arXiv:2610.15422v1 Announce Type: cross Abstract: Haptic shared control in surgical robotics combines human-side and robot-side forces at a shared end effector while preserving operator involvement. However, the effects of geometric safety choices on task execution and force coordination remain unclear. We model the interaction as a two-agent cooperative Markov game under centralized training and decentralized execution, comparing learned human control with a task-tuned fixed-impedance baseline. This model-free multi-agent reinforcement learning framework supports joint policy adaptation without requiring a complete analytical interaction model. It compares MADDPG and rMAPPO with an epigraph-constrained approach under common geometric task definitions. In simulation, rMAPPO generally achieved the highest return and tracking performance, whereas the epigraph approach produced more conservative motions and lower geometric exposure, including no observed collision or dangerous-region exposure after geometry transfer. With real operator input, fixed-impedance-trained policies were faster and successful in all recorded trials. Policies trained with a learned partner exhibited greater command opposition, while the fixed epigraph condition produced the most aligned commands. This work provides a benchmark for studying human-control representation and constraint-handling trade-offs in haptic shared control.