In laparoscopic minimally invasive surgeries (MIS) surgeons use laparoscopic tools to interface with tissue, performing tissue manipulation without haptic force feedback. Excessive force may cause tissue injury, leading to an increased rate of fatality from perforation, hemorrhage, or the less severe ileus, infection, and adhesion formation [1]. While the actual amount of force exerted at the tool-tissue interface during MIS is critical, current technologies and platforms such as FLS [2], ICSAD [3], and ADEPT [4] provide little or no information on the quantified force value.

Prior work by Brown et al. [5], Rosen et al. [6], De [1], and Roan [7] developed tools for measuring tool-tissue interactions on force and deformations with real time feedback on in vivo porcine models. However, the platforms presented force measurement exerted by the surgeons, obtained from sensors located...

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