Minimally invasive surgeries, such as laparoscopy, have improved patient safety and decreased recovery times. However, limited instrument dexterity and insufficient sensor feedback can adversely affect the outcomes of procedures. Soft optical sensing strategies are rapidly developing for soft robotic systems as a means to increase the controllability of soft compliant robots. Multiple optical sensors can be embedded in robotic systems to achieve both proprioceptive and exteroceptive capabilities. In this paper, we present a roughness tuning strategy for the fabrication of soft optical sensors to achieve the dual functionality of shape sensing combined with contact recognition within a single multi-modal sensor. The molds utilized to fabricate the soft sensors are roughened via laser micromachining to exhibit a distinctly bidirectional sensor response (optical gain and optical loss in opposite directions). We demonstrate the integration of these sensors into a fully soft robotic platform consisting of a multi-directional bending module with integrated 3D shape sensing and a gripper with tip position monitoring along with contact force prediction. The accuracy of our sensing strategy is shown in validation experiments and an in-vitro experiment is conducted in a mock laparoscopic environment to exhibit our robot’s functionality in a surgical scenario. Our robot can perform a peg transfer test in an in-vitro environment while monitoring the shape of the robot and the force exerted on objects of varying sizes and outputting the information to a surgeon via a graphical user interface.