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Robotic-assisted microsurgeries provide several benefits to both patients and surgeons. Nevertheless, there are still some limitations and challenges associated with their outcome, one of which is a lack of force feedback. Without force information, the risk of delicate tissue damage from the excessive force applied by surgeons would be increased. Since it is difficult to install force sensors on microsurgical tools, a novel approach for estimating a force vector from the deformation of thedoi:10.1109/access.2021.3124304 fatcat:zemvngpkyzfsbhrv7stu2s7rqi