D. Luo and W. M. Saltzman, Synthetic DNA delivery systems, Nature Biotechnology, vol.18, pp.33-37, 2000.

D. J. Stephens and R. Pepperkok, The many ways to cross the plasma membrane, Proceedings of the National Academy of Sciences, vol.98, issue.8, pp.4295-4298, 2001.
DOI : 10.1073/pnas.081065198

Y. Zhang and L. C. Yu, Microinjection as a tool of mechanical delivery, Current Opinion in Biotechnology, vol.19, issue.5, pp.506-510, 2008.
DOI : 10.1016/j.copbio.2008.07.005

J. E. Bestman, In vivo single-cell electroporation for transfer of DNA and macromolecules, Nature Protocols, vol.305, issue.3, pp.1267-1272, 2006.
DOI : 10.1038/nprot.2006.186

U. K. Tirlapur and K. Konig, Cell biology: Targeted transfection by femtosecond laser, Nature, vol.84, issue.6895, pp.290-291, 2002.
DOI : 10.1016/S0960-9822(99)80117-1

H. J. Kim, Ultrasound-Mediated Transfection of Mammalian Cells, Human Gene Therapy, vol.7, issue.11, pp.1339-1346, 1996.
DOI : 10.1089/hum.1996.7.11-1339

X. Y. Zhao, Production of mice using iPS cells and tetraploid complementation, Nature Protocols, vol.58, issue.5, pp.963-971, 2010.
DOI : 10.1038/nprot.2010.61

Y. Kimura and R. Yanagimachi, Intracytoplasmic Sperm Injection in the Mouse1, Biology of Reproduction, vol.52, issue.4, pp.709-720, 1995.
DOI : 10.1095/biolreprod52.4.709

N. Yoshida and A. C. Perry, Piezo-actuated mouse intracytoplasmic sperm injection (ICSI), Nature Protocols, vol.301, issue.2, pp.296-304, 2007.
DOI : 10.1038/nprot.2007.7

Y. Sun and B. J. Nelson, Biological Cell Injection Using an Autonomous MicroRobotic System, The International Journal of Robotics Research, vol.26, issue.12, pp.861-868, 2002.
DOI : 10.1177/0278364902021010833

W. H. Wang, High-Throughput Automated Injection of Individual Biological Cells, IEEE Transactions on Automation Science and Engineering, vol.6, issue.2, pp.209-219, 2009.
DOI : 10.1109/TASE.2008.917136

H. B. Huang, Visual-Based Impedance Control of Out-of-Plane Cell Injection Systems, IEEE Transactions on Automation Science and Engineering, vol.6, issue.3, pp.565-571, 2009.
DOI : 10.1109/TASE.2008.2010013

Y. Xie, A Force Control Based Cell Injection Approach in a Bio-Robotics System, IEEE Int. Conf. Robot. Autom, pp.3443-3448, 2009.

M. Lukkari and P. Kallio, Multi-purpose Impedance-based Measurement System to Automate Microinjection of Adherent Cells, 2005 International Symposium on Computational Intelligence in Robotics and Automation, pp.701-706, 2005.
DOI : 10.1109/CIRA.2005.1554359

L. S. Mattos, Blastocyst Microinjection Automation, IEEE Transactions on Information Technology in Biomedicine, vol.13, issue.5, pp.822-831, 2009.
DOI : 10.1109/TITB.2009.2023664

Z. Lu, A micromanipulation system with dynamic force-feedback for automatic batch microinjection, Journal of Micromechanics and Microengineering, vol.17, issue.2, pp.314-321, 2007.
DOI : 10.1088/0960-1317/17/2/018

X. Liu, Cell Contour Tracking and Data Synchronization for Real-Time High-Accuracy Micropipette Aspiration, IEEE Trans. Autom

M. S. Jang, Shape Recognition of the Embryo Cell Using Deformable Template for Micromanipulation, Innovations in Applied Artificial Intelligence, vol.3029, pp.463-472, 2004.
DOI : 10.1007/978-3-540-24677-0_48

G. Becattini, Diffusion tensor driven contour closing for cell microinjection targeting, 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology, pp.4072-4075, 2010.
DOI : 10.1109/IEMBS.2010.5627608

W. H. Wang, Machine Vision and Image Processing for Automated Cell Injection, 2008 IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, pp.309-314, 2008.
DOI : 10.1109/MESA.2008.4735751

D. Kim, Cellular Force Measurement for Force Reflected Biomanipulation, IEEE Int. Conf. Robot. Autom, pp.2412-2417, 2004.

S. Y. Cho and J. H. Shim, A New Micro Biological Cell Injection System, IEEE/RSJ Int, pp.1642-1647, 2004.

M. Ammi, Evaluation of 3D Pseudo-Haptic Rendering using Vision for Cell Micromanipulation, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2115-2120, 2006.
DOI : 10.1109/IROS.2006.282490

A. Pillarisetti, Evaluating the Effect of Force Feedback in Cell Injection, IEEE Transactions on Automation Science and Engineering, vol.4, issue.3, pp.322-331, 2007.
DOI : 10.1109/TASE.2006.888051

J. Kim, A Haptic Interaction Method Using Visual Information and Physically Based Modeling Medical Robotics and Computer-Integrated Surgery, Springer handbook of robotics, pp.636-645, 2008.

A. Bettini, Vision-Assisted Control for Manipulation Using Virtual Fixtures, IEEE Transactions on Robotics, vol.20, issue.6, pp.953-966, 2004.
DOI : 10.1109/TRO.2004.829483

W. B. Griffin, Feedback Strategies for Telemanipulation with Shared Control of Object Handling Forces, Presence: Teleoperators and Virtual Environments, vol.69, issue.6, pp.720-731, 2005.
DOI : 10.1109/70.68071

M. Ammi and A. Ferreira, Involving the Operator in the Control Strategy for Intelligent Telemicromanipulation, IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, pp.868-873, 2003.

H. K. Kim, Continuous Shared Control for Stabilizing Reaching and Grasping With Brain-Machine Interfaces, IEEE Transactions on Biomedical Engineering, vol.53, issue.6, pp.1164-1173, 2006.
DOI : 10.1109/TBME.2006.870235

U. Bertocchi, Human-Robot Shared Control for Robot-Assisted Endoscopy of the Spinal Cord, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., pp.543-548, 2006.
DOI : 10.1109/BIOROB.2006.1639145

M. Boukallel, Smart Microrobots for Mechanical Cell Characterization and Cell Convoying, IEEE Transactions on Biomedical Engineering, vol.54, issue.8, pp.1536-1540, 2007.
DOI : 10.1109/TBME.2007.891171

URL : https://hal.archives-ouvertes.fr/hal-00179481

I. K. Glasgow, Handling individual mammalian embryos using microfluidics, IEEE Transactions on Biomedical Engineering, vol.48, issue.5, pp.570-578, 2001.
DOI : 10.1109/10.918596

Y. Hiramoto, Mechanical properties of sea urchin eggs, Experimental Cell Research, vol.32, issue.1, pp.59-75, 1963.
DOI : 10.1016/0014-4827(63)90069-7

P. A. Janmey and C. A. Mcculloch, Cell Mechanics: Integrating Cell Responses to Mechanical Stimuli, Annual Review of Biomedical Engineering, vol.9, issue.1, pp.1-34, 2007.
DOI : 10.1146/annurev.bioeng.9.060906.151927

P. Kallio and J. Kuncova, Manipulation of living biological cells: Challenges in automation, Workshop on Microrobotics for Biomanipulation in Int. Conf. Intell. Robot. Syst, 2003.

M. Khalilian, Alteration in the Mechanical Properties of Human Ovum Zona Pellucida Following Fertilization: Experimental and Analytical Studies, Experimental Mechanics, vol.16, issue.4, pp.1-8, 2010.
DOI : 10.1007/s11340-010-9357-z

D. H. Kim, Mechanical Analysis of Chorion Softening in Prehatching Stages of Zebrafish Embryos, IEEE Transactions on Nanobioscience, vol.5, issue.2, pp.89-94, 2006.
DOI : 10.1109/TNB.2006.875054

S. Kishigami, Similar Time Restriction for Intracytoplasmic Sperm Injection and Round Spermatid Injection into Activated Oocytes for Efficient Offspring Production1, Biology of Reproduction, vol.70, issue.6, pp.1863-1869, 2004.
DOI : 10.1095/biolreprod.103.025171

M. Papi, Mechanical properties of zona pellucida hardening, European Biophysics Journal, vol.62, issue.153902, pp.987-992, 2010.
DOI : 10.1007/s00249-009-0468-3

K. Sakaki, Development of an Autonomous Biological Cell Manipulator With Single-Cell Electroporation and Visual Servoing Capabilities, IEEE Transactions on Biomedical Engineering, vol.56, issue.8, pp.2064-2074, 2009.
DOI : 10.1109/TBME.2009.2021577

A. E. Smith, The mechanical properties of Saccharomyces cerevisiae, Proceedings of the National Academy of Sciences, vol.97, issue.18, pp.9871-9874, 2000.
DOI : 10.1073/pnas.97.18.9871

Y. Sun, Mechanical property characterization of mouse zona pellucida, IEEE Transactions on Nanobioscience, vol.2, issue.4, pp.279-286, 2003.
DOI : 10.1109/TNB.2003.820273

J. K. Valley, Parallel single-cell light-induced electroporation and dielectrophoretic manipulation, Lab on a Chip, vol.37, issue.12, pp.1714-1720, 2009.
DOI : 10.1039/b821678a

W. Wang, A microrobotic adherent cell injection system for investigating intracellular behavior of quantum dots, 2008 IEEE International Conference on Robotics and Automation, pp.407-412, 2008.
DOI : 10.1109/ROBOT.2008.4543241

K. Yanagida, The usefulness of a piezo-micromanipulator in intracytoplasmic sperm injection in humans, Human Reproduction, vol.14, issue.2, pp.448-453, 1999.
DOI : 10.1093/humrep/14.2.448

Z. Y. Zhang, A flexible new technique for camera calibration, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.22, issue.11, pp.1330-1334, 2000.
DOI : 10.1109/34.888718

M. Ammi, Automatic Camera-Based Microscope Calibration for a Telemicromanipulation System Using a Virtual Pattern, IEEE Transactions on Robotics, vol.25, issue.1, pp.184-191, 2009.
DOI : 10.1109/TRO.2008.2006866

URL : https://hal.archives-ouvertes.fr/hal-00439818

O. Khatib, Real-Time Obstacle Avoidance for Manipulators and Mobile Robots, The International Journal of Robotics Research, vol.5, issue.1, pp.90-98, 1986.
DOI : 10.1177/027836498600500106

P. M. Fitts, The information capacity of the human motor system in controlling the amplitude of movement., Journal of Experimental Psychology, vol.47, issue.6, pp.381-391, 1954.
DOI : 10.1037/h0055392

J. Accot and S. Zhai, Beyond Fitts's Law: Models for Trajectory-Based HCI Tasks, CHI, pp.295-302, 1997.

D. J. Cannon, Experiments with a target-threshold control theory model for deriving Fitts' law parameters for human-machine systems, IEEE Transactions on Systems, Man, and Cybernetics, vol.24, issue.8, pp.1089-1098, 1994.
DOI : 10.1109/21.299694

O. Tonet, Control of a Teleoperated Nanomanipulator with Time Delay under Direct Vision Feedback, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.3514-3519, 2007.
DOI : 10.1109/ROBOT.2007.364016

S. Wall and W. Harwin, Quantification of the effects of haptic feedback during a motor skills task in a simulated environment, Phantom User Research Symposium, 2000.

R. W. Soukoreff and I. S. Mackenzie, Towards a standard for pointing device evaluation, perspectives on 27 years of Fitts??? law research in HCI, International Journal of Human-Computer Studies, vol.61, issue.6, pp.751-789, 2004.
DOI : 10.1016/j.ijhcs.2004.09.001

C. Choi, Development and Quantitative Performance Evaluation of a Noninvasive EMG Computer Interface, IEEE Transactions on Biomedical Engineering, vol.56, issue.1, pp.188-191, 2009.
DOI : 10.1109/TBME.2008.2005950

I. S. Mackenzie and W. Buxton, Extending Fitts' law to two-dimensional tasks, Proceedings of the SIGCHI conference on Human factors in computing systems , CHI '92, pp.219-226, 1992.
DOI : 10.1145/142750.142794