To handle more complex force loading scenarios, such as multiple external forces acting on the instrument at different locations, the proposed framework can be extended by incorporating advanced force estimation techniques and algorithms. One approach could involve implementing a distributed force sensing system along the instrument shaft to capture forces at various points. By integrating multiple force/torque sensors strategically placed along the instrument, the system can gather data on the forces exerted at different locations. This data can then be processed using advanced signal processing and estimation algorithms to accurately determine the individual forces acting on the instrument. Additionally, machine learning algorithms can be employed to analyze the force data and predict the most likely distribution of forces along the instrument shaft. By combining advanced sensing technologies with sophisticated data processing techniques, the framework can effectively handle complex force loading scenarios in robotic surgical applications.