Fig. 5: Photoacoustic imaging of a single micro-rocket in blood, and penetration of living mouse ear.
From: Micro-rocket robot with all-optic actuating and tracking in blood
a Clear high-resolution PA imaging of a single micro-rocket in the transparent solution. b Optical microscopy of the micro-rockets without blood and within blood. The optical microscope fails to observe the micro-rockets covered by 500-µm-thick bovine blood. c Corresponding visible PA images of these micro-rockets in thick blood. d Mouse ear covering a micro-rocket. e PA imaging of the micro-rocket through the living mouse ear. f Contrast of the normalized PA amplitude between the micro-rockets and the blood or the living blood vessel. g High-resolution PA tracking of a single micro-rocket in the blood vessel model, i.e., a 250-µm-diameter rubber tube filled with bovine blood. (Left) PA imaging with the intensity distribution. (Right) PA imaging with the depth distribution. Combining the structure and depth information, 3D tracking of a single light-driven micro-rocket is realized in the bloodstream. Scale bar: 100 µm for a, b, c, e, and g
