Minimally Invasive Surgery (MIS) in the form of laparoscopic surgery has dramatically increased in the last decade and has led to reduced access trauma in addition to providing significant benefits for the patient via better recovery times and cosmetics. Robotic Minimally Invasive Surgery (RMIS) has also increased in popularity. Both methods require haptic feedback (sense of touch) to be successful. Current haptic feedback methods for tele-operated surgical systems involve integrated force sensors that are difficult to miniaturize, nonsterilizable, nonversatile, delicate, and costly. Haptic feedback methods such as displacement sensors and resistive sensors have a variety of shortcomings. When force is applied to the structure, there is strain, thereby, causing the electrical resistance in the strain gauge to change. Both of these methods are not adaptable to the existing endowrist instruments, and require modifications to the endowrist. Moreover, these methods often involve a tradeoff between its function in measuring the magnitude and direction of force and its cost in manufacturing; inventions involving these methods are composed of delicate and complex parts dramatically increasing the cost.