Virtual reality (vr) together with haptics offers immersive, flexible, and cost-effective platform for training doctors in medical procedures. in this project, we developed a vr-based endoscopy simulator together with force-feedback system. endoscopy is minimally invasive and is used as an important diagnostic tool to detect abnormal tissue, ulcers, polyps, cancers, etc. gastrointestinal (gi) endoscopy, including colonoscopy, is a complex procedure involving high degree of hand-eye coordination. these procedures are generally carried out by highly skilled clinicians. it is reported that at least hundred supervised sessions are necessary to gain base competency in endoscopy. in order to practice endoscopy safely, a training system that does not involve patients is deemed important. vr-based training system developed in this work has many advantages. it is economical over a long run and usable any number of times; the training model can be changed and designed as per requirements including incorporation of in-situ cases. it can be used for quantitatively assessing skill as recorded training sessions can be used for identifying mistakes. endoscopy simulator shared in this application was developed at the indian institute of science (iisc), bengaluru. the development was part of my phd thesis titled “a haptic simulator for gastrointestinal endoscopy: design, development and experiments”. during the course of the research an alpha- prototype of the simulator was developed. the developed endoscopy simulator has many novel features. it consists of a haptic device, force-models models for real-time interaction, computer graphic models for visualization, and an instrumented endoscope for realistic interactions. the haptic device consists of an electro-mechanical system that provides force-sensation during interaction. the device has three degrees of freedom (dof) and facilitates ergonomic interactions. the device is kinematically designed to mimic real endoscopy. the control algorithm and instrumentation for the system are also uniquely developed. force models are also developed to work with the haptic device. our force models are physics-based models and provide for realistic and real-time interaction. these real-time force models are integrated with haptic device for immersive training in endoscopy. instrumented endoscope that allows for realistic training is also integrated with the system. instrumented endoscope is designed to mimic real endoscope and is instrumented with sensors for interactively engaging the user. furthermore, the endoscopy simulator developed in this project has potential for extension in other interventional procedures such as colonoscopy, bronchoscopy, and angio training.