A system, comprising: an insertion sheath configured to be partially inserted within a patient's body, configured to receive a surgical tool (120, 130); a subassembly releasably coupled to the insertion sheath and configured to receive a surgical tool (120, 130), the subassembly comprising: an actuator (140a-b); and a roller (112a-b) coupled to the actuator (140a-b), wherein the roller (112a-b) is configured to output a haptic effect to the surgical tool (120,130) or the insertion sheath; characterized in that it further comprises: a sensor, the sensor configured to be coupled to a patient to sense a status of the patient; a vibrotactile actuator configured to output a vibrotactile effect to the surgical tool (120, 130) or the insertion sheath; and a host processor in communication with the vibrotactile actuator and the sensor, the host processor configured to receive the sensor signal, generate a vibrotactile actuator signal based on the sensor signal, and transmit the vibrotactile actuator signal to the vibrotactile actuator. an insertion sheath configured to be partially inserted within a patient's body, configured to receive a surgical tool (120, 130); a subassembly releasably coupled to the insertion sheath and configured to receive a surgical tool (120, 130), the subassembly comprising: an actuator (140a-b); and a roller (112a-b) coupled to the actuator (140a-b), wherein the roller (112a-b) is configured to output a haptic effect to the surgical tool (120,130) or the insertion sheath; characterized in that it further comprises: a sensor, the sensor configured to be coupled to a patient to sense a status of the patient; a vibrotactile actuator configured to output a vibrotactile effect to the surgical tool (120, 130) or the insertion sheath; and a host processor in communication with the vibrotactile actuator and the sensor, the host processor configured to receive the sensor signal, generate a vibrotactile actuator signal based on the sensor signal, and transmit the vibrotactile actuator signal to the vibrotactile actuator. an actuator (140a-b); and a roller (112a-b) coupled to the actuator (140a-b), wherein the roller (112a-b) is configured to output a haptic effect to the surgical tool (120,130) or the insertion sheath; characterized in that it further comprises: a sensor, the sensor configured to be coupled to a patient to sense a status of the patient; a vibrotactile actuator configured to output a vibrotactile effect to the surgical tool (120, 130) or the insertion sheath; and a host processor in communication with the vibrotactile actuator and the sensor, the host processor configured to receive the sensor signal, generate a vibrotactile actuator signal based on the sensor signal, and transmit the vibrotactile actuator signal to the vibrotactile actuator. a sensor, the sensor configured to be coupled to a patient to sense a status of the patient; a vibrotactile actuator configured to output a vibrotactile effect to the surgical tool (120, 130) or the insertion sheath; and a host processor in communication with the vibrotactile actuator and the sensor, the host processor configured to receive the sensor signal, generate a vibrotactile actuator signal based on the sensor signal, and transmit the vibrotactile actuator signal to the vibrotactile actuator.