Embodiments of a surgical training system (100) comprise an anatomical training model (102), three or more telemetry sensors (104) attached to the training model, a training tool (106), a display (112), and a controller (108). The anatomical training model physically simulates human anatomical features. The training tool comprises at least one transmitter (122) configured to emit a signal. The controller includes one or more processors configured to determine a location of the training tool relative to the training model using the sensors in the signal, and produce a virtual image of the training tool and anatomical features simulated by the training model on the display based on the location of the training tool. In embodiments of a surgical training method, a training tool (106) is positioned (160) near an anatomical training model (102), which physically simulates human anatomical features. A position of the training tool relative to the training model is determined (162) using a controller (108). An orientation of the training tool relative to the training model is determined (164) using the controller. A virtual tool (130), which corresponds to the training tool, is located (166) within a virtual model (128), which corresponds to the training model, based on the position and orientation of the training tool using the controller. The virtual tool and the virtual model are displayed (168) on a display (112) using the controller.
