Contactless manipulation of microparticles is demonstrated with single-beam acoustical tweezers based on precursor swirling Rayleigh waves. These surface waves degenerate into acoustical vortices when crossing a stack made of a fluid layer and its solid support, hence creating a localized acoustical trap in a fluid cavity. They can be synthesized with a single interdigitated transducer whose spiraling shape encodes the phase of the field like a hologram. For applications, these tweezers have many attractive features: they are selective, flat, easily integrable, and compatible with disposable substrates.