Here is a fascinating video about SRI (where the daVinci technology was originally developed for DARPA) and daVinci. Part 2 is all about haptics. Interestingly enough SRI is using haptics developed by a Swiss company called Force Dimension.
Here is the thread from early 2011 with links to discussions of haptics.
In Aug 2009 Catherine Mohr Director of Medical Research at ISRG showed slide that listed haptics as a mid-term development that would be available in 2-4 years. They have not mentioned it much since but August 2013 would be 4 years. In the past they have not talked much about things in development although they seem i little more forthcoming since Gary took over as CEO. They are about due for a new model. Who knows, maybe it will include haptics.