Mixed-reality endoscope and surgical tools with haptic feedback for integrated virtual-reality visual and haptic surgical simulation

A multimode VR apparatus comprising:

• an endoscope device selected from an endoscope and a dummy endoscope having shape and feel resembling that of an endoscope,
• a first wireless tracker operating with a three-dimensional tracking system to track location and orientation of the endoscope device in three dimensions in a simulated operating-room environment,
• a video modeling and display machine loaded with a computer-aided design (CAD) model of a head, providing a simulated endoscope view of a simulated head environment;
• and
• a physical head model comprising hard and soft physical components, and a second wireless tracker where the computer-aided design (CAD) model of the head is registered to a tracked position of the physical head model, the endoscope device being configured to be inserted into the physical head model to provide haptic feedback during manipulation resembling haptic feedback present during manipulation of an endoscope in a head to a person handling the endoscope device.