Large-scale virtual reality micro-robotic cell injection training

Currently the micro-robotic cell injection procedure is performed manually by professional bio-operators. It is a challenging task requiring advanced skills including the ability to precisely control the movement of a micropipette. Developing these skills requires both lengthy and intensive training, and significant practical experience. This paper extends upon our previous work in desktop Virtual Reality (VR) cell injection training to introduce a large-scale VR micro-robotic cell injection system. Through utilization of large visual displays and the large workspace INCA 6D haptic device, the proprioception related to large arm movements (and corresponding visual representation) and the resulting movement of the micropipette in relation to the cell aims to provide the user with a better understanding of the spatial relationship between the micropipette and cell. The haptic device can be operated either with or without haptic guidance. When enabled, haptic guidance is provided in the form of virtual fixtures (VFs) and force feedback to assist the user in following the ideal trajectory towards the penetration point, applying appropriate force for penetration and stopping the micropipette's tip at the suitable deposition point. A user evaluation was conducted to study the usability of the system. Eighteen participants took part in the experiments and were randomly divided into six groups based on the display and haptic guidance modes assigned. The results demonstrated that the large-scale VR micro-robotic cell injection system is a feasible and effective method for bio-operator training where it is suggested that the skills and knowledge acquired can be transferred to the real-world task.