A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D)； a surgical instrument disposed to deform a tissue structure； a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation； and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.
