The present invention provides a sensorized medical instrument that is suitable for application to, and training and skills assessment for, a variety of therapeutic, diagnostic, surgical and medical procedures. It is comprised of a sterilizable sensorized instrument capable of measuring forces in five degrees of freedom and tip position in six degrees of freedom. The instrument can be used to perform a variety of tasks through the integration of interchangeable instrument tips and handles. The system is capable of providing feedback to the user regarding critical forces/torques acting on the tissue, position and orientation of the instrument and its tip near critical areas within the body, or user performance during training and skills evaluation.

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