Work

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

Year: 2026

Type: article

Abstract: 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.

Source: IEEE Access

DOI: 10.1109/access.2026.3717843

Authors: Kenta Yokoe, Sumiwa Saito, Yuki Funabora, Tomoko Isomura, Tadayoshi Aoyama

Institution: Nagoya University

Language: English

Topic: Teleoperation and Haptic Systems

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Good health and well-being

Open Access status: gold

Estimated APC paid: $2,075