A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.

A device measures a force and/or torque with a deformation body. The device includes a first fastening element, a second fastening element arranged spaced apart in a direction from the first fastening element and at least one length element arranged between the two fastening elements. The device has and comprising a first end, a second end and a length along a longitudinal direction. A force acting on the deformation body or a torque acting on the deformation body leads to a deformation of the length element. An input-side input of a mechanical amplifier is fastened to the deformation body by means of a coupling element. A material measure is arranged on an output-side output of the mechanical amplifier and a deformation of the length element leads to a movement of the material measure. The movement of the material measure can be detected by a scanning element.