Force feedback interface for cell injection

Manual pronuclei injection and intracytoplasmic sperm injection (ICSI) requires long training and has low success rates primarily due to poor control over the injection force. Consequently, there is a need for quantification of forces during biological cell injection and for an automated cell injection system, which can provide force feedback to the operator improving the success rate of the injection task. We have developed a force feedback interface, which has the capability of measuring forces in the range of /spl mu/N-mN and provide a haptic display of the cell injection forces. The force sensor has been integrated with the biomanipulation system to detect forces in real time. Experiments were performed on two different varieties of egg cells to demonstrate the success in measuring forces in the range in /spl mu/N-mN. Our experimental results indicate the cell puncturing forces were consistent and the operator was able to feel the celt injection forces.