Devices and methods for compact, redundant inductive force sensor

A medical device, comprising:

• a mechanical structure and a force sensor unit coupled to the mechanical structure;
• a shaft coupled to the mechanical structure, the shaft having a proximal end and a distal end;
• wherein the force sensor unit comprises a mounting bracket, a first rod, a second rod, a first magnet, a second magnet, a first coil coupled to the mounting bracket, and a second coil coupled to the mounting bracket, the mounting bracket disposed proximal of the proximal end of the shaft;
• wherein the first rod comprises a distal portion and a proximal portion, and a center axis of the first rod is defined between the proximal portion and the distal portion of the first rod;
• wherein the second rod comprises a distal portion and a proximal portion, a center axis of the second rod is defined between the proximal portion and the distal portion of the second rod, and the center axis of the second rod is noncoaxial with the center axis of the first rod;
• wherein the first magnet is coupled to the first rod, and the second magnet is coupled to the second rod;
• and
• wherein the first magnet translates within the first coil along the center axis of the first rod, and the second magnet translates within the second coil along the center axis of the second rod.