A modular and generic virtual reality training framework for micro-robotic cell injection systems

Cell injection is a common biological method used in procedures like in-vitro fertilization and targeted drug delivery. Due to very fine movements and precision required in such pro­cedures, they are prone to failure when done manually. Human error can be reduced using the micro-robotic systems which are controlled remotely using video feed from the microscope. However, they also require training for learning of skills like hand-eye coordination, depth perception and remote handling. Training methods that require use of real cells like human oocytes have ethical concerns and they lack evaluation of an operator's skill improvement. In order to overcome these issues, this paper presents in detail a virtual reality training system for micro-robotic cell injection systems. To the best of our knowledge, no such commercial training system is currently available. With regards to training, the two most significant features of the system are its method of graduated training, having both basic exercises as well as complete procedures and its performance evaluation of the users. Another very important aspect of the system is its genericity having been built with a target to provide training for a set of commonly available micro-robotic cell injection systems. Moreover, the system is built with a modular design in mind to facilitate its reproducibility and extension.