Acoustic impedance matching devices and related methods are disclosed. An acoustic impedance matching device includes a first face for facing an acoustic transducer, a second face opposite the first face, and a lattice structure between the first face and the second face. The second is face curved to at least substantially conformally engage an inner surface of a tubing. An effective acoustic impedance of the lattice structure substantially matches a transducer acoustic impedance of the acoustic transducer to a tubing acoustic impedance of the tubing. A material acoustic impedance of a material of the lattice structure is greater than the effective acoustic impedance. A method of manufacturing an acoustic impedance matching device includes providing, to an additive manufacturing apparatus, a digital design defining the lattice structure, providing an additive manufacturing material to a material intake of the additive manufacturing apparatus, and manufacturing the lattice structure using the additive manufacturing material.