A sensory perception surgical system for robot-assisted laparoscopic surgery, comprises: an electrosurgical forceps coupled to a surgical tool; an electrocautery radiofrequency signal generator electrically coupled to an impedance measurement circuit and operable for supplying energy to the electrosurgical forceps; the impedance measurement circuit including: a measurement sensor configured to measure a signal indicative of a magnitude corresponding to the value of a contact impedance between the electrosurgical forceps and a patient's tissue; an oscillator configured to provide a power signal to the measurement sensor; a first electrical circuit comprising one or more resistors and a voltage limiter configured to protect the measurement sensor and the oscillator, the measurement sensor and the oscillator are connected to the electrosurgical forceps by a power cable of the surgical tool; and a second electronic circuit comprising a first switch circuit configured to commutate between the connection and the disconnection of a power cabling of the electrocautery radiofrequency signal generator with respect to the power cable of the surgical tool, and a second switch circuit configured to commutate between the connection and the disconnection of the electrocautery radiofrequency signal generator and the measurement sensor; a radiofrequency detector including at least one capacitive or inductive sensor arranged on said power cabling configured to automatically commutate the first and second switch circuits (305, 306) while supplying energy; and a processor operatively connected to the impedance measurement circuit configured to receive said signal measured by the measurement sensor and to convert same into a force vector, the latter being estimated as a reflected vector of the received signal, the modulus of said vector being a function of the contact impedance and the argument of the vector being defined by a trajectory followed by the surgical tool in the moment of contact. an electrosurgical forceps coupled to a surgical tool; an electrocautery radiofrequency signal generator electrically coupled to an impedance measurement circuit and operable for supplying energy to the electrosurgical forceps; the impedance measurement circuit including: a measurement sensor configured to measure a signal indicative of a magnitude corresponding to the value of a contact impedance between the electrosurgical forceps and a patient's tissue; an oscillator configured to provide a power signal to the measurement sensor; a first electrical circuit comprising one or more resistors and a voltage limiter configured to protect the measurement sensor and the oscillator, the measurement sensor and the oscillator are connected to the electrosurgical forceps by a power cable of the surgical tool; and a second electronic circuit comprising a first switch circuit configured to commutate between the connection and the disconnection of a power cabling of the electrocautery radiofrequency signal generator with respect to the power cable of the surgical tool, and a second switch circuit configured to commutate between the connection and the disconnection of the electrocautery radiofrequency signal generator and the measurement sensor; a radiofrequency detector including at least one capacitive or inductive sensor arranged on said power cabling configured to automatically commutate the first and second switch circuits (305, 306) while supplying energy; and a processor operatively connected to the impedance measurement circuit configured to receive said signal measured by the measurement sensor and to convert same into a force vector, the latter being estimated as a reflected vector of the received signal, the modulus of said vector being a function of the contact impedance and the argument of the vector being defined by a trajectory followed by the surgical tool in the moment of contact. a measurement sensor configured to measure a signal indicative of a magnitude corresponding to the value of a contact impedance between the electrosurgical forceps and a patient's tissue; an oscillator configured to provide a power signal to the measurement sensor; a first electrical circuit comprising one or more resistors and a voltage limiter configured to protect the measurement sensor and the oscillator, the measurement sensor and the oscillator are connected to the electrosurgical forceps by a power cable of the surgical tool; and a second electronic circuit comprising a first switch circuit configured to commutate between the connection and the disconnection of a power cabling of the electrocautery radiofrequency signal generator with respect to the power cable of the surgical tool, and a second switch circuit configured to commutate between the connection and the disconnection of the electrocautery radiofrequency signal generator and the measurement sensor; a radiofrequency detector including at least one capacitive or inductive sensor arranged on said power cabling configured to automatically commutate the first and second switch circuits (305, 306) while supplying energy; and a processor operatively connected to the impedance measurement circuit configured to receive said signal measured by the measurement sensor and to convert same into a force vector, the latter being estimated as a reflected vector of the received signal, the modulus of said vector being a function of the contact impedance and the argument of the vector being defined by a trajectory followed by the surgical tool in the moment of contact.