WO2023283752A1 - 一种旋转控制模块、方法与系统 - Google Patents

一种旋转控制模块、方法与系统 Download PDF

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Publication number
WO2023283752A1
WO2023283752A1 PCT/CN2021/105675 CN2021105675W WO2023283752A1 WO 2023283752 A1 WO2023283752 A1 WO 2023283752A1 CN 2021105675 W CN2021105675 W CN 2021105675W WO 2023283752 A1 WO2023283752 A1 WO 2023283752A1
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target object
rotation control
sound field
module
cavity container
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French (fr)
Inventor
郑海荣
黄来鑫
李飞
蔡飞燕
孟龙
牛丽丽
周伟
林争荣
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons

Definitions

  • the present application relates to the technical field of microscopic observation, in particular to a rotation control module, method and system.
  • Caenorhabditis elegans is a model organism with a simple body structure. Accurate and multi-view observation of the body structure of the nematode is of great significance to the study of the nematode. However, due to the small size of nematodes, how to manipulate the nematodes to rotate for multi-angle microscopic observation has become a problem that technicians need to consider.
  • the embodiment of the present application provides a rotation control module, method and system, which can control tiny objects such as nematodes to rotate at a designated position, so as to observe the object from multiple angles.
  • the first aspect of the embodiments of the present application provides a rotation control module, which includes a cavity container and an ultrasonic excitation module, and a structure is arranged in the cavity container;
  • the cavity container is used for containing the liquid containing the target object
  • the ultrasonic excitation module is used to emit ultrasonic waves to the cavity container, and excite the structure body to resonate through the ultrasonic waves, so that the surface of the structure body generates a sound field, and control the target object to move on the surface of the structure body through the sound field.
  • the surface of the structure is rotated.
  • a liquid containing a target object (such as a nematode) is preliminarily filled into a cavity container, and a structure is put into the cavity container. Then, the ultrasonic wave is used to excite the structure to generate resonance, and the spatially distributed local strong sound field generated by the resonance will form the acoustic radiation force and the acoustic flow on the surface of the structure. Under the action of the acoustic radiation force and the acoustic flow, it can The target object is controlled to rotate on the surface of the structure so as to observe the target object from multiple angles.
  • a target object such as a nematode
  • the bottom of the cavity container is provided with a piezoelectric sheet
  • the ultrasonic excitation module may include:
  • a signal generator configured to output a pulse signal of a specified frequency, and the specified frequency is set according to the resonant frequency of the structure
  • the power amplifier is used to amplify the pulse signal to obtain an excitation signal, so that the piezoelectric sheet generates an ultrasonic wave under the action of the excitation signal, and the ultrasonic wave is used to excite the structure to resonate.
  • the ultrasonic excitation module can be composed of a signal generator and a power amplifier, where the signal generator is used to output a pulse signal of a specified frequency (set based on the resonance frequency of the structure), and the power amplifier is used to amplify the pulse signal , to obtain an amplified excitation signal, which can then be converted into ultrasonic waves through piezoelectric sheets.
  • the signal generator is used to output a pulse signal of a specified frequency (set based on the resonance frequency of the structure)
  • the power amplifier is used to amplify the pulse signal , to obtain an amplified excitation signal, which can then be converted into ultrasonic waves through piezoelectric sheets.
  • the cavity container may be composed of a quartz base, a container wall and a detachable top cover.
  • the top cover of the cavity container is detachable, it is convenient to realize micro-operations such as micro-injection in an open space.
  • the structure body may be a rectangular plate-shaped structure, and the plate-shaped structure is provided with multiple columns of grids arranged at equal intervals.
  • This structure can excite the non-leaky Lamb wave in the structure to generate a localized strong transmission sound field, thereby generating strong sound radiation force and sound flow.
  • the second aspect of the embodiment of the present application provides a rotation control method, which is applied to the rotation control module provided in the first aspect of the embodiment of the present application, and the method includes:
  • the structure is excited to resonate by ultrasonic waves, so that the surface of the structure generates a sound field, and the target object is controlled to rotate on the surface of the structure through the sound field.
  • the ultrasonic excitation module is used to emit ultrasonic waves to the cavity container, and the structure is resonated by the ultrasonic excitation, and a periodic sound field of sufficient intensity will be formed on the surface of the structure, thereby generating periodic sound radiation force and sound flow .
  • the target object Under the action of the acoustic radiation force and the acoustic flow, the target object can be controlled to rotate on the surface of the structure, so as to microscopically take images of the target object at multiple different rotation angles.
  • the bottom of the cavity container is provided with a piezoelectric sheet
  • the ultrasonic excitation module includes a signal generator and a power amplifier; the ultrasonic excitation module is used to emit ultrasonic waves to the cavity container , which can include:
  • the power amplifier is used to amplify the pulse signal to obtain an excitation signal, so that the piezoelectric sheet generates ultrasonic waves under the action of the excitation signal.
  • a signal generator can be used to output a pulse signal of a specified frequency, and then a power amplifier is used to amplify the pulse signal to obtain an excitation signal; when the excitation signal acts on the piezoelectric sheet, ultrasonic waves will be generated.
  • controlling the rotation of the target object on the surface of the structure through the sound field may include:
  • the target object floating in the liquid can be adsorbed to the surface of the structure.
  • the target object Under the action of the sound flow, the target object can be controlled to rotate.
  • the method after controlling the rotation of the target object on the surface of the structure through the sound field, it may further include:
  • Images of the target object at multiple different rotation angles are extracted from the video, and a three-dimensional model of the target object is reconstructed according to the images of the target object at multiple different rotation angles.
  • a camera can be used to take a video of the target object rotating on the surface of the structure, and then a computer can be used to extract images of the target object at multiple different rotation angles from the video, and complete the reconstruction of the 3D model based on these images.
  • obtaining the three-dimensional model of the target object according to image reconstruction of the target object at multiple different rotation angles may include:
  • the existing 3D reconstruction algorithm can be used to reconstruct the 3D appearance (initial 3D model) of the target object, and finally texture mapping and rendering processing are performed to obtain the final 3D Model.
  • the third aspect of the embodiment of the present application provides a rotation control system, which includes an imaging module, a three-dimensional reconstruction module and the rotation control module provided in the first aspect of the embodiment of the present application;
  • the imaging module is used to take a video of the target object rotating on the surface of the structure
  • the three-dimensional reconstruction module is configured to extract images of the target object at multiple different rotation angles from the video, and reconstruct images of the target object at multiple different rotation angles to obtain an image of the target object 3D model.
  • Fig. 1 is a schematic diagram of a rotation control system provided by an embodiment of the present application
  • Fig. 2 is a schematic diagram of the rotation control module in Fig. 1;
  • Fig. 3 is a schematic diagram of a plate-shaped structure provided by an embodiment of the present application.
  • Fig. 4 is the transmission spectrum of the structure shown in Fig. 3;
  • Fig. 5 is a flow chart of a rotation control method provided by an embodiment of the present application.
  • Figure 6(a) is a schematic diagram of the sound pressure distribution on the surface of the structure simulated by the multi-physics simulation software
  • Figure 6(b) is a schematic diagram of the acoustic radiation force received by different positions on the surface of the structure simulated by the multi-physics simulation software;
  • Fig. 7 is a schematic diagram of a target object rotating under the action of an acoustic flow
  • FIG. 8 is a schematic diagram of a three-dimensional model reconstruction process of a target object
  • Figure 9 is an image of nematodes and glass rods vertically arranged along the surface of the structure observed under a microscope;
  • Fig. 10 is a schematic diagram of images of nematodes at different rotation angles and the reconstructed three-dimensional model.
  • the present application proposes a rotation control module, method and system, the purpose of which is to control tiny objects such as nematodes to rotate at designated positions so as to observe the objects from multiple angles.
  • This application mainly uses ultrasonic waves to excite the structure (which can be a phononic crystal plate) in the cavity container to resonate, and uses the periodically distributed strong sound field generated by the resonance to capture the tiny objects in the liquid in the cavity container and arrangement, while using the torque generated by the asymmetrically distributed acoustic flow induced by the sound field around the object to rotate the object.
  • the structure which can be a phononic crystal plate
  • FIG. 1 it is a schematic diagram of a rotation control system provided by an embodiment of the present application.
  • the system includes three functional modules, namely a rotation control module, an imaging module and a three-dimensional reconstruction module.
  • the rotation control module is used to manipulate the object to be observed to change its posture, such as moving and rotating;
  • the imaging module is used to take images of the object to be observed in different postures;
  • the three-dimensional reconstruction module is used to reconstruct the object to be observed according to the captured images 3D model of .
  • the schematic diagram of the rotation control module in Fig. 1 is shown in Fig. 2. It mainly includes two parts: an ultrasonic excitation module and a cavity container.
  • the cavity container can be a container with a cavity structure of a specified shape (such as a rectangle or a square, etc.), and its size It can be reasonably set according to the size of the object to be observed, and its material can be glass or polydimethylsiloxane.
  • the cavity container is mainly used for containing the liquid containing the target object to be observed, and during operation, the liquid containing the target object is filled into the cavity container.
  • the size and shape of the structure can be set according to actual needs, and the material of the structure can be stainless steel, brass or silicon.
  • the structure may be a phononic crystal plate, that is, a material or structure with a periodic distribution of elastic constant and density.
  • the ultrasonic excitation module is used to emit ultrasonic waves to the cavity container, and excite the structure inside the cavity container to generate resonance.
  • the resonance phenomenon will cause the surface of the structure to generate an acoustic field, through which the target object can be controlled to rotate on the surface of the structure.
  • the ultrasonic excitation module can be composed of a signal generator and a power amplifier, where the signal generator is used to output a pulse signal of a specified frequency (set based on the resonance frequency of the structure), and the power amplifier is used to amplify the pulse signal , to obtain an amplified excitation signal, and then convert the excitation signal into an ultrasonic wave through a piezoelectric sheet (or other ultrasonic transducers, such as a Gaussian beam sound source, etc.), and excite the structure through the generated ultrasonic wave to generate resonance.
  • the signal generator is used to output a pulse signal of a specified frequency (set based on the resonance frequency of the structure)
  • the power amplifier is used to amplify the pulse signal , to obtain an amplified excitation signal, and then convert the excitation signal into an ultrasonic wave through a piezoelectric sheet (or other ultrasonic transducers, such as a Gaussian beam sound source, etc.), and excite the structure through the generated ultrasonic wave to generate resonance
  • the cavity container may be composed of a quartz base, a container wall and a detachable top cover, and a piezoelectric sheet is bonded on the quartz base.
  • the container wall may be bonded to the quartz base and the top cover.
  • the structure body is a rectangular plate-shaped structure, and the plate-shaped structure is provided with multiple columns of grids arranged at equal intervals.
  • FIG. 3 it is a schematic diagram of a plate-like structure provided in the embodiment of the present application.
  • Figure 3 shows the cross-section of the plate structure, where t is the thickness of the plate, a is the distance between two grids, w is the width of the grid, and h is the height of the grid. According to the size of the cavity container and the target object, the length and width of the plate-like structure and various dimensional parameters in FIG. 3 can be reasonably set.
  • Using the structure shown in Figure 3 can excite the non-leaky Lamb waves in the structure to generate a localized (sub-wavelength) strong transmission sound field, thereby generating strong sound radiation force and sound flow. It should be noted that Fig.
  • the plate-shaped structure can also be set to be curved according to requirements, and its grid can also be curved or non-equidistant,
  • the present application does not limit the specific shape and structure of the structure.
  • FIG. 4 it is the transmission spectrum of the structure shown in FIG. 3 (made of stainless steel material). From the transmission spectrum, it can be known that the resonant frequency of the structure is about 4.6MHz, that is, the ultrasonic wave with a frequency of about 4.6MHz can cause the structure to resonate, thereby generating a sound field with sufficient intensity. Obtain strong acoustic radiation force and acoustic flow to manipulate the movement of the target object.
  • the imaging module in Figure 1 can be composed of bright field light source, optical lens, camera and other components, and is mainly used to shoot the video of the target object rotating on the surface of the structure.
  • a fluorescent light source can also be added to the imaging module. Since the target object rotates by itself under the action of the sound field, there is no need to move the camera during video shooting.
  • the 3D reconstruction module in Figure 1 can use equipment such as a computer, by using a camera calibration algorithm and a 3D reconstruction algorithm, running image processing software and texture mapping and rendering software on the computer, based on the rotation video of the target object collected by the imaging module, Images of the target object at multiple different rotation angles can be extracted, and then a three-dimensional model corresponding to the target object can be reconstructed based on these images.
  • FIG. 5 it is a flowchart of a rotation control method provided by an embodiment of the present application, and the method is applied to the rotation control module or system described above.
  • the method includes:
  • the rotation control module first, fill the cavity container with liquid containing the target object, specifically, use a pipette gun or other equipment to mix tiny objects (generally cylindrical or approximately cylindrical particles, such as Nematodes, as a target object to be observed) liquid (such as water) is moved into the cavity container.
  • tiny objects generally cylindrical or approximately cylindrical particles, such as Nematodes, as a target object to be observed
  • liquid such as water
  • a structure for example, a plate-like structure as shown in Figure 3 can be used
  • the liquid can be injected directly onto the structure with a pipette gun, and the liquid can be used as an acoustic transmission in the subsequent process. medium.
  • the ultrasonic excitation module is used to emit ultrasonic waves to the cavity container, and the ultrasonic waves can excite the structure in the cavity container to generate resonance, thereby forming an acoustic field on the surface of the structure.
  • the bottom of the cavity container is provided with a piezoelectric sheet
  • the ultrasonic excitation module includes a signal generator and a power amplifier
  • the ultrasonic excitation module is used to transmit ultrasonic waves to the cavity container, which may include:
  • the ultrasonic excitation module can be composed of a signal generator and a power amplifier, wherein the signal generator is used to generate a pulse signal of a specified frequency (set based on the resonant frequency of the structure and the center frequency of the piezoelectric sheet); for example, if the resonant frequency of the structure is 4.6MHz, and the center frequency of the piezoelectric film is 4.5MHz, then a pulse signal with a frequency of 4.577MHz can be output by a signal generator.
  • the pulse signal is amplified by a power amplifier to obtain an excitation signal, which is used to excite the piezoelectric sheet (as an ultrasonic transducer) to generate ultrasonic waves.
  • the target object When the structure is excited by ultrasonic waves to generate resonance, a periodic sound field of sufficient intensity will be formed on the surface of the structure, thereby generating periodic sound radiation force and sound flow. Under the action of the acoustic radiation force and the acoustic flow, the target object can be controlled to rotate on the surface of the structure, so as to microscopically take images of the target object at multiple different rotation angles.
  • the specific principle of controlling the rotation of the target object on the surface of the structure through the sound field please refer to the following description.
  • controlling the rotation of the target object on the surface of the structure through the sound field may include:
  • the target object floating in the liquid Under the action of the acoustic radiation force, the target object floating in the liquid can be adsorbed to the surface of the structure. Under the action of the sound flow, the target object can be controlled to rotate.
  • the sound field generated on the surface of the plate-shaped structure can be calculated and simulated by using multi-physics simulation software (such as COMSOL), including sound pressure field and velocity field, etc., and the target object can also be further calculated
  • the sound radiation force received in the sound field can explain the principle of target object movement and rotation according to the results of software simulation.
  • the calculation area includes liquid (usually water) and structure, where the liquid is simulated by pressure acoustics (frequency domain), and the structure is simulated by a solid mechanics model.
  • the plane wave incident on the bottom area of the structure (simulating the ultrasonic wave generated by the piezoelectric sheet), and set the plane wave radiation on the top area of the structure.
  • the sound pressure on the surface of the structure is simulated by the multi-physics simulation software
  • the schematic diagram of the distribution is shown in Fig. 6(a). In Fig.
  • FIG. 6(a) the sound pressure distribution near the two grid surfaces of the structure is shown, where the two small white circles mark the capture position of the target object (such as nematode), which can be regarded as the cross-section of the target object , which is approximately regarded as a cylinder in calculations.
  • the schematic diagram of the acoustic radiation force at different positions on the surface of the structure in Fig. 6(a) can be simulated by multi-physics simulation software, as shown in Fig. 6(b).
  • Fx is the two-dimensional acoustic radiation force component received in the x direction
  • Fy is the two-dimensional acoustic radiation force component received in the y direction
  • the x direction and y direction can refer to Fig.
  • ⁇ represents the radiation stress
  • ⁇ *> represents the time average operator
  • I represents the unit tensor
  • ⁇ 0 and c 0 are the density and sound velocity of the sound propagation medium, respectively, which are fixed parameters of the medium at room temperature and can be obtained by querying the data
  • p and v are the first-order sound pressure and velocity field, respectively.
  • the radiation stress ⁇ can be obtained by numerical solution methods such as finite element method and finite difference method.
  • F rad represents the radiation force
  • T rad represents the radiation moment
  • r represents the direction vector from the center of mass of the target object (under the two-dimensional calculation model, the center of mass can be the center of the cross section of the target object) to a point on the surface of the target object
  • dS is the The product of the normal vector of a surface point and the area element.
  • the radiation moment of the target object is close to 0.
  • the moment in the sound field comes from the radiation force and the acoustic flow. Therefore, if the radiation moment is close to 0, the target can be determined
  • the rotation of the object is caused by the acoustic flow, and the following calculates the distribution of the acoustic flow generated by the sound field on the surface of the structure.
  • the viscous stress (viscous stress) of an incompressible fluid can be expressed as:
  • ⁇ ij ⁇ (u i,j +u j,i )
  • ⁇ ij represents the viscous stress
  • ⁇ is the hydrodynamic viscosity, which is a fixed parameter of the medium at room temperature, and can be obtained by consulting the data
  • u represents the velocity of the acoustic flow
  • the values of subscript i and subscript j can be 1, 2 Or 3, respectively represent the components of the variable along the three coordinate axes x, y and z in space
  • the comma between i and j represents the partial derivative of the variable on the coordinates.
  • the viscous stress between x-direction and y-direction can be expressed as:
  • ⁇ 12 ⁇ (u 1,2 +u 2,1 )
  • u 1,2 represents the partial derivative of u x in the y direction
  • u 2,1 represents the partial derivative of u y in the x direction
  • u x represents the component of the acoustic flow velocity in the x direction
  • u y represents the acoustic flow The component of the velocity in the y direction.
  • the acoustic flow velocity u can be calculated using the following formula:
  • p 2 is the second-order pressure field
  • ⁇ *> is the time average operator
  • ⁇ 0 is the density of the sound propagation medium
  • ⁇ is the fluid dynamic viscosity
  • v is the velocity field
  • this formula can be solved by using the peristaltic flow module in the software COMSOL, and can be calculated after solving the acoustic flow velocity u Viscous stress, according to the viscous stress, the acoustic viscous torque on the target object can be obtained as:
  • Figure 7 is a schematic diagram of the target object rotating under the action of the acoustic flow, wherein the target object 1 on the left of Figure 7 (the circle represents the cross section of the target object) rotates clockwise along its own center, and the target object 2 on the right of Figure 7 Rotate counterclockwise around its own center.
  • arrows are also used to mark the sound flow near the target object and the moment of the target object. It can be seen that for the target object 1 on the left, the sound flow on the left side is stronger, while the sound flow on the right side is weaker , so a clockwise moment will be generated, making the target object rotate clockwise, and the conclusion is opposite for the target object on the right.
  • a camera can be used to take a video of the target object rotating on the surface of the structure, and then a computer can be used to extract the target object from the video at multiple different rotation angles (such as 0°, 90°, 180°, 270° and 360°) images, this process is also called frame splitting, and then the image can be cropped, enhanced, filtered or edge recognition and other preprocessing processes; then, use 3D reconstruction algorithms (such as Marching Cube algorithm, Ball Pivoting algorithm and Screened Poisson algorithm, etc.) to reconstruct the three-dimensional shape of the target object, and finally perform texture mapping and rendering processing to obtain the corresponding three-dimensional model.
  • 3D reconstruction algorithms such as Marching Cube algorithm, Ball Pivoting algorithm and Screened Poisson algorithm, etc.
  • the camera parameters need to be calibrated and solved, that is, the camera matrix P needs to be obtained to describe the pixel coordinates (x, y) and The corresponding relationship of the actual space coordinates (X, Y, Z).
  • the transformation matrix of the coordinate system where R is the rotation matrix, which can be obtained according to the rotation angle of the target object, and t is the translation matrix, which can be obtained according to the positions of the origin of the world coordinate system and the origin of the camera coordinate system.
  • ultrasound is used to excite the structural body to resonate, and the spatially distributed local strong sound field generated by the resonance will form an acoustic radiation force and an acoustic flow on the surface of the structure.
  • the target object can be controlled to rotate on the surface of the structure so as to observe the target object from multiple angles.
  • cavity containers with removable top lids can be used to enable micromanipulation such as microinjection in an open space.
  • images of different rotation angles of the target object can also be taken through the microscope camera, and the three-dimensional reconstruction algorithm is used to reconstruct these images to obtain the corresponding three-dimensional model.
  • sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application .
  • a structure with a periodic grid is produced as shown in Figure 3.
  • the structure is put into a cavity container, which is composed of a quartz glass substrate, a container wall of polydimethylsiloxane material, and a glass top cover, and the container wall can be bonded to the base and the top cover.
  • the ultrasonic transducer uses a PZT4 piezoelectric ceramic sheet with a center frequency of 4.5MHz, which is bonded to the glass substrate of the cavity container through epoxy resin.
  • a signal generator is used to generate a pulse signal with a frequency of 4.577MHz, and after being amplified by a power amplifier, the piezoelectric ceramic sheet is excited to generate ultrasonic waves.
  • the structure generates resonance under the action of ultrasonic waves, so that the surface of the structure forms a strong sound field.
  • the glass top cover of the cavity container was first opened, water mixed with nematodes and glass rods was injected onto the surface of the structure using a pipette gun, and then the glass top cover was covered. Under the action of the sound field, the nematode and the glass rod will move to the surface of the structure and rotate.
  • the specific principle can be referred to the above.
  • the glass rod is used to assist in verifying the calculation conclusions, proving that the scheme proposed in this application can be used to observe any cylindrical or nearly cylindrical tiny objects. Put the whole cavity container under the microscope, it can be observed that the nematodes and the glass round rods are arranged vertically along the surface of the structure, as shown in Figure 9 .

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Abstract

一种旋转控制模块、方法与系统，预先将包含目标物体的液体充入一个腔体容器，并往该腔体容器内放入一个结构体。然后，使用超声波激励该结构体产生共振，利用共振产生的空间分布的局域强声场，会在该结构体的表面形成声辐射力和声流，在声辐射力和声流的作用下，可以控制该目标物体于该结构体的表面旋转，以便对该目标物体进行多角度的观测。

Description

一种旋转控制模块、方法与系统 技术领域
本申请涉及显微观测技术领域，尤其涉及一种旋转控制模块、方法与系统。
背景技术
秀丽隐杆线虫是一种身体组织结构简单的模式生物，精确和多视角地观测线虫的身体组织结构对线虫的研究具有重要意义。然而，由于线虫的尺寸较小，如何操控线虫进行旋转以对其进行多角度的显微观测成为技术人员需要考虑的问题。
技术问题
有鉴于此，本申请实施例提供了一种旋转控制模块、方法与系统，能够控制线虫等微小物体在指定位置旋转，以便对该物体进行多角度的观测。
技术解决方案
本申请实施例的第一方面提供了一种旋转控制模块，其包括腔体容器和超声激励模块，所述腔体容器内设有结构体；
所述腔体容器，用于容纳含有目标物体的液体；
所述超声激励模块，用于向所述腔体容器发射超声波，通过超声波激励所述结构体发生共振，以使所述结构体的表面产生声场，并通过所述声场控制所述目标物体于所述结构体的表面旋转。
本申请实施例预先将包含目标物体(例如线虫)的液体充入一个腔体容器，并往该腔体容器内放入一个结构体。然后，使用超声波激励该结构体产生共振，利用共振产生的空间分布的局域强声场，会在该结构体的表面形成声辐射力和声流，在声辐射力和声流的作用下，可以控制该目标物体于该结构体的表面旋转，以便对该目标物体进行多角度的观测。
在该旋转控制模块的一种实现方式中，所述腔体容器的底部设有压电片，所述超声激励模块可以包括：
信号发生器，用于输出指定频率的脉冲信号，所述指定频率根据所述结构体的共振频率设定；
功率放大器，用于对所述脉冲信号进行放大，得到激励信号，以使所述压电片在所述激励信号的作用下产生超声波，所述超声波用于激励所述结构体发生共振。
在实际操作中，超声激励模块可以由信号发生器和功率放大器构成，其中信号发生器用 于输出指定频率(基于该结构体的共振频率设置)的脉冲信号，功率放大器用于对该脉冲信号进行放大，得到放大的激励信号，然后可以通过压电片将该激励信号转换为超声波。
在该旋转控制模块的一种实现方式中，所述腔体容器可以由石英基底、容器壁和可拆卸的顶盖构成。
由于该腔体容器的顶盖是可拆卸的，因此可以方便地实现开放空间下的微注射等显微操作。
在该旋转控制模块的一种实现方式中，所述结构体可以为矩形的板状结构，且所述板状结构上设有多列等间距排列的栅格。
采用这种结构可以激发结构体中的非泄露兰姆波，以产生局域化的强透射声场，从而产生强声辐射力和声流。
本申请实施例的第二方面提供了一种旋转控制方法，应用于本申请实施例第一方面提供的旋转控制模块，该方法包括：
使用所述超声激励模块向所述腔体容器发射超声波；
通过超声波激励所述结构体发生共振，以使所述结构体的表面产生声场，并通过所述声场控制所述目标物体于所述结构体的表面旋转。
在操作时，使用超声激励模块向腔体容器发射超声波，通过超声波激励结构体产生共振，会在该结构体的表面形成足够强度的周期性的声场，进而产生周期性的声辐射力和声流。在声辐射力和声流的作用下，能够控制该目标物体于该结构体的表面旋转，以便于显微拍摄该目标物体在多个不同旋转角度下的图像。
在该方法的一种实现方式中，所述腔体容器的底部设有压电片，所述超声激励模块包括信号发生器和功率放大器；使用所述超声激励模块向所述腔体容器发射超声波，可以包括：
使用所述信号发生器输出指定频率的脉冲信号，所述指定频率根据所述结构体的共振频率设定；
使用所述功率放大器对所述脉冲信号进行放大，得到激励信号，以使所述压电片在所述激励信号的作用下产生超声波。
使用信号发生器可以输出指定频率的脉冲信号，然后再使用功率放大器放大该脉冲信号，得到激励信号；当激励信号作用到压电片上时，会产生超声波。
在该方法的一种实现方式中，通过所述声场控制所述目标物体于所述结构体的表面旋转，可以包括：
通过所述声场的声辐射力将漂浮于液体中的所述目标物体吸附至所述结构体的表面；
通过所述声场的声流控制所述目标物体旋转。
在声辐射力的作用下，能够将漂浮于液体中的目标物体吸附至该结构体的表面。而在声流的作用下，能够控制该目标物体旋转。
在该方法的一种实现方式中，在通过所述声场控制所述目标物体于所述结构体的表面旋转之后，还可以包括：
拍摄所述目标物体在所述结构体的表面旋转的视频；
从所述视频中提取所述目标物体在多个不同旋转角度下的图像，并根据所述目标物体在多个不同旋转角度下的图像重建得到所述目标物体的三维模型。
可以使用相机拍摄目标物体在结构体的表面旋转的视频，然后使用计算机从该视频中提取出目标物体在多个不同旋转角度的图像，并基于这些图像完成三维模型的重建。
进一步的，根据所述目标物体在多个不同旋转角度下的图像重建得到所述目标物体的三维模型，可以包括：
根据所述目标物体在多个不同旋转角度下的图像，采用三维重建算法重建得到初始三维模型；
对所述初始三维模型执行纹理映射和渲染处理，得到所述目标物体的三维模型。
根据所述目标物体在多个不同旋转角度下的图像，可以使用现有的三维重建算法重建得到目标物体的三维形貌(初始三维模型)，最后再进行纹理映射和渲染处理，得到最终的三维模型。
本申请实施例的第三方面提供了一种旋转控制系统，其包括成像模块、三维重建模块和本申请实施例第一方面提供的旋转控制模块；
所述成像模块，用于拍摄所述目标物体在所述结构体的表面旋转的视频；
所述三维重建模块，用于从所述视频中提取所述目标物体在多个不同旋转角度下的图像，并根据所述目标物体在多个不同旋转角度下的图像重建得到所述目标物体的三维模型。
可以理解的是，上述第三方面的有益效果可以参见上述第一方面或第二方面中的相关描述，在此不再赘述。
附图说明
图1是本申请实施例提供的一种旋转控制系统的示意图；
图2是图1中旋转控制模块的示意图；
图3是本申请实施例提供的一种板状结构体的示意图；
图4是图3所示的结构体的透射谱；
图5是本申请实施例提供的一种旋转控制方法的流程图；
图6(a)是通过多物理场仿真软件模拟得到的结构体表面的声压分布示意图；
图6(b)是通过多物理场仿真软件模拟得到的结构体表面的不同位置受到的声辐射力的示意图；
图7是目标物体在声流作用下进行旋转的示意图；
图8是目标物体的三维模型重建流程示意图；
图9是在显微镜下观察得到的线虫和玻璃圆棒沿着结构体的表面竖直排列的图像；
图10是线虫在多个不同旋转角度下的图像以及重建得到的三维模型的示意图。
本发明的实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。另外，在本申请说明书和所附权利要求书的描述中，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
本申请提出一种旋转控制模块、方法与系统，目的是为了实现操控线虫等微小物体在指定位置旋转，以便对该物体进行多角度的观测。本申请主要利用超声波激励腔体容器内的结构体(可以是一个声子晶体板)发生共振，利用共振产生的周期性分布的强声场对处于该腔体容器内的液体中的微小物体进行捕获和排列，同时利用声场在物体周围诱发的非对称分布的声流产生的力矩旋转该物体，相关的具体实施方式请参见下文。
如图1所示，是本申请实施例提供的一种旋转控制系统的示意图，该系统包括三个功能模块，分别为旋转控制模块、成像模块和三维重建模块。其中，旋转控制模块用于操控待观测物体改变姿态，例如进行移动和旋转；成像模块用于拍摄待观测物体在不同姿态下的图像；三维重建模块用于根据拍摄到的图像重建出待观测物体的三维模型。
图1中旋转控制模块的示意图如图2所示，主要包括超声激励模块和腔体容器两部分，腔体容器可以是一个指定形状(例如矩形或方形等)的腔体结构的容器，其尺寸可以根据待观测物体的尺寸合理设置，其材料可以采用玻璃或者聚二甲基硅氧烷等。该腔体容器主要用于容纳含有待观测的目标物体的液体，在操作时，将包含目标物体的液体充入该腔体容器中。另外，往该腔体容器内放入一个结构体，该结构体的尺寸和形状可以根据实际需求设置，该 结构体的材料可以采用不锈钢、黄铜或者硅等。示例性的，该结构体可以是一个声子晶体板，即弹性常数及密度周期分布的材料或结构。
超声激励模块用于向腔体容器发射超声波，激励处于该腔体容器内部的结构体产生共振。共振现象会使得该结构体的表面产生声场，通过该声场能够控制目标物体处于该结构体的表面旋转。在实际操作中，超声激励模块可以由信号发生器和功率放大器构成，其中信号发生器用于输出指定频率(基于该结构体的共振频率设置)的脉冲信号，功率放大器用于对该脉冲信号进行放大，得到放大的激励信号，然后可以通过压电片(或者其它超声换能器，如高斯束声源等)将该激励信号转换为超声波，通过产生的超声波激励该结构体产生共振。
在该旋转控制模块的一种实现方式中，腔体容器可以由石英基底、容器壁和可拆卸的顶盖构成，且在该石英基底上粘接一个压电片。其中，该容器壁可以与石英基底和顶盖键合。通过这样设置，一方面，该压电片产生的超声波能够直接作用到结构体上，产生足够强度的声场；另一方面，由于该腔体容器的顶盖是可拆卸的，因此可以方便地实现开放空间下的微注射等显微操作。
在该旋转控制模块的一种实现方式中，结构体为矩形的板状结构，且所述板状结构上设有多列等间距排列的栅格。如图3所示，为本申请实施例提供的一种板状结构体的示意图。图3示出的是该板状结构体的横截面，其中t为板厚，a为两个栅格之间的距离，w为栅格的宽度，h为栅格的高度。根据腔体容器和目标物体的尺寸，可以合理地设置该板状结构的长度、宽度以及图3中的各个尺寸参数。例如，若目标物体为线虫，通常成年线虫的身体直径约为50μm，体长约1mm，则图3中该板状结构体的各个尺寸参数可以设为t＝60μm，h＝40μm，w＝70μm以及a＝300μm。采用图3这种结构可以激发结构体中的非泄露兰姆波，以产生局域化(亚波长)的强透射声场，从而产生强声辐射力和声流。需说明的是，图3只是该板状结构体的一种表现形式，按照需求也可以将该板状结构体设置为弯曲的，且其栅格也可以是曲线形式的或者非等间距的，本申请不对该结构体的具体形状结构进行限定。
如图4所示，为图3所示结构体(由不锈钢材料制作)的透射谱。通过该透射谱可以获知，该结构体的共振频率约为4.6MHz，也即采用频率约为4.6MHz的超声波激励该结构体能够使其产生共振现象，从而生成强度足够大的声场，如此，才能获得较强的声辐射力和声流来操控目标物体运动。
图1中的成像模块可以由明场光源、光学透镜和相机等部件组成，主要用于拍摄目标物体在结构体的表面旋转的视频。另外，针对线虫体内组织器官或者细胞三维形貌重建的应用场合，还可以为该成像模块添加荧光光源。由于目标物体在声场的作用下自行旋转，故在视 频拍摄过程中无需移动相机。
图1中的三维重建模块可以使用计算机等设备，通过采用相机标定算法和三维重建算法，在该计算机上运行图像处理软件以及纹理映射和渲染软件，基于成像模块采集到的目标物体的旋转视频，可以提取目标物体在多个不同旋转角度下的图像，进而根据这些图像重建出该目标物体对应的三维模型。
关于图1所示系统的工作原理和具体操作步骤，可以参见下文所述的方法实施例。
如图5所示，是本申请实施例提供的一种旋转控制方法的流程图，该方法应用于前文所述的旋转控制模块或系统。该方法包括：
501、使用超声激励模块向腔体容器发射超声波；
针对前文所述的旋转控制模块，首先，往腔体容器中充入包含目标物体的液体，具体可以使用移液枪等设备将混有微小物体(一般为柱形或者近似柱形的颗粒，例如线虫，作为待观测的目标物体)的液体(例如水)移入该腔体容器内。该腔体容器内还放置一个结构体(例如可以采用图3所示的板状结构体)，可以使用移液枪将该液体直接注射到该结构体上，在后续过程中液体可以作为声传播介质。
在操作时，使用超声激励模块向腔体容器发射超声波，通过超声波可以激励腔体容器内的结构体产生共振，从而在该结构体的表面形成声场。在本申请的一种实现方式中，腔体容器的底部设有压电片，超声激励模块包括信号发生器和功率放大器，使用超声激励模块向腔体容器发射超声波，可以包括：
(1)使用信号发生器输出指定频率的脉冲信号，所述指定频率根据结构体的共振频率设定；
(2)使用功率放大器对脉冲信号进行放大，得到激励信号，以使压电片在激励信号的作用下产生超声波。
超声激励模块可以由信号发生器和功率放大器构成，其中信号发生器用于产生指定频率(基于结构体的共振频率以及压电片的中心频率设置)的脉冲信号；例如，若该结构体的共振频率为4.6MHz，而该压电片的中心频率为4.5MHz，则可以采用信号发生器输出频率为4.577MHz的脉冲信号。该脉冲信号通过功率放大器放大，得到激励信号，用于激励压电片(作为超声换能器)产生超声波。
502、通过超声波激励结构体发生共振，以使结构体的表面产生声场，并通过声场控制目标物体于结构体的表面旋转。
通过超声波激励结构体产生共振，会在该结构体的表面形成足够强度的周期性的声场， 进而产生周期性的声辐射力和声流。在声辐射力和声流的作用下，能够控制该目标物体于该结构体的表面旋转，以便于显微拍摄该目标物体在多个不同旋转角度下的图像。通过声场控制目标物体于该结构体的表面旋转的具体原理，请参见下文所述。
在本申请的一种实现方式中，通过所述声场控制所述目标物体于所述结构体的表面旋转，可以包括：
(1)通过所述声场的声辐射力将漂浮于所述液体中的所述目标物体吸附至所述结构体的表面；
(2)通过所述声场的声流控制所述目标物体旋转。
在声辐射力的作用下，能够将漂浮于液体中的目标物体吸附至该结构体的表面。而在声流的作用下，能够控制该目标物体旋转。以图3所示的板状结构体为例，使用多物理场仿真软件(例如COMSOL)可以计算模拟该板状结构表面产生的声场，包括声压场和速度场等，还可以进一步计算目标物体在声场中受到的声辐射力，根据软件模拟的结果可以解释目标物体移动和旋转的原理。
考虑到结构体的周期性和对称性，使用二维计算模型，计算区域包括液体(一般是水)和结构体，其中液体由压力声学(频域)模拟，结构体由固体力学模型模拟。在结构体的底部区域设置平面波入射(模拟压电片产生的超声波)，在结构体的顶部区域设置平面波辐射，假设超声波无反射，通过多物理场仿真软件模拟得到的该结构体表面的声压分布示意图如图6(a)所示。在图6(a)中，示出了结构体两个栅格表面附近的声压分布，其中两个白色小圈标示出目标物体(例如线虫)的捕获位置，可以视作目标物体的横截面，在计算中近似视为圆柱形。另外，通过多物理场仿真软件可以模拟得到图6(a)中该结构体表面的不同位置受到的声辐射力的示意图，如图6(b)所示。在图6(b)中，Fx为在x方向上受到的二维声辐射力分量，Fy为在y方向上受到的二维声辐射力分量，x方向和y方向可以参照图6(a)所标示的方向。可见，图6(b)中Fx为0的位置，是目标物体在x方向的平衡位置(图中的灰色圆圈)，由于在该平衡位置两侧的声辐射力均指向该平衡位置，因此会迫使该目标物体向该平衡位置移动。另外，由于在Fx为0的位置，对应的Fy为负值，即y方向上的声辐射力指向该结构体的表面，因此，漂浮的目标物体会被吸附至该结构体的表面。从结构体的上方朝下看，可以观察到目标物体以一定的间距排列分布。
接下来说明通过声场控制目标物体旋转的原理。声场中的粒子所受的辐射应力可以用以下公式表示：
Figure PCTCN2021105675-appb-000001
其中，σ表示辐射应力，〈*〉表示时间平均算子，I表示单位张量，
Figure PCTCN2021105675-appb-000002
为并矢符号；ρ 0和c 0分别为声传播介质的密度和声速，室温下是介质的固定参数，可通过查询资料获得；p和v分别为一阶声压和速度场。
根据波动方程和动量守恒方程，可以获得以下2个公式：
Figure PCTCN2021105675-appb-000003
Figure PCTCN2021105675-appb-000004
其中，t表示在时间维度下求偏导。基于上述3个公式，采用有限元法和有限差分法等数值求解方法可以求解得到辐射应力σ。
在计算出声场中的粒子所受的辐射应力之后，可以采用以下公式分别计算目标物体在声场中受到的辐射力和辐射力矩：
F rad＝-∫∫ SσdS
T rad＝-∫∫ Sr×σdS
其中，F rad表示辐射力，T rad表示辐射力矩，r表示目标物体的质心(在二维计算模型下，质心可以为目标物体横截面的中心)到目标物体表面一点的方向向量，dS为该表面一点的法向向量和面积微元的乘积。
经过模拟的数值计算，发现目标物体受到的辐射力矩接近于0，而在目前的理论体系中，认为声场中的力矩来源于辐射力和声流，因此若辐射力矩接近于0，则可以判定目标物体的旋转是由声流引起的，以下计算声场在结构体表面产生的声流分布。
不可压缩流体的粘性应力(黏性应力)可以表示为：
τ ij＝μ(u i,j+u j,i)
其中，τ ij表示粘性应力，μ为流体动力粘度，在室温下是介质的固定参数，可通过查阅资料获得；u表示声流速度；下标i和下标j的取值可以为1、2或者3，分别表示变量在空间中沿着三个坐标轴x，y和z的分量，i和j之间的逗号表示变量对坐标求偏导。例如，x方向和y方向之间的粘性应力可以表示为：
τ 12＝μ(u 1,2+u 2,1)
其中，u 1,2表示u x在y方向上的偏导，u 2,1表示u y在x方向上的偏导，u x表示声流速度在x方向上的分量，u y表示声流速度在y方向上的分量。
具体的，声流速度u可以采用以下公式计算得到：
Figure PCTCN2021105675-appb-000005
Figure PCTCN2021105675-appb-000006
其中，p 2为二阶压力场，〈*〉为时间平均算子，
Figure PCTCN2021105675-appb-000007
为并矢符号，ρ 0为声传播介质的密度，μ为流体动力粘度，v为速度场，此公式可使用软件COMSOL中的蠕动流模块求解，在求解出声流速度u后即可计算得到粘性应力，根据粘性应力可得目标物体所受的声粘性扭矩为：
T vis＝∫∫ Sr×τdS
由于捕获的目标物体两侧的声流是非对称分布的，即一侧强一侧弱，这导致两侧声流在目标物体表面产生的力矩虽然方向相反，但是大小不同，从而使得声粘性扭矩不为零，因此会使目标物体发生旋转。
图7是目标物体在声流作用下进行旋转的示意图，其中图7左方的目标物体1(圆形表示目标物体的横截面)沿着自身中心顺时针旋转，图7右方的目标物体2沿着自身中心逆时针旋转。图7中还用箭头标示出目标物体附近的声流和目标物体所受的力矩，可以看出对于左方的目标物体1，其左侧的声流较强，而右侧的声流较弱，因此会产生顺时针方向的力矩，使得目标物体顺时针旋转，对于右方的目标物体则结论相反。
在本申请的一种实现方式中，在通过所述声场控制所述目标物体于所述结构体的表面旋转之后，还可以包括：
(1)拍摄所述目标物体在所述结构体的表面旋转的视频；
(2)从所述视频中提取所述目标物体在多个不同旋转角度下的图像，并根据所述目标物体在多个不同旋转角度下的图像重建得到所述目标物体的三维模型。
为了重建该目标物体的三维模型，可以使用相机拍摄该目标物体在结构体的表面旋转的视频，然后使用计算机从该视频中提取出目标物体在多个不同旋转角度(例如0°、90°、 180°、270°和360°)的图像，这个过程也称为拆帧，之后可以对图像进行裁剪、增强、滤波或者边缘识别等预处理过程；接着，使用三维重建算法(例如Marching Cube算法、Ball Pivoting算法和Screened Poisson算法等)重建得到目标物体的三维形貌，最后再进行纹理映射和渲染处理，得到对应的三维模型，相应的模型重建流程示意图如图8所示。
另一方面，在重建目标物体的三维模型之前，需要对相机参数进行标定和求解，即需要获得相机矩阵P，以描述三维空间中一点在二维图像中的像素点坐标(x，y)和实际空间坐标(X，Y，Z)的对应关系。相机矩阵的具体形式可以表示为P＝K[R|t]，其中K为相机的内参矩阵，可用现有的相机标定方法获得，[R|t]为外参矩阵，表示世界坐标系和相机坐标系的变换矩阵，其中R为旋转矩阵，可根据目标物体的旋转角度求得，t为平移矩阵，可根据世界坐标系原点和相机坐标系原点的位置求得。在获得相机矩阵后，结合图像处理获得的不同旋转角度的目标物体的图像坐标，可以计算出不同旋转角度的目标物体在世界坐标系下的坐标，之后再执行三维模型的重建流程。
本申请实施例采用超声激励结构体发生共振，利用共振产生的空间分布的局域强声场，会在该结构体的表面形成声辐射力和声流，在声辐射力和声流的作用下，可以控制该目标物体于该结构体的表面旋转，以便对该目标物体进行多角度的观测。而且，可以采用具有可拆卸顶盖的腔体容器，从而实现开放空间下的微注射等显微操作。另外，在控制目标物体旋转后，还可以通过显微镜相机拍摄目标物体不同旋转角度的图像，采用三维重建算法对这些图像进行重建，获得对应的三维模型。
应理解，上述各个实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
为便于理解本申请提出的技术方案，以下列举一个实际的应用场景。首先，采用C304不锈钢，基于标准化学刻蚀工艺，制作出如图3所示的带有周期性栅格的结构体，具体尺寸参数为t＝60μm，h＝40μm，w＝70μm，a＝300μm。将该结构体放入一个腔体容器内，该腔体容器由石英玻璃基底、聚二甲基硅氧烷材料的容器壁和玻璃顶盖构成，容器壁可以与基底和顶盖键合。超声换能器采用中心频率为4.5MHz的PZT4型压电陶瓷片，其通过环氧树脂与腔体容器的玻璃基底粘接在一起。采用信号发生器产生频率为4.577MHz的脉冲信号，经由功率放大器放大后，激励压电陶瓷片产生超声波。结构体在超声波的作用下产生共振，使得该结构体的表面形成较强的声场。
在操作时，首先打开腔体容器的玻璃顶盖，使用移液枪将混有线虫和玻璃圆棒的水注射到该结构体的表面，然后盖上玻璃顶盖。线虫和玻璃圆棒在声场的作用下，会移动至该结构 体的表面旋转，具体原理可参照前文所述。其中，玻璃圆棒用于辅助验证计算结论，证明本申请提出的方案可以用于观测任意圆柱形或者近似圆柱形的微小物体。将整个腔体容器放置于显微镜下，可以观察到线虫和玻璃圆棒都沿着结构体的表面竖直排列，如图9所示。
接下来，用显微镜观测其中一条线虫，拍摄该线虫进行旋转的视频，对视频拆帧后可以得到该线虫在多个不同旋转角度下的图像，之后即可按照图8所示的流程重建得到该线虫的三维模型。获得的线虫在多个不同旋转角度下的图像以及重建得到的三维模型的示意图如图10所示。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种旋转控制模块，其特征在于，包括腔体容器和超声激励模块，所述腔体容器内设有结构体；
    所述腔体容器，用于容纳含有目标物体的液体；
    所述超声激励模块，用于向所述腔体容器发射超声波，通过超声波激励所述结构体发生共振，以使所述结构体的表面产生声场，并通过所述声场控制所述目标物体于所述结构体的表面旋转。
  2. 如权利要求1所述的旋转控制模块，其特征在于，所述腔体容器的底部设有压电片，所述超声激励模块包括：
    信号发生器，用于输出指定频率的脉冲信号，所述指定频率根据所述结构体的共振频率设定；
    功率放大器，用于对所述脉冲信号进行放大，得到激励信号，以使所述压电片在所述激励信号的作用下产生超声波，所述超声波用于激励所述结构体发生共振。
  3. 如权利要求1所述的旋转控制模块，其特征在于，所述腔体容器由石英基底、容器壁和可拆卸的顶盖构成。
  4. 如权利要求1至3任一项所述的旋转控制模块，其特征在于，所述结构体为矩形的板状结构，且所述板状结构上设有多列等间距排列的栅格。
  5. 一种旋转控制方法，应用于如权利要求1至4任一项所述的旋转控制模块，其特征在于，所述方法包括：
    使用所述超声激励模块向所述腔体容器发射超声波；
    通过超声波激励所述结构体发生共振，以使所述结构体的表面产生声场，并通过所述声场控制所述目标物体于所述结构体的表面旋转。
  6. 如权利要求5所述的旋转控制方法，其特征在于，所述腔体容器的底部设有压电片，所述超声激励模块包括信号发生器和功率放大器；
    使用所述超声激励模块向所述腔体容器发射超声波，包括：
    使用所述信号发生器输出指定频率的脉冲信号，所述指定频率根据所述结构体的共振频率设定；
    使用所述功率放大器对所述脉冲信号进行放大，得到激励信号，以使所述压电片在所述激励信号的作用下产生超声波。
  7. 如权利要求5所述的旋转控制方法，其特征在于，通过所述声场控制所述目标物体于所述结构体的表面旋转，包括：
    通过所述声场的声辐射力将漂浮于液体中的所述目标物体吸附至所述结构体的表面；
    通过所述声场的声流控制所述目标物体旋转。
  8. 如权利要求5至7任一项所述的旋转控制方法，其特征在于，在通过所述声场控制所述目标物体于所述结构体的表面旋转之后，还包括：
    拍摄所述目标物体在所述结构体的表面旋转的视频；
    从所述视频中提取所述目标物体在多个不同旋转角度下的图像，并根据所述目标物体在多个不同旋转角度下的图像重建得到所述目标物体的三维模型。
  9. 如权利要求8所述的旋转控制方法，其特征在于，根据所述目标物体在多个不同旋转角度下的图像重建得到所述目标物体的三维模型，包括：
    根据所述目标物体在多个不同旋转角度下的图像，采用三维重建算法重建得到初始三维模型；
    对所述初始三维模型执行纹理映射和渲染处理，得到所述目标物体的三维模型。
  10. 一种旋转控制系统，其特征在于，包括成像模块、三维重建模块和如权利要求1至4任一项所述的旋转控制模块；
    所述成像模块，用于拍摄所述目标物体在所述结构体的表面旋转的视频；
    所述三维重建模块，用于从所述视频中提取所述目标物体在多个不同旋转角度下的图像，并根据所述目标物体在多个不同旋转角度下的图像重建得到所述目标物体的三维模型。
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