A remotely-operated robot submersible collected the specimen during a research mission along the Mid-Atlantic Ridge between Iceland and the Azores.
Professor Monty Priede, from the University of Aberdeen, said: "Our colleague in California, Nick Holland, the world authority on enteropneusts, chose the name Yoda for the new genus characterised by its large ear-like lips.
"There is much interest in acorn worms from the point of view of understanding the early evolution of the vertebrates. Whilst they are not strictly a missing link in our own evolution, they give an insight into what the lifestyle of our remote ancestors might have been like."