--- title: Compact Force and Torque Sensors for Medical Robotics url: "https://www.resense.io/en-en/applications-medical-robotics" description: "Precise sensing solutions for medical robotics featuring compact designs, outstanding accuracy and seamless integration. Discover now!" date: 2026-04-23 modified: 2026-09-17 --- # Compact Force and Torque Sensors for Medical Robotics Medical Robotics ================ ###### Delivering Precise Control and Force Feedback Force feedback and smooth, ergonomic control are no longer out of reach. With our miniature, high-precision, and modular design, Resense’s force and torque sensors enable entirely new applications. ##### Maximum Compactness With diameters from 8 to 32 mm, our sensors fit even into surgical instruments. ##### Useful Hollow Shaft With the hollow shaft our sensors offer room for individual cable routing and tubes. ##### Highest Precision With resolution of 10 mN, the sensor provides reliable data for surgical robots and surgeons. HEX 8 High Force ------------------ ![HEX 8 High Force](https://www.resense.io/fileadmin/_processed_/7/b/csm_MedicalRobotics_HEX8HF_b20aab2881.webp "HEX 8 High Force")Sensing at the Tip ### HEX 8 High Force Designed for surgical instrument integration with a compact 8.8 mm form factor, >250 N axial load capability and sterilization readiness. Available from Q4/2026. [ Technical Specifications ](https://www.resense.io/en-en/force-torque-sensors#c44004) HEX 8 High Force ![Built for Instrument Integration](https://www.resense.io/fileadmin/_processed_/4/9/csm_MedicalRobotics_HEX8HF_Integration_ed296a7759.webp "Built for Instrument Integration")Sensing at the Tip ### Built for Instrument Integration Thanks to the hollow shaft of up to 5.5 mm, integration of the 6-axis force/torque sensor into existing instruments is made easy. [ Integrate HEX8 High Force Now ](https://www.resense.io/en-en/contact) Built for Instrument Integration ![](https://www.resense.io/fileadmin/_processed_/f/4/csm_Applications_Whitepaper_Mockup_8394163d4f.webp) Force Sensing at the Tip -------------------------- The whitepaper explores where force and torque sensing creates the greatest value in surgical robotics. Learn why measuring forces close to the distal end of surgical instruments can improve robotic control, usability, and future AI-assisted surgical systems. Interested? Read the whitepaper now. [Whitepaper](https://www.resense.io/fileadmin/resense/Applications/Resense_Whitepaper_Force_Sensing_at_the_Tip.pdf) Sensing along the System -------------------------- ### Surgical Instrument ### End-Effector ### Instrument Adapter ### Input Device ### Head Console ### Motor ![Illustration of minimally invasive surgical instruments with integrated sensing at the distal ends, enabling force feedback and supporting precise, controlled manipulation during procedures](https://www.resense.io/fileadmin/_processed_/a/7/csm_Resense_Illus_Medical_Chirurgie_1_9be5847380.webp) Integration at the distal ends of reusable, minimally invasive instruments enable haptic feedback for the surgeon, supporting precise instrument control and reducing the risk of tissue trauma. ![Surgical robot end effector interacting with eye while operator controls system at console](https://www.resense.io/fileadmin/_processed_/4/8/csm_Resense_Illus_Medical_Augen_1_901a06765a.webp) Integration into surgical end‑effectors, allows surgeons to feel tool–tissue interaction, enhance surgical safety by enabling real‑time warnings, and achieve more precise, intuitive robotic control. ​ ![Surgical robot tool interacting with object while operator holds instrument at workstation](https://www.resense.io/fileadmin/_processed_/b/a/csm_Resense_Illus_Medical_Zaehne_1_ad52fc0843.webp) Through placing the sensor between the robotic arm and the instrument external forces can be detected and smooth hand-guided operation can be supported, ultimately enhancing the patient's safety. ![Operator using control interface while interacting with robotic system in surgical environment](https://www.resense.io/fileadmin/_processed_/0/a/csm_Resense_Illus_Medical_Chirurgie_G2_1fb5a9dde9.webp) Integrating force and torque sensors into input devices enables the detection of very small forces and translates them into precise robotic movements, improving overall human‑robot interaction. ![Operator observing display interface of robotic system while interacting with control setup](https://www.resense.io/fileadmin/_processed_/c/8/csm_Resense_Illus_Medical_Chirurgie_G3_e1d476b03c.webp) Integrating F/T sensors into the head console enables smooth system adjustments by interpreting subtle user inputs and generating fluid movements. This supports ergonomic seating positions for surgeons. ![Surgical robot arm interacting with patient using distal tool with integrated force sensing](https://www.resense.io/fileadmin/_processed_/b/e/csm_Resense_Illus_Medical_Chirurgie_G4_8fc3c35240.webp) Integrating sensors into motor drives eliminates sterilization challenges and enhances force feedback and operational safety. Shaft-Integrated Force Sensing -------------------------------- **Success Story** Achieving a force estimation error below 5%, our approach demonstrates strong performance compared to established methods by combining 6-axis F/T sensing with advanced force estimation. In collaboration with Case Western Reserve University, we integrated our miniature 6-axis force/torque sensor directly into a surgical instrument. Embedded in the tool shaft, it enables precise measurement of tool–tissue interaction forces without affecting the surgical workflow. Addressing the challenges encountered during this project, we developed an entirely new product: the [HEX 8 High Force](https://www.resense.io/en-en/customized-sensors#c44942), specifically designed to withstand higher axial loads. [Discover More](https://www.surgicalroboticstechnology.com/articles/enabling-force-feedback-from-the-tool-tip-promising-results/ "Read more") [Case Study](https://www.resense.io/fileadmin/resense/Applications/Application_MedicalRobotics_CaseStudy.pdf "CaseStudy") ![Shaft-Integrated Force Sensing](https://www.resense.io/fileadmin/_processed_/7/6/csm_CWIntegration.5.zu.trans_ee56dc8268.webp) Shaft-Integrated Force Sensing Play video > The sensor is so small, we didn't even know that was possible! Voice of Customer Publishing Scientific Papers ------------------------------ ##### Hand-Held Device for Force Estimation during Tool-Tissue Interaction J. Mayer et al., "Hand-Held Device for Force Estimation during Tool-Tissue Interaction," ACTUATOR 2022; International Conference and Exhibition on New Actuator Systems and Applications, Mannheim, Germany, 2022, pp. 1-4. [Discover More](https://ieeexplore.ieee.org/abstract/document/9899206) ##### Measuring Interaction Forces in Surgical Telemanipulation using Conventional Instruments Schäfer MB, Glöckner AM, Friedrich GR, Meiringer JG, Pott PP. Measuring interaction forces in surgical telemanipulation using conventional instruments. *Robotica*. 2023;41(4):1335-1347, [DOI: 10.1017/S0263574722001758](https://www.cambridge.org/core/journals/robotica/article/measuring-interaction-forces-in-surgical-telemanipulation-using-conventional-instruments/7B1F9D9AD052A510D3D13265438929C0). [Discover More](https://www.cambridge.org/core/journals/robotica/article/measuring-interaction-forces-in-surgical-telemanipulation-using-conventional-instruments/7B1F9D9AD052A510D3D13265438929C0) ##### Comparing Human Haptic Perception and Robotic Force/Torque Sensing in a Simulated Surgical Palpation Task T. Markert, S. Matich, E. Hoerner, J. Pfannes, A. Theissler and M. Atzmueller, "Comparing Human Haptic Perception and Robotic Force/Torque Sensing in a Simulated Surgical Palpation Task," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 7825-7832, [DOI: 10.1109/IROS47612.2022.9981495. ](https://ieeexplore.ieee.org/document/9981495) [Discover More](https://ieeexplore.ieee.org/document/9981495) ##### Differential Six Axis Force and Torque Measurement in a Prototype Robotic Surgical Instrument D. Neykov, T. Markert, N. Hellinger, A. Theissler, M. Atzmueller and S. Matich, "Differential Six-Axis Force and Torque Measurement in a Prototype Robotic Surgical Instrument," 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, 2025, pp. 11263-11270, [DOI: 10.1109/IROS60139.2025.11245984. ](https://ieeexplore.ieee.org/document/11245984) [Discover More](https://ieeexplore.ieee.org/document/11245984) ##### IC-RCM: Intraoperative Real-Time Detection of 5D RCM-Misalignment in Robot-Assisted Ophthalmic Surgeries with a Single-Camera System A. Alikhani, N. Fareghzadeh, S. Inagaki, M. Maier, N. Naveb and M. A. Nasseri, “IC-RCM: Intraoperative Real-Time Detection of 5D RCM-Misalignment in Robot-Assisted Ophthalmic Surgeries with a Single-Camera System”, 2024 10th International Conference on Electrical Engineering, Control and Robotics (EECR), Guangzhou, China, 2024, pp. 111–117, [DOI: 10.1109/EECR60807.2024.10607316](https://ieeexplore.ieee.org/document/10607316) [Discover More](https://ieeexplore.ieee.org/document/10607316) ##### PAROS: Multi-Component Robotic System and an Image-Guided Patient Alignment for Robot-Assisted Ophthalmic Surgery A. Alikhani, V. D. Nguyen, S. Inagaki, B. Busam, K. Faridpooya, M. Maier, I. Iordachita, P. Gehlbach, N. Navab, M. A. Nasseri, D. Zapp, “PAROS: Multi-Component Robotic System and an Image-Guided Patient Alignment for Robot-Assisted Ophthalmic Surgery”, IEEE Access, vol. 13, pp. 85056-85071, 2025, [DOI: 10.1109/ACCESS.2025.3564944](https://ieeexplore.ieee.org/document/11003878) [Discover More](https://ieeexplore.ieee.org/document/11003878) ![Miniature 6 axis force torque sensor held between fingers highlighting compact design and precision](https://www.resense.io/fileadmin/_processed_/1/c/csm_Home_Header_SensorHand_94fb6703b1.webp) Our Miniature Force and Torque Sensors ---------------------------------------- Explore Our Products [Force/Torque Sensors](https://www.resense.io/en-en/force-torque-sensors) [Customized Sensors](https://www.resense.io/en-en/customized-sensors)