This paper describes a measurement system for skill evaluation of laparoscopic surgical procedures. Individual marker sets are attached to a grasping forceps, a scissors forceps, a clip applier, and needle holders respectively, and hence the developed system can detect exchanges of surgical instruments. Two marker sets are attached to a forceps, one to the sheath of the forceps and the other to the handle. The opening ratio of the gripper of the forceps is estimated by the relative distance of the two marker sets. A strain gauge is attached to the gripper of a grasping forceps to measure the grasping force during a surgical operation. Lymphadenectomy and renal parenchyma suturing using organs of cadaver pigs were performed in the measurement experiment, and the movements of surgeons were captured by the developed system. A questionnaire survey was also carried out on the operation feeling of forceps for 45 subjects after the measurement experiments and the results are briefly presented in this paper.