{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,24]],"date-time":"2026-07-24T05:37:38Z","timestamp":1784871458343,"version":"3.55.0"},"reference-count":29,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2024,1,22]],"date-time":"2024-01-22T00:00:00Z","timestamp":1705881600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"JST CREST","award":["PMJCR20D5"],"award-info":[{"award-number":["PMJCR20D5"]}]},{"name":"JST CREST","award":["JPMJCR22U1"],"award-info":[{"award-number":["JPMJCR22U1"]}]},{"name":"JST AIP Acceleration Research","award":["PMJCR20D5"],"award-info":[{"award-number":["PMJCR20D5"]}]},{"name":"JST AIP Acceleration Research","award":["JPMJCR22U1"],"award-info":[{"award-number":["JPMJCR22U1"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In recent years, the demand for effective intracytoplasmic sperm injection (ICSI) for the treatment of male infertility has increased. The ICSI operation is complicated as it involves delicate organs and requires a high level of skill. Several cell manipulation systems that do not require such skills have been proposed; notably, several automated methods are available for cell rotation. However, these methods are unfeasible for the delicate ICSI medical procedure because of safety issues. Thus, this study proposes a microscopic system that enables intuitive micropipette manipulation using a haptic device that safely and efficiently performs the entire ICSI procedure. The proposed system switches between field-of-view expansion and three-dimensional image presentation to present images according to the operational stage. In addition, the system enables intuitive pipette manipulation using a haptic device. Experiments were conducted on microbeads instead of oocytes. The results confirmed that the time required for the experimental task was improved by 52.6%, and the injection error was improved by 75.3% compared to those observed in the conventional system.<\/jats:p>","DOI":"10.3390\/s24020711","type":"journal-article","created":{"date-parts":[[2024,1,22]],"date-time":"2024-01-22T12:01:13Z","timestamp":1705924873000},"page":"711","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Intuitive Cell Manipulation Microscope System with Haptic Device for Intracytoplasmic Sperm Injection Simplification"],"prefix":"10.3390","volume":"24","author":[{"given":"Kazuya","family":"Sakamoto","sequence":"first","affiliation":[{"name":"Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 464-8601, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7860-0725","authenticated-orcid":false,"given":"Tadayoshi","family":"Aoyama","sequence":"additional","affiliation":[{"name":"Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 464-8601, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Masaru","family":"Takeuchi","sequence":"additional","affiliation":[{"name":"Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 464-8601, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9917-098X","authenticated-orcid":false,"given":"Yasuhisa","family":"Hasegawa","sequence":"additional","affiliation":[{"name":"Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 464-8601, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,1,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"F51","DOI":"10.1530\/REP-18-0011","article-title":"Development of ICSI","volume":"156","author":"Chow","year":"2018","journal-title":"Reproduction"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1007\/s10815-020-01987-0","article-title":"Thoughts on the popularity of ICSI","volume":"38","author":"Haddad","year":"2020","journal-title":"J. Assist. Reprod. Genet."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"403","DOI":"10.1262\/jrd.46.403","article-title":"Technical Improvement in Intracytoplasmic Sperm Injection (ICSI) in Cattle","volume":"46","author":"Wei","year":"2000","journal-title":"J. Reprod. Dev."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1049","DOI":"10.1109\/TBME.2012.2182995","article-title":"Three-Dimensional Rotation of Mouse Embryos","volume":"59","author":"Leung","year":"2012","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"5507","DOI":"10.1364\/BOE.8.005507","article-title":"Fast label-free microscopy technique for 3D dynamic quantitative imaging of living cells","volume":"8","author":"Rodrigo","year":"2017","journal-title":"Biomed. Opt. Express"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"713","DOI":"10.1364\/AOP.7.000713","article-title":"Recent advances in holographic 3D particle tracking","volume":"7","author":"Memmolo","year":"2015","journal-title":"Adv. Opt. Photon."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1170","DOI":"10.1074\/jbc.M608124200","article-title":"Optical Manipulation Reveals Strong Attracting Forces at Membrane Contact Sites between Endoplasmic Reticulum and Chloroplasts","volume":"282","author":"Andersson","year":"2007","journal-title":"J. Biol. Chem."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"055205","DOI":"10.1088\/1361-6501\/abd7aa","article-title":"Clustering-based particle detection method for digital holography to detect the three-dimensional location and in-plane size of particles","volume":"32","author":"Huang","year":"2021","journal-title":"Meas. Sci. Technol."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"332","DOI":"10.1109\/TASE.2022.3228809","article-title":"Digital Holography Based Three-Dimensional Multi-Target Locating for Automated Cell Micromanipulation","volume":"21","author":"Wang","year":"2024","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1717","DOI":"10.1038\/srep01717","article-title":"Increased space-bandwidth product in pixel super-resolved lensfree on-chip microscopy","volume":"3","author":"Greenbaum","year":"2013","journal-title":"Sci. Rep."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"e261","DOI":"10.1038\/lsa.2015.34","article-title":"Synthetic aperture-based on-chip microscopy","volume":"4","author":"Luo","year":"2015","journal-title":"Light. Sci. Appl."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Aoyama, T., Yamada, S., Suematsu, N., Takeuchi, M., and Hasegawa, Y. (2023). Visual Sensing System to Investigate Self-Propelled Motion and Internal Color of Multiple Aqueous Droplets. Sensors, 22.","DOI":"10.3390\/s22166309"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"34274","DOI":"10.1109\/ACCESS.2023.3264785","article-title":"Micromanipulation System Capable of Simultaneously Presenting High-Resolution and Large Field-of-View Images in Real-Time","volume":"11","author":"Aoyama","year":"2023","journal-title":"IEEE Access"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"4025","DOI":"10.1109\/LRA.2021.3067857","article-title":"Microinjection System to Enable Real-Time 3D Image Presentation Through Focal Position Adjustment","volume":"6","author":"Fujishiro","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"200","DOI":"10.1109\/TRO.2009.2034831","article-title":"Autonomous Robotic Pick-and-Place of Microobjects","volume":"26","author":"Zhang","year":"2010","journal-title":"IEEE Trans. Robot."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1795","DOI":"10.1002\/elps.201400021","article-title":"Electrical tweezer for highly parallelized electrorotation measurements over a wide frequency bandwidth","volume":"35","author":"Rohani","year":"2014","journal-title":"Electrophoresis"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Elbez, R., McNaughton, B.H., Patel, L., Pienta, K.J., and Kopelman, R. (2011). Nanoparticle Induced Cell Magneto-Rotation: Monitoring Morphology, Stress and Drug Sensitivity of a Suspended Single Cancer Cell. PLoS ONE, 6.","DOI":"10.1371\/journal.pone.0028475"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"5120","DOI":"10.1002\/smll.201601760","article-title":"Acoustofluidic Rotational Manipulation of Cells and Organisms Using Oscillating Solid Structures","volume":"12","author":"Ozcelik","year":"2016","journal-title":"Small"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"11105","DOI":"10.1073\/pnas.1209288109","article-title":"On-chip manipulation of single microparticles, cells, and organisms using surface acoustic waves","volume":"109","author":"Ding","year":"2012","journal-title":"Proc. Natl. Acad. Sci. USA"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1364\/OL.36.000040","article-title":"Rotation of single bacterial cells relative to the optical axis using optical tweezers","volume":"36","author":"Carmon","year":"2011","journal-title":"Opt. Lett."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1109\/TBME.2018.2828136","article-title":"Out-of-Plane Rotation Control of Biological Cells with a Robot-Tweezers Manipulation System for Orientation-Based Cell Surgery","volume":"66","author":"Xie","year":"2019","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"7909","DOI":"10.1109\/LRA.2021.3099238","article-title":"Automatic Cell Rotation Based on Real-Time Detection and Tracking","volume":"6","author":"Gong","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s10404-016-1737-y","article-title":"Hydrodynamic vertical rotation method for a single cell in an open space","volume":"20","author":"Yalikun","year":"2016","journal-title":"Microfluid. Nanofluidics"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"168","DOI":"10.1039\/b402479f","article-title":"Controlled rotation of biological micro-and nano-particles in microvortices","volume":"4","author":"Shelby","year":"2004","journal-title":"Lab Chip"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"110","DOI":"10.1016\/j.eng.2020.07.031","article-title":"Rotation of Biological Cells: Fundamentals and Applications","volume":"10","author":"Tang","year":"2021","journal-title":"Engineering"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Wang, W., Liu, X., Gelinas, D., Ciruna, B., and Sun, Y. (2007). A Fully Automated Robotic System for Microinjection of Zebrafish Embryos. PLoS ONE, 2.","DOI":"10.1371\/journal.pone.0000862"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"55543","DOI":"10.1109\/ACCESS.2019.2913592","article-title":"Force-Sensing Robotic Microinjection System for Automated Multi-Cell Injection with Consistent Quality","volume":"7","author":"Nan","year":"2019","journal-title":"IEEE Access"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"1006","DOI":"10.1007\/s43032-022-00941-y","article-title":"Automation in ART: Paving the Way for the Future of Infertility Treatment","volume":"30","author":"Abdullah","year":"2022","journal-title":"Reprod. Sci."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Zammit, R. (2023). Ethical Issues of Artificial Intelligence & Assisted Reproductive Technologies. Int. J. Prenat. Life Sci., 1\u201324.","DOI":"10.24946\/IJPLS\/2023132305"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/24\/2\/711\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T13:47:26Z","timestamp":1760104046000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/24\/2\/711"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,1,22]]},"references-count":29,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,1]]}},"alternative-id":["s24020711"],"URL":"https:\/\/doi.org\/10.3390\/s24020711","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,1,22]]}}}