Problem Statement: The critical step in laparoscopic surgery is the primary trocar insertion because it is executed with limited visibility of organs inside. Over-insertion frequently occurs due to either inability to stop a breaching trocar or by failure to accurately judge depth of insertion.  Background: Laparoscopic Surgery is a minimally invasive surgical procedure that offers patients benefits that are more favorable than traditional open surgery. The benefits include minimal scarring, less pain and discomfort, and fast recovery. However, this procedure gives surgeons many drawbacks, such as a confined working space, reduced dexterity, and obscured vision. With five million laparoscopic procedures done worldwide in 2013, three million in the US alone, it is a necessity to address the issues surgeons are facing in order to meet the patients' growing demands for laparoscopic surgery.  Advisor(s): Dr. Samir Shreim; Dr. Michelle Khine; Dr. Albert Yee. Graduate Student Advisors: Elena Liang, Phil Thomas. UCI Dean's Choice Award