Remote-controlled minimally invasive neuroendoscopic robotic surgical tools can be miniaturized to less than 2 mm-diameter range while maintaining their dexterity and force required to perform operations without open-skull surgeries. However, these platforms lack haptic information for surgeons, leading to possible loss of control over tissue. This thesis investigates two places on the surgical tool for integration of sensor systems:​ the bendable tube shaft of recently developed concentric tube robot, and the miniaturized magnetically driven forceps. For the tube shaft, a highly sensitive resistive based sensor is optimized, developed and wrapped around to provide force and location feedback while being adaptable to the tube’s changing curvatures during operation. For the microgipper, a microstrutured capacitive sensor design is proposed and optimized using computer simulations to measure normal and shear stresses. These sensors are then developed using microfabrication techniques before subjecting to bench-top and brain phantom tests for assessments of their performances.