**2. Methods**

The methods section comprises three of our latest developments: a force sensorized cutting tool (described in Section 2.1), a steerable force sensorized catheter with haptic force feedback for fetoscopy (described in Section 2.2), and a novel joystick with haptic force feedback (described in Section 2.3) which can be used as haptic force feedback input device for the control of the sensorized cutting tool as well as the sensorized catheter.
