A surgical robot system for detecting the expected movement of a surgical instrument associated with the robot system, said robot system comprising: a surgical instrument comprising one or more sensors and an instrument tracking array; a robot base including a computer; a robot arm connected to and in electronic communication with the robot base; an end-effector connected to the robot arm and in electronic communication with the robot base, wherein the end-effector comprises a guide tube including a guide tube tracking array, the guide tube configured to receive the surgical instrument, and wherein the one or more sensors are strain gauges and wherein the system comprises at least two strain gauges positioned on opposite sides of the surgical instrument parallel to each other and configured to measure forces associated with the insertion force of the surgical instrument disposed in the guide tube, and wherein the computer of the robot base is configured to receive the measured forces and indicate on a display when the measured forces are outside of an expected range for the measured forces and moments, and wherein the computer applies data from the surgical instrument and the guide tube interaction in two zones, in the first zone the surgical instrument taper ends within the guide tube and so a lever arm for deflection is the point of application of force to the point wherein the largest diameter of the instrument touches the guide tube, the lever arm remains fixed for a fixed point of load application as the surgical instrument remains in the first zone, and in a second zone, the surgical instrument taper ends outside the guide tube, the lever arm for the deflection is the point of application forces to the point whether instrument exits the guide tube, the lever arm continuously increases as more of the instrument protrudes the guide tube, wherein based on the surgical instrument tracking array location relative to the guide tube's tracking array location, the computer is configured to keep track of the current zone and appropriately interpret the neural network model or physical model of the tool to calculate tip force and displacement. a surgical instrument comprising one or more sensors and an instrument tracking array; a robot base including a computer; a robot arm connected to and in electronic communication with the robot base; an end-effector connected to the robot arm and in electronic communication with the robot base, wherein the end-effector comprises a guide tube including a guide tube tracking array, the guide tube configured to receive the surgical instrument, and wherein the one or more sensors are strain gauges and wherein the system comprises at least two strain gauges positioned on opposite sides of the surgical instrument parallel to each other and configured to measure forces associated with the insertion force of the surgical instrument disposed in the guide tube, and wherein the computer of the robot base is configured to receive the measured forces and indicate on a display when the measured forces are outside of an expected range for the measured forces and moments, and wherein the computer applies data from the surgical instrument and the guide tube interaction in two zones, in the first zone the surgical instrument taper ends within the guide tube and so a lever arm for deflection is the point of application of force to the point wherein the largest diameter of the instrument touches the guide tube, the lever arm remains fixed for a fixed point of load application as the surgical instrument remains in the first zone, and in a second zone, the surgical instrument taper ends outside the guide tube, the lever arm for the deflection is the point of application forces to the point whether instrument exits the guide tube, the lever arm continuously increases as more of the instrument protrudes the guide tube, wherein based on the surgical instrument tracking array location relative to the guide tube's tracking array location, the computer is configured to keep track of the current zone and appropriately interpret the neural network model or physical model of the tool to calculate tip force and displacement.