In this research, we propose a micromanipulation system using a haptic device with grip function for intuitive and efficient cell manipulation. In this system, the operator manipulates the micromanipulator and injector connected to a holding pipette using the haptic device. In addition, the system returns force sensations to the operator according to the degree of aspiration/expulsion of the holding pipette and the state of the cells. We verify that the proposed system improves the efficiency of micro-manipulation through subject experiments of micro-manipulation using microbeads.