A system for simulating a medical procedure includes: a physical model of an organ including a sensor mesh； a camera system including a plurality of cameras having overlapping fields of view directed at the physical model of the organ； a user input device including a distal end inserted within the physical model of the organ； a display device； and a simulation controller coupled to the sensor mesh, the camera system, the user input device, and the display device, the simulation controller including a processor and memory, the memory storing instructions that, when executed by the processor, cause the processor to: initialize a simulation of the organ； display, on the display device, a representation of a state of the simulation of the organ； receive contact data from the sensor mesh； receive images from the cameras； compute a location of the distal end of the user input device within the physical model of the organ in accordance with the contact data and the images； receive user input from the user input device； update the state of the simulation of the organ in accordance with the user input； and display, on the display device, the updated state of the simulation.
