Apparatus for simulating dental procedures for training a dental student comprising, in combination, a digital computer consisting of at least a processor, a display device, a haptic interface including a moveable stylus manipulatable by said student, and storage means for storing:
- volumetric object grid data for representing a tooth as a collection of volume elements in three-dimensional space,
- tool definition data for representing the shape and character of a modification region of a dental tool in three-dimensional space, and
- a simulation program executable by said processor in response to the movement of said stylus for moving a displayed model of said dental tool with respect to a displayed model of said tooth to haptically simulate a dental procedure.