This paper presents results related to our latest semi-automated blastocyst microinjection system. Here, the improvements made to the microinjection system are described and evaluated. First, after replacing the original piezo-electric kinematic stage by a DC motor-based robot manipulator, experimentation showed that the speed and the precise motion control of pipettes were improved. Second, by introducing an X-Y stage into the system, to manipulate the Petri dish around the microscope's field of view, multiple microinjection speed was improved. Third, by using SSD template matching to track the injection pipette, rather than the cross-correlation template matching algorithm used in the original system, improvements were made to pipette localization. Under human control, this new semi-automated system gives improved microinjection performance metrics compared to previously obtained results. The system is also providing implicit human knowledge of the microinjection process via the human-control interface. It is the encoding of this knowledge that will lead to the first fully automated system. The semi-automated microinjection system is being tested and evaluated in the AMC at UNC-Chapel Hill.