Please note: concerning haptic feedback.
Senhance does have haptic feedback, but lets be specific. From the videos I have seen the haptic feedback is for push and sideways contact, of the effector stick. The long thin straight stick thing. Longterm can tell us, since I haven't followed Senhance and already wasted too much time in Titan hell: does Senhance have haptic feedback at the effector level? Answer: No. That it does is what a lot of people probably think.
Please correct me if I am wrong. What they have is something that daVinci should have by now, but it is not the holy grail of physician feels touch at the effector contact point.
So I don't think haptics is going to revolutionize the surgeon experience when using Senhance in its current generation. A hell of a lot better than nothing, but not a game changer for competition with ISRG. Someone did point out that many injury claims have been made against daVinci-users for excessive force misapplication. In that regard I think Senhance's haptics will allow for safer straight stick work.
Again, IMO; correct me if I am wrong.