Physician console generating haptic vibration for teleoperation

A medical system, comprising:

• a first haptic interface device;
• one or more input sensors;
• one or more processors;
• and
• memory storing instructions, which, when executed by the one or more processors, cause the one or more processors to:
• receive a first input signal from the one or more input sensors;
• generate a kinesthetic haptic feedback signal based at least on the first input signal for a kinesthetic haptic feedback;
• receive a second input signal from the one or more input sensors;
• generate a vibrational tactile feedback signal based at least on the second input signal for a vibrational tactile feedback;
• generate a control signal based on a combination of the kinesthetic haptic feedback signal and the vibrational tactile feedback signal;
• and
• send to the first haptic interface device the control signal.