Incorporating autonomy into teleoperation systems for minimally invasive robotic surgery requires operators to effectively manage transitions from full autonomy to semi-autonomous control during system failures. This experiment investigated the impact of visuo-haptic guidance compared to visual guidance on participants’ performance during take-over situations and their trust in the teleoperation systems. Students, unfamiliar with the system and task, performed a ring transfer task under two conditions: visual guidance, where they monitored the system visually, and visuo-haptic guidance, where they also received haptic feedback by holding the input device as the system operated in full autonomy. During some trials, system failures occurred, requiring participants to take over control. Results showed that participants noticed system failures faster with visuo-haptic guidance compared to visual guidance. Although visuo-haptic guidance did not improve task completion times or accuracy during the transfer and placement phases, it led to significantly higher trust in the teleoperation system and a stronger sense of perceived control. However, participants also reported higher physical demand and effort under visuo-haptic guidance, indicating an increased workload in this condition. These findings reveal important trade-offs in integrating haptic feedback into teleoperated autonomous systems. While visuo-haptic guidance improved failure detection, trust, and perceived control, it also increased user workload. As this study was conducted with non-expert participants, further research is needed to explore how visuo-haptic guidance affects experienced users.