Immersive Micromanipulation Integrating Pipette and Injector Operations with McKibben-Based Haptic Sensations for Workload Reduction

Intracytoplasmic sperm injection (ICSI) is a delicate procedure requiring high precision, yet it is traditionally performed using 2D microscopy and separate, manually switched interfaces for pipette movement and fluid injection. This reliance on visual feedback alone makes depth perception difficult and increases the cognitive burden on embryologists. As the demand for ICSI grows, there is a critical need for systems that simplify these complex operations for less experienced practitioners.

The authors developed an immersive, virtual reality-based micromanipulation system that addresses these challenges through two primary innovations. First, they unified the operational interface: a single hand-tracking system allows the user to control both the 3D position of the pipette and the aspiration/discharge functions of the injector simultaneously. Second, they implemented a wearable haptic feedback system using fabric-based McKibben artificial muscles. These actuators provide tactile sensations to the operator's arm and hand, representing fluid flow (aspiration/discharge) and physical contact between the pipette and the target cell—states that are otherwise difficult to perceive visually.

To evaluate the system, the researchers conducted experiments with novice operators performing microbead manipulation tasks. The results demonstrated that the immersive, unified interface significantly improved the speed of manipulation compared to conventional joystick-based methods. Furthermore, the addition of McKibben-based haptic feedback enhanced the overall usability of the system, confirming that providing tactile information for otherwise imperceptible states helps reduce the cognitive load associated with complex micromanipulation tasks.