Immersion's exclusive license to Mako is for orthopedics only. IS can negotiate directly with Immersion. Some Mako patents are broad but I'm sure they'd be happy to license to Intuitive as Mako has no designs on the soft tissue arena.
I remember a presentation from Katherine Mohr years ago that said haptics should be coming in a few years... which would mean it could come any time now. That would be really cool, but I'll believe it when I see it.
It's going to be like the game Operation. Every time a doc bags the ureter or punctures bowel, the console will buz and the patient's nose will light up.