Haptic feedback devices for surgical robot

A robotic surgical system comprising:

• a surgical robot comprising a surgical instrument, the surgical instrument comprising an end effector and a mechanical interface to manipulate the end effector;
• and
• a control system comprising:
• a housing;
• a controller located in the housing coupled to a socket to receive a handheld surgical user interface to control a function of the surgical instrument, wherein the controller is operatively coupled to the mechanical interface;
• at least one sensor coupled to the controller and the socket, the at least one sensor to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument;
• and
• at least one feedback device operably coupled to controller to provide feedback to the user that is associated with a predetermined function of the surgical instrument.

A method for controlling a robotic surgical device, comprising:

• interfacing, via a socket, a controller and a handheld surgical user interface;
• manipulating, by a user, the handheld surgical user interface to produce one or more electrical signals via a sensor operatively coupled to the handheld surgical user interface and the controller;
• converting, via the controller, the one or more electrical signals into one or more control signals for the robotic surgical device;
• receiving, via the controller, one or more feedback signals from the robotic surgical device, and
• producing, via a feedback device, one or more feedback conditions to emulate one or more interactions between the robotic surgical device and a tissue site.