control the control object to move in the control area; and the control magnetic field is used to control the control object to rotate at a current position in the control area.

[0033] Optionally, obtaining the current position of the manipulated object includes:

[0034] A first acoustic wave signal is emitted by the acoustic tweezers assembly, an acoustic wave image formed by the manipulated object reflecting the first acoustic wave signal is obtained, and a current position of the manipulated object is determined based on the acoustic wave image.

[0035] From the above description, it can be seen that the control device and control method provided by the technical solution of the present invention control the movement of the controlled object by controlling the sound field, control the rotation of the controlled object by controlling the magnetic field, and can form an acoustic wave image by controlling the acoustic tweezers component to emit acoustic wave signals and receive reflected acoustic wave signals, thereby realizing monitoring and guiding of the controlled object, thereby realizing flexible and contactless control of the controlled object and improving the accuracy of the movement of the controlled object. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0037] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0038] Figure 1A schematic diagram of the structure of a control device provided by an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the steps of a control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the embodiments in the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0041] Acoustic tweezers use mutually opposed ultrasonic transducers (or transducers and reflectors), transducers combined with holographic acoustic lenses, or phased ultrasonic arrays to form an acoustic potential well in space, confining the manipulated object in the acoustic well. Therefore, the motion control of the object captured in the acoustic well can be achieved by moving the ultrasonic probe or by modulating the vibration phase of each element of the ultrasonic array to electronically deflect the acoustic well position.

[0042] In addition, magnetic tweezers achieve motion manipulation of natural magnetic dipoles or artificial magnetic dipoles polarized by strong magnetic fields by changing the magnetic field. A non-uniform magnetic field with strong and weak gradients will exert a magnetic force (torque) on the magnetic dipole according to the direction of its gradient to push the ferromagnetic manipulation object. In a uniform magnetic field, magnetic objects are not subject to the magnetic field gradient force. However, if the direction of the magnetic dipole is inconsistent with that of the external magnetic field, the magnetic dipole will receive a rotational torque related to the direction of the magnetic field, causing the magnetic dipole to rotate until it is consistent with the direction of the external magnetic field. Therefore, by changing the direction of the magnetic field, the rotation of the ferromagnetic manipulation object can be achieved.

[0043] However, for acoustic tweezers, since the acoustic trap has a three-dimensional restriction capability, acoustic tweezers can achieve precise three-dimensional movement of the manipulated object; but the control accuracy of its rotation is limited, and the direction of rotation is usually limited by the direction of the sound beam, so it is not easy to achieve precise rotation of the manipulated object through acoustic tweezers. For magnetic tweezers, its rotation accuracy is higher and the direction of rotation is not restricted; but moving magnetic objects through non-uniform magnetic fields must be combined with high-response monitoring feedback control to achieve precise directional movement, and the monitoring method is difficult to implement on the same electromagnetic coil used to drive the manipulated object.

[0044] Based on the above problems, an embodiment of the present application provides a manipulation device combining acoustic tweezers and magnetic tweezers, the manipulation device comprising: an acoustic tweezers component, used to form a manipulation sound field in a manipulation area, and control the manipulation object to move in the manipulation area; a magnetic tweezers component located on one side of the acoustic tweezers component, used to form a manipulation magnetic field in the manipulation area, and control the manipulation object to rotate at the current position; wherein the manipulation object has magnetism.

[0045] This application combines the acoustic tweezers technology with the magnetic tweezers technology, uses the manipulated sound field to move the manipulated object, uses the magnetic field to achieve the rotation of the manipulated object, and achieves precise manipulation of multiple degrees of freedom, thereby improving the control accuracy of the manipulated object. At the same time, compared with the prior art, the manipulated object in this application does not require special design or precision processing, and only requires the manipulated object to be magnetic, which increases the scope of application of the manipulation device. In addition, this application can also use the acoustic tweezers assembly to perform ultrasonic imaging of the manipulated object, and monitor and guide the manipulated object based on the formed ultrasonic image, thereby achieving complex manipulation under the guidance of ultrasonic images.

[0046] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0047] refer to Figure 1 , Figure 1 A schematic diagram of the structure of a control device provided in an embodiment of the present invention. The control device includes:

[0048] The acoustic tweezers assembly 1 is used to form a control sound field in the control area to control the control object to move in the control area 4; the magnetic tweezers assembly 2 located on one side of the acoustic tweezers assembly is used to form a control magnetic field in the control area 4 to control the control object to rotate at the current position; wherein the control object is magnetic.

[0049] The acoustic tweezers component forms a control sound field, and the control object is captured in the sound trap of the control sound field. The acoustic tweezers component is adjusted to deflect the sound trap, thereby moving the control object. At the same time, the magnetic tweezers component forms a control magnetic field, and the magnetic control object is controlled to rotate at the current position, thus achieving precise control of the movement and rotation of the control object. In addition, the control of movement by the acoustic field and rotation by the magnetic field is achieved, thus achieving flexible and contactless control of the control object.

[0050] In an embodiment of the present invention, the manipulation device further includes: a first control system, which controls the acoustic tweezers assembly to emit a first acoustic wave signal in a first period of time to obtain an acoustic wave image formed by the manipulated object reflecting the first acoustic wave signal, and controls the acoustic tweezers assembly to emit a second acoustic wave signal in a second period of time based on the acoustic wave image to control the movement of the manipulated object. The emission of the first acoustic wave signal and the second acoustic wave signal is performed alternately.

[0051] The acoustic tweezers assembly is controlled by a first control system to emit a first acoustic wave signal and receive the first acoustic wave signal reflected by a manipulated object, and then an acoustic wave image reflecting the real-time position and motion state of the manipulated object is formed. Based on this acoustic wave image, the second acoustic wave signal emitted by the acoustic tweezers assembly for controlling the movement of the manipulated object is adjusted. In addition, the first acoustic wave signal and the second acoustic wave signal are emitted alternately to monitor and adjust the real-time state of the manipulated object, thereby forming a control-feedback closed loop.

[0052] In addition, while the acoustic tweezers component is used to move the manipulated object, real-time monitoring and guidance of the state of the manipulated object is achieved, thereby improving the utilization rate of the acoustic tweezers component and simplifying the structure of the manipulation device without adding a detection feedback device.

[0053] In the embodiment of the present application, the control device further includes: a second control system for controlling the magnetic field strength of the magnetic tweezers assembly in different directions. Figure 1 As shown, the magnetic tweezers assembly 2 includes a first electromagnetic coil group 21, a second electromagnetic coil group 22 and a third electromagnetic coil group 23, wherein the first electromagnetic coil group 21 includes two electromagnetic coils perpendicular to the first direction, used to control the rotation of the manipulated object in the first direction; the second electromagnetic coil group 22 includes two electromagnetic coils perpendicular to the second direction, used to control the rotation of the manipulated object in the second direction; the third electromagnetic coil group 23 includes two electromagnetic coils perpendicular to the third direction, used to control the rotation of the manipulated object in the third direction; the first direction, the second direction and the third direction are perpendicular to each other. That is, Figure 1As shown, taking the spatial rectangular coordinate system as an example, the first direction represents the x-axis direction, the second direction represents the y-axis direction, and the third direction represents the z-axis direction; the first electromagnetic coil group 21 can form a first magnetic field with independently controlled magnetic field strength in the x-axis direction, and accordingly, the second electromagnetic coil group 22 can form a second magnetic field with independently controlled magnetic field strength in the y-axis direction, and the third electromagnetic coil group 23 can form a third magnetic field with independently controlled magnetic field strength in the z-axis direction. By regulating the first electromagnetic coil group 21, the second electromagnetic coil group 22 and the third electromagnetic coil group 23, the magnetic field strengths of the first magnetic field, the second magnetic field and the third magnetic field are changed to form a control magnetic field for rotating the control object. Obviously, the magnetic field strengths of the first magnetic field, the second magnetic field and the third magnetic field can be set accordingly to form a control magnetic field of any angle and any strength, thereby controlling the rotation of the control object based on the control magnetic field at any angle and any speed.

[0054] Optionally, the magnetic tweezers component can control the rotation of the manipulated object based on the first control system controlling the acoustic tweezers component to monitor the real-time status of the manipulated object, and the second control system can correspondingly adjust the manipulation magnetic field formed by the magnetic tweezers component based on the real-time status of the manipulated object, thereby achieving real-time monitoring and corresponding adjustments of the rotation of the manipulated object. This solution utilizes the acoustic tweezers component to monitor the rotation of the manipulated object controlled by the magnetic tweezers component, thus overcoming the difficulty that the same electromagnetic coil cannot monitor the manipulated object, and does not require the introduction of a monitoring device outside the manipulation device, thereby simplifying the structure of the manipulation device. It should be noted that Figure 1 The electromagnetic coil groups shown in the figure all include two electromagnetic coils parallel to each other, which can realize the rotation of the controlled object in any direction. Accordingly, the electromagnetic coil group can also be provided with a plurality of electromagnetic coils parallel to each other, which can realize more precise control. Therefore, the corresponding number of electromagnetic coils can be designed according to actual needs, and the present invention does not limit this.

[0055] Optionally, the magnetic tweezers assembly can also realize the control of the rotation of the manipulated object by providing a plurality of magnets and a component corresponding to the magnetic field strength of each magnet. Therefore, other forms of designs for realizing the change of magnetic field strength are all within the protection scope of the embodiments of this application.

[0056] In the embodiment of the present application, the acoustic tweezers assembly 1 comprises: an ultrasonic probe, which is used to emit sound waves toward the manipulation area to form the manipulation sound field. Figure 1As shown, the ultrasonic probe is located at the bottom of the control device, and the control area 4 is located above the ultrasonic probe, that is, the ultrasonic probe emits sound waves upward to form a control sound field and a sound trap to capture the control object in the control area 4. At the same time, based on the above-mentioned magnetic tweezers assembly 2, a control magnetic field is formed in the control area 4. The larger the area where the control sound field and the control magnetic field overlap, the larger the control area for the control object. Therefore, the control device also includes: an ultrasonic control component 4 located on the side of the ultrasonic probe facing the magnetic tweezers assembly 2, which is used to adjust the control sound field so that the control sound field and the control magnetic field overlap to the greatest extent.

[0057] Optionally, the ultrasonic control component includes a water bag or a low-density polyethylene partition, and the water bag or the low-density polyethylene partition can adjust the range and intensity of the sound waves emitted by the ultrasonic probe to achieve the adjustment of the control sound field range and the overlap of the control sound field and the control magnetic field. The overlap range of the control sound field and the control magnetic field can be flexibly set based on demand to achieve the control of control objects of different sizes. In addition, other devices that can adjust the range and intensity of the sound waves emitted by the ultrasonic probe are within the scope of the application.

[0058] Optionally, the ultrasonic probe includes: a phased ultrasonic array, the phased ultrasonic array includes a plurality of transducers arranged in an array, and the phased ultrasonic array emits sound waves toward the control area to form the control sound field. The phased ultrasonic array can capture the control object by adjusting the emission phase and / or amplitude of each transducer based on the acoustic impedance of the control object and the propagation medium, thereby achieving precise control of the control object.

[0059] In addition, the specific sound pressure distribution form required to generate the sound trap is determined according to the difference in acoustic impedance between the manipulated object and the propagation medium. When the acoustic impedance of the manipulated object is less than the acoustic impedance of the propagation medium, the phased ultrasonic array generates a focused sound field with a strong energy point at the predetermined capture position to achieve the capture of the manipulated object; when the acoustic impedance of the manipulated object is greater than the acoustic impedance of the propagation medium, the phased ultrasonic array generates a vortex sound field with zero sound intensity (i.e., phase singularity) at the predetermined capture position to achieve the capture of the manipulated object. Therefore, according to the propagation medium and the manipulated object of different materials, the corresponding sound trap can be formed to achieve the capture of the manipulated object, and then the movement control of the manipulated object can be achieved.

[0060] Optionally, the propagation medium may be made of a material with a large compression ratio and low density, so that the acoustic tweezers assembly forms a focused sound field to capture and move the manipulated object, simplifying the manipulated sound field and facilitating independent control of the movement of multiple manipulated objects at the same time.

[0061] At the same time, based on the multi-angle plane composite algorithm, the ultrasonic image in the control area can be reconstructed by time-division multiplexing the control signal sequence and the corresponding imaging signal sequence. That is, the first acoustic wave signal is emitted in the first time period by the phased ultrasonic array, and the first acoustic wave signal reflected by the control object is received to form an acoustic wave image. The reflection phase and amplitude of the phase of each transducer of the phased ultrasonic array are adjusted based on the acoustic wave image, and the second acoustic wave signal is emitted in the second time period to accurately adjust the position of the control object. The first time period and the second time period are performed alternately to realize real-time monitoring and guidance of the control object, form a control feedback closed loop, improve the control accuracy, and improve the efficiency of the control device.

[0062] Optionally, the above-mentioned phased ultrasonic array includes opposing phased arrays, which can form a dynamically adjustable standing wave sound field to achieve control of the manipulated object. At the same time, the height of the transducer in the phased ultrasonic array will affect the range of the sound field and the ability to penetrate the medium. Therefore, the model, height and size of the transducer can be set based on the propagation medium and the range of the sound field, and this application does not limit this.

[0063] Optionally, the acoustic tweezers assembly that forms the manipulated sound field further includes: a single-element ultrasonic transducer combined with an acoustic holographic lens to form the acoustic tweezers assembly. The position of the manipulated object can also be adjusted by forming a single acoustic beam sound field through a single-element ultrasonic transducer combined with an acoustic holographic lens, and this application will not go into details.

[0064] It should be noted that the manipulation objects described in the embodiments of the present application are all particles with magnetism or combined with magnetic particles. For example, in the medical field, cells can be combined with magnetic nanoparticles to make the cells magnetic. In addition, the manipulation objects also include objects that can be magnetized and have magnetism, and the present application scheme can also achieve control of the manipulation objects.

[0065] Optionally, the shape of the manipulated object is a sphere or a spherical shape, which can improve the stability of the acoustic tweezers assembly in manipulating the manipulated object.

[0066] Based on the above embodiments, the present application also provides a control method, which is applied to any of the above control devices. Figure 2 , Figure 2 A schematic diagram of the steps of a control method provided in an embodiment of the present application, the control method comprising:

[0067] Step S1: obtaining the current position of the manipulated object, wherein the acoustic tweezers assembly emits a first acoustic wave signal, obtains an acoustic wave image formed by the manipulated object reflecting the first acoustic wave signal, and determines the current position of the manipulated object based on the acoustic wave image.

[0068] Step S2: controlling the manipulated object to move within the manipulated area by using the manipulated acoustic field formed by the acoustic tweezers assembly and the manipulated magnetic field formed by the magnetic tweezers assembly.

[0069] Among them, the control sound field is used to control the control object to move in the control area; the control magnetic field is used to control the control object to rotate at the current position of the control area. That is, by adjusting the working parameters of the acoustic tweezers assembly, a changed control sound field is formed, so that the control object adjusts its position based on the changed control sound field; by adjusting the working parameters of the magnetic tweezers assembly, a changed control magnetic field is formed, so that the control object rotates at the current position based on the changed control magnetic field. For example, when the acoustic tweezers assembly is a phased ultrasonic array, the position of the acoustic trap that captures the control object in the control sound field is changed by changing the emission phase and / or amplitude of each array element, so as to achieve precise movement of the control object.

[0070] In addition, in the embodiment of the present application, the state of the controlled object is monitored by the acoustic wave image formed by the acoustic tweezers component, and the state of the controlled object in the next time period is estimated based on the state of the controlled object. Based on the comparison and analysis between the estimated value and the actual value, the working parameters of the acoustic tweezers component and the magnetic tweezers component are adjusted accordingly to further improve the control accuracy of the controlled object.

[0071] The control device and control method of the acoustic tweezers and magnetic tweezers provided by the technical solution of the present invention use the acoustic tweezers component to form a control sound field to control the movement of the control object, and use the magnetic tweezers component to form a control magnetic field to control the rotation of the control object, thereby realizing multi-angle precision control and improving the control accuracy of the control object. The control device uses the acoustic tweezers component to perform ultrasonic imaging to realize monitoring and guidance of the control object, while also improving the control accuracy of the control object.

[0072] In this specification, each embodiment is described in a progressive, parallel, or progressive and parallel manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0073] It should be noted that in the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. When a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time.

[0074] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that an article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the article or device including the above elements.

[0075] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A manipulation device combining acoustic tweezers and magnetic tweezers, characterized in that: include: An acoustic tweezers assembly, used to form a manipulation sound field in a manipulation area, and control the movement of a manipulated object in the manipulation area; A magnetic tweezers assembly located on one side of the acoustic tweezers assembly is used to form a control magnetic field in the control area to control the control object to rotate at the current position; Wherein, the manipulated object has magnetism; Also includes: a first control system, controlling the acoustic tweezers assembly to emit a first acoustic wave signal in a first time period to obtain an acoustic wave image formed by the manipulated object reflecting the first acoustic wave signal, and controlling the acoustic tweezers assembly to emit a second acoustic wave signal in a second time period based on the acoustic wave image to control the manipulated object to move; A second control system, used for controlling the magnetic tweezers assembly and the manipulation magnetic field formed by the magnetic tweezers assembly; The magnetic tweezers assembly comprises: A first electromagnetic coil group, comprising a plurality of electromagnetic coils perpendicular to a first direction, for controlling the rotation of the manipulated object in the first direction; A second electromagnetic coil group, comprising a plurality of electromagnetic coils perpendicular to the second direction, for controlling the rotation of the manipulated object in the second direction; A third electromagnetic coil group, comprising a plurality of electromagnetic coils perpendicular to a third direction, for controlling the rotation of the manipulated object in the third direction; Wherein, the first direction, the second direction and the third direction are perpendicular to each other; An ultrasonic probe, used for emitting sound waves toward the control area to form the control sound field; An ultrasonic control component located on a side of the ultrasonic probe facing the magnetic tweezers assembly, used to adjust the control sound field so that the control sound field coincides with the control magnetic field; A first acoustic wave signal is emitted by the acoustic tweezers assembly, an acoustic wave image formed by the manipulated object reflecting the first acoustic wave signal is acquired, and a current position of the manipulated object is determined based on the acoustic wave image.

2. The control device according to claim 1, characterized in that: The ultrasonic probe comprises: A phased ultrasonic array, wherein the phased ultrasonic array comprises a plurality of transducers arranged in an array, and the phased ultrasonic array emits sound waves toward the control area to form the control sound field.

3. The control device according to claim 1, characterized in that: The control objects include: Particles that are magnetic or combined with magnetic particles.

4. A control method, characterized in that: The control device applied to any one of claims 1 to 3 above comprises: Obtaining the current position of the manipulated object; The manipulated object is controlled to move within the manipulated area by using the manipulated acoustic field formed by the acoustic tweezers assembly and the manipulated magnetic field formed by the magnetic tweezers assembly; The control sound field is used to control the control object to move in the control area; and the control magnetic field is used to control the control object to rotate at a current position in the control area.

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