Assistive System for Microinjection by Presenting Cell Deformation as Surface Tactile Sensation

Microinjection technology has been widely applied in various fields, including biology, medicine, and intracytoplasmic sperm injection (ICSI). In a typical ICSI environment, all tasks, such as determining the degree of extension, adjusting the depth of focus, finding polar bodies, and manipulating cells, rely only on visual information; therefore, the person performing ICSI should have particular skills. Consequently, ICSI is generally performed by embryologists specialized in embryo handling. However, with the recent growth in global demand for ICSI, there is a shortage of embryologists and lack of experience among embryologists, and a simple injection system that does not rely on skilled embryologists is required. In this study, we propose a micromanipulation interface that provides a surface tactile sensation with a fabric actuator based on the real-time image measurement of the degree of cell deformation to simplify our understanding of the cell state. The effectiveness of the proposed interface is verified through cell-puncture experiments conducted by novices and one expert.