Micromanipulation systems and methods

A micromanipulation system, comprising:

• a micromanipulator, comprising:
• a handpiece;
• an actuator assembly coupled to the micromanipulator;
• and
• a tool vibrating system comprising a vibrator assembly and a vibration controller;
• a micromanipulation tool operatively connected to said handpiece, the micromanipulation tool comprising:
• a tool shaft comprising a connecting end for coupling the micromanipulation tool to the handpiece and a manipulation end;
• wherein the actuator assembly is further connected to said micromanipulation tool to provide manual control of said micromanipulation tool during use;
• and
• a force sensing system comprising a force sensor attached to said tool shaft of said micromanipulation tool, said force sensing system being configured to provide an output signal that indicates a force imposed on the manipulation end of said tool shaft, and indicate a force imposed along the tool shaft;
• and
• a processor in communication with said force sensing system,
• wherein said processor is configured to receive said output signal from said force sensing system and compensate for forces due to actuation of said micromanipulation tool to determine a force due to interaction of said micromanipulation tool with a region of interest,
• wherein the vibration controller is configured to communicate with said processor to receive an indication of at least one of a magnitude and a direction of said force due to interaction of said micromanipulation tool with a region of interest and to cause said vibration controller to impose a vibration to said tool shaft along said direction of said force due to interaction of said micromanipulation tool with a region of interest imposed on said tool shaft, wherein said vibration to said tool shaft facilitates a function of the manipulation end of the micromanipulation tool to manipulate an object;
• and
• wherein said processor is further configured to output the indication of at least one of a magnitude and a direction of said force due to interaction of said micromanipulation tool with a region of interest.