Techniques, devices and systems are disclosed for implementing acoustically triggered propulsion of nano- and micro-scale structures. In one aspect, an ultrasound responsive propulsion device includes a tube that includes one or more layers including an inner layer having an electrostatic surface, and an ultrasound-responsive substance coupled to the inner layer and configured to form gaseous bubbles in a fluid in response to an ultrasound pulse, in which the bubbles exit the tube to propel the tube to move in the fluid.