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Robot-assisted minimally-invasive surgery is increasingly used in clinical practice. Force feedback offers potential to develop haptic feedback for surgery systems. Forces can be estimated in a vision-based way by capturing deformation observed in 2D-image sequences with deep learning models. Variations in tissue appearance and mechanical properties likely influence force estimation methods' generalization. In this work, we study the generalization capabilities of different spatial anddoi:10.15480/882.3038 fatcat:ypkoc3gm6vdfboqpkg7kdtfcei