The force estimation approach based on the force/torque sensor at the base of the instrument driving mechanism may have some potential limitations that need to be addressed. One limitation could be the presence of noise and disturbances in the force measurements, which can affect the accuracy of the estimated forces at the RCM location. To address this limitation, advanced filtering and signal processing techniques can be implemented to reduce noise and improve the quality of force estimation. Additionally, calibration procedures should be regularly performed to ensure the accuracy and reliability of the force sensor data. Another limitation could be the inability to decouple forces acting at different locations along the instrument shaft. This challenge can be mitigated by developing sophisticated algorithms that can separate and estimate individual forces based on the sensor data collected. By addressing these limitations through advanced signal processing, calibration, and algorithm development, the force estimation approach can be enhanced to provide more accurate and reliable force feedback for the robotic surgical system.