Johns Hopkins Gazette November 13, 2006: “Johns Hopkins researchers are trying to change that by adding such sensations, known as haptic feedback, to medical robotic systems. “Haptic” refers to the sense of touch.
A video showing some of this research is online at www.jhu.edu/news/audio-video/medical_robotics.html.”
I thought this was an excellent video showing the davinci robot and some of the things that John Hopkins is working on.