This paper describes a virtual reality simulator for training endodontics operations using manual files. The simulator consists of a custom 4DOF haptic device for tracking and force feedback. The built device can simulate the kinematic behaviour of the files during endodontic surgery. During the simulation, the movements the user does with the manual files are tracked and at the end are displayed by a custom-made visualization tool. This tool shows the forces applied during the procedures, the direction and the amplitude of the movements and the final result of the tooth preparation. Preliminary tests showed that the level of realism of the simulator is satisfactory and the visualization tool allows for obtaining relevant data for a qualitative analysis of the procedures performed on the tooth.

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