A system for simulating a medical procedure includes: a physical model of anorgan including a sensor mesh； a camera system including a plurality ofcameras havingoverlapping fields of view directed at the physical model of the organ； a userinput deviceincluding a distal end inserted within the physical model of the organ； adisplay device；and a simulation controller coupled to the sensor mesh, the camera system, theuser inputdevice, and the display device, the simulation controller including aprocessor andmemory, the memory storing instructions that, when executed by the processor,cause theprocessor to: initialize a simulation of the organ； display, on the displaydevice, arepresentation of a state of the simulation of the organ； receive contact datafrom thesensor mesh； receive images from the cameras； compute a location of the distalend ofthe user input device within the physical model of the organ in accordancewith thecontact data and the images； receive user input from the user input device；update thestate of the simulation of the organ in accordance with the user input； anddisplay, on thedisplay device, the updated state of the simulation.
