The present disclosure relates to a body cavity simulator. The body cavitysimulator is adapted for simulating medical instrument insertion procedures.The body cavity simulator comprises a duct, a plurality of haptic mechanismsand a plurality of sensors. The duct defines an insertion path. The insertionpath is adapted for receiving and guiding translation of a simulated medicalinstrument. The haptic mechanisms are adapted for applying a resistive hapticforce to the simulated medical instrument. Each haptic mechanism ispositioned at a haptic point along the insertion path. Each sensor is co-locatedwith one of the haptic mechanisms. Each sensor is adapted for capturing thesimulated medical instrument at the haptic point and generating correspondingpositioning data.
