Our paper, "Vision-based Force Feedback Estimation for Robot-assisted Surgery using Instrument-constrained Biomechanical 3D Maps" has been accepted to IEEE Robotics and Automation Letters and ICRA 2018. We present a method for estimating visual and haptic force feedback on robotic surgical systems that do not feature significant force feedback to the operator. This is done using a biomechanical model which is built on-the-fly with 3D reconstruction and meshing techniques from