Apparatuses for simulating dental procedures and methods

A dental procedure simulator comprising:

• a support structure,
• a display screen,
• a computer configured to simulate a dental procedure or treatment,
• a linkage suspended from said support structure, said linkage being controlled by said computer to simulate a medical procedure or treatment by providing haptic force feedback,
• a handpiece operably coupled to said linkage and configured to be held in a hand of a user and to be manipulated by the user in a predefined workspace (W) of the dental procedure simulator in real space,
• a phantom upper jaw and a phantom lower jaw movably supported by said support structure and arranged in said workspace (W),
• said computer being configured to generate an image of the simulated dental procedure for display on a display screen,
• wherein said dental procedure simulator comprises a partially transparent reflective element arranged to reflect the image from said display screen to the eyes of the user,
• wherein said workspace (W) is arranged to be visible for the user through said partially transparent reflective element, and
• wherein said computer is configured to display on said display screen a virtual environment comprising at least one virtual tooth co-located with said phantom upper jaw or with said phantom lower jaw.