Approaches, techniques, and mechanisms are disclosed for sensor cleaning systems. A region of a sensor window is identified to be blocked by an obscurant. The location of the region is determined using the sensor associated with the sensor window. An acousto-vibratory cleaning system receives the location of the region and produces a fluid droplet to be dispensed at a specified point on a two-dimensional plane of the surface of the sensor window. Sonic actuators are activated to capture the fluid droplet in acoustic levitation. Acoustic forces guide the fluid droplet to the region being obscured. Once the fluid droplet is in cleaning position, vibration of the sensor window is activated to incrementally clear the obscurant by vibrating the droplet along the obscurant. The acousto-vibratory cleaning system generates additional acoustic forces to guide the contaminated fluid droplet to a closest drainage canal.