Systems and methods for minimally invasive surgical tools with haptic feedback are disclosed. One disclosed embodiment of a system includes an insertion sheath configured to be partially inserted within a patients body, the insertion sheath configured to receive a surgical tool a roller disposed at least partially within the insertion sheath, the roller configured to contact a surgical tool inserted within the insertion sheath and an actuator coupled to the roller, the actuator configured to receive an actuator signal and to output a haptic effect based on the actuator signal.
