Virtual-ICSI: a visual-haptic interface for virtual training in intra cytoplasmic sperm injection

Virtual simulators have been used in the last twenty years for applications ranging from flight simulation to computer-based training, just to name a few. More recently a new level of simulation has been introduced thanks to haptic interfaces able to reproduce kinesthetic and/or tactile feedback, typically experimented during interaction with real-world objects. In this paper visual simulation and haptic interfaces are integrated in a novel training system for Intra Cytoplasmic Sperm Injection (ICSI), an in-vitro fertilization technique which is now a standard for the treatment of human infertility. We describe a virtual micromanipulation simulator made by two hand-based Cyberforce haptic devices (a synthetic replica of the actual manipulation gear) and a visual-haptic engine simulating the shape and the dynamic behavior of the main components in the artificial fertilization process: the human egg, the selected sperm and the micro needles required to inject the latter into the egg's cytoplasm. Our first tests, conducted so far, are encouraging.