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This study introduces an immersive micromanipulation system that integrates pipette and injector operations, utilizing McKibben-based haptic feedback to enhance user experience during intracytoplasmic sperm injection (ICSI). By allowing operators to control both tools with one hand while receiving tactile sensations for aspiration, discharge, and contact, the system significantly improves micromanipulation speed and reduces cognitive workload compared to traditional methods. Human-participant experiments confirmed that the unified interface not only enhances usability but also streamlines the micromanipulation process, making it more efficient for practitioners.
Unifying pipette and injector operations with haptic feedback cuts cognitive workload and boosts micromanipulation speed in ICSI procedures.
Intracytoplasmic sperm injection (ICSI) requires advanced micromanipulation techniques but relies solely on visual feedback and involves frequent interface switching between pipette movement and injector operations. Existing haptic feedback systems primarily focus on pipette puncture forces and do not provide feedback on injector states. We developed an immersive micromanipulation system that unifies operational interfaces and provides McKibben-based haptic sensations to represent aspiration, discharge, and contact between the oocyte and pipette. Users operated both the pipette and injector with a single hand while receiving haptic sensations. A human-participant experiment revealed that the immersive operation interface improved micromanipulation speed and reduced cognitive workload of the micromanipulation compared with conventional methods. Additionally, McKibben-based haptic sensations improved overall system usability. The immersive micromanipulation system with McKibben-based haptic sensations successfully unified operational interfaces and reduced operator workload.
