An apparatus for use in a simulator for an endoscopy system. The apparatus comprises
a rotatable disc (2) on which a plurality of rollers (6, 7) are mounted
to surround the axis of rotation (4) of the disc. A force feedback motor
is provided to resist rotation of the disc (2) and a further motor (12,
13) is provided to resist rotation of at least one of the rollers. These mechanisms
provide rotational and linear force feedback respectively against movement of a
dummy instrument inserted along the axis (4). A separate mechanism of similar
construction, but without force feedback motors is provided independently of the
force feedback arrangement to provide independent linear and rotary sensing of
the position of the instrument.
