A system comprising: an instrument having a working tool configured to penetrate a tissue; a torque sensor configured to generate in real-time one or more torque signals related to torque of the working tool; at least two motors, including a rotational drive motor and an axial drive motor, the axial drive motor housed in a body of the instrument, wherein the body further comprises one or more guides operatively coupled to the axial drive motor, wherein the one or more guides comprise a guide harp having a distal guide element configured to receive the working tool therethrough, wherein the guide harp comprises one or more rods providing support to bear a load of the instrument, wherein the one or more rods exit through a back end of the body; at least two axial force sensors (66, 340) comprising: a first axial force sensor configured to measure a force applied to the guide harp; and a second axial force sensor configured to measure a force applied to the working tool, the second axial force sensor incorporated within a bushing coupled to the rotational drive motor of the one or more motors; a controller in operative communication with the torque sensor, the first axial force sensor and the second axial force sensor, the controller configured to: receive the one or more torque signals, wherein the controller processes the torque signals into one or more processed signals representative of torque, energy, power or a combination thereof; and communicate with the first axial force sensor and the second axial force sensor to control the force on the guide harp and the force applied to the working tool; and a display (505, 605) providing to the user in real-time the one or more processed signals. an instrument having a working tool configured to penetrate a tissue; a torque sensor configured to generate in real-time one or more torque signals related to torque of the working tool; at least two motors, including a rotational drive motor and an axial drive motor, the axial drive motor housed in a body of the instrument, wherein the body further comprises one or more guides operatively coupled to the axial drive motor, wherein the one or more guides comprise a guide harp having a distal guide element configured to receive the working tool therethrough, wherein the guide harp comprises one or more rods providing support to bear a load of the instrument, wherein the one or more rods exit through a back end of the body; at least two axial force sensors (66, 340) comprising: a first axial force sensor configured to measure a force applied to the guide harp; and a second axial force sensor configured to measure a force applied to the working tool, the second axial force sensor incorporated within a bushing coupled to the rotational drive motor of the one or more motors; a first axial force sensor configured to measure a force applied to the guide harp; and a second axial force sensor configured to measure a force applied to the working tool, the second axial force sensor incorporated within a bushing coupled to the rotational drive motor of the one or more motors; a controller in operative communication with the torque sensor, the first axial force sensor and the second axial force sensor, the controller configured to: receive the one or more torque signals, wherein the controller processes the torque signals into one or more processed signals representative of torque, energy, power or a combination thereof; and communicate with the first axial force sensor and the second axial force sensor to control the force on the guide harp and the force applied to the working tool; and receive the one or more torque signals, wherein the controller processes the torque signals into one or more processed signals representative of torque, energy, power or a combination thereof; and communicate with the first axial force sensor and the second axial force sensor to control the force on the guide harp and the force applied to the working tool; and a display (505, 605) providing to the user in real-time the one or more processed signals.