This paper presents a new piezo-driven cell injection system with integration of force and position control. The challenge of smooth transition between the force and position switching control is addressed by a weight coefficient method. Adaptive sliding mode control algorithm is adopted to tackle the nonlinear hysteresis and disturbance of piezoelectric actuator. Experiments are undertaken with NI cRIO platform to verify the effectiveness of the microinjection system by penetrating a thin film. The outcomes of this study lay a base for the further research in biological manipulation areas, such as the injection of xenopus oocyte and zebrafish embryo.