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So this one is kind of a hard question to answer.. Most people (including myself) would say no. Every time you open your bator you are losing precious humidity and heat, the humidity allowing the chick to break free from the shell and not stick to it, and the heat (and digested yolk) providing them energy to escape. I know alot of people want to "help out" their chicks, by easing them out of their shell for them, but you don't really need to do this.. The chick will make it out on their own (sometimes even taking 15 hours or more to do it), but if your chick has pipped (broken the shell) but has not unzipped (broken out of the shell) 20-24 hours after their initial pipping, then you can remove the egg to help them out. This is a very scary process however; because alot can go wrong, you could puncture the baby, drop the egg, break it out too early, etc... If you do this, or open to grab fully fuzzed out chicks (after they have been inside for at least 24 hours; remember chicks can survive for 48 hours without food/water). To see how to "help" open the egg, there are several youtube videos showing you how to "help out" your hatching eggs. Make sure you spray the remaining eggs with a light mister as you are pulling the pipped egg one from the bator, this will raise the humditiy back up in the short term and will not impair the other chicks trying to pip..
Usually if I have a chick that isnt out 24 hours after starting to hatch I will get it out of the incubator quickly and I use a pair of those small scissors that people usually have in their sewing kits. I take the scissors and slip the tip under the egg shell and membrane and go around the egg at about the same point the chick would taking small pieces of each time. If the membrane starts to bleed while im cutting around the egg then I stop and put it back in the incubator because that usually means the chick isnt ready to come out yet and doesnt have the yolk completely sucked in it yet. I have cut chicks out too early in the past and finally came across that bit of info about the membrane bleeding which means it is still to early for it to come out. I hope this helps some.