Cell injection is vital in genetics, drug screening, reproduction, and other biomedical fields. As compared with microinjection by manual operation and stand-alone position feedback control, robotic cell microinjection with force control can protect the cells from suffering excessive force, and hence, enhance the success rate and survival rate. In this chapter, the recent advances in robotic microinjection with force sensing techniques and related control methods have been surveyed for injection of biological cells, including adherent cells and suspended cells. A discussion about significant roles of force sensors in robotic cell microinjection systems has been presented. Five popular types of force sensors and their application in robotic cell microinjection are reviewed. The challenges in improving the automation level for robotic cell microinjection and promising solutions are addressed.