A system for simulating an insertion of an elongated instrument into a subject, the system comprising: a medical apparatus comprising a frame extending between a proximal face and a distal face along a longitudinal axis, the proximal face being provided with an aperture for receiving the elongated instrument therein; a sensing unit being configured to measure one of an actual angular position and a rotation angle for a proximal section of the elongated instrument, the proximal section of the elongated instrument being outside of the medical apparatus, wherein the sensing unit is removably securable to the proximal section of the elongated instrument, the sensing unit comprises at least one gyroscope sensor for measuring the one of the actual angular position and the rotation angle for the proximal section of the elongated instrument; and a simulation machine in communication with the sensing unit for receiving the one of the measured angular position and the measured rotation angle therefrom, the simulation machine comprising at least a processing unit configured for: calculating a distal angular position for a distal end of the elongated instrument using an adjustment factor and the one of the actual angular position and the rotation angle for the proximal section of the elongated instrument, the adjustment factor being chosen so as to simulate a torsion of the elongated instrument between the proximal section thereof and the distal section thereof and wherein the adjustment factor varies as a function of one of a position of the distal end of the elongated instrument within the medical apparatus and a length of a portion of the elongated instrument inserted into the medical apparatus; generating a medical image of at least a portion of the subject, the medical image comprising at least a representation of a distal section of the elongated instrument, the representation of the distal section being generated according to the distal angular position; and outputting the generated medical image. a medical apparatus comprising a frame extending between a proximal face and a distal face along a longitudinal axis, the proximal face being provided with an aperture for receiving the elongated instrument therein; a sensing unit being configured to measure one of an actual angular position and a rotation angle for a proximal section of the elongated instrument, the proximal section of the elongated instrument being outside of the medical apparatus, wherein the sensing unit is removably securable to the proximal section of the elongated instrument, the sensing unit comprises at least one gyroscope sensor for measuring the one of the actual angular position and the rotation angle for the proximal section of the elongated instrument; and a simulation machine in communication with the sensing unit for receiving the one of the measured angular position and the measured rotation angle therefrom, the simulation machine comprising at least a processing unit configured for: calculating a distal angular position for a distal end of the elongated instrument using an adjustment factor and the one of the actual angular position and the rotation angle for the proximal section of the elongated instrument, the adjustment factor being chosen so as to simulate a torsion of the elongated instrument between the proximal section thereof and the distal section thereof and wherein the adjustment factor varies as a function of one of a position of the distal end of the elongated instrument within the medical apparatus and a length of a portion of the elongated instrument inserted into the medical apparatus; generating a medical image of at least a portion of the subject, the medical image comprising at least a representation of a distal section of the elongated instrument, the representation of the distal section being generated according to the distal angular position; and outputting the generated medical image. calculating a distal angular position for a distal end of the elongated instrument using an adjustment factor and the one of the actual angular position and the rotation angle for the proximal section of the elongated instrument, the adjustment factor being chosen so as to simulate a torsion of the elongated instrument between the proximal section thereof and the distal section thereof and wherein the adjustment factor varies as a function of one of a position of the distal end of the elongated instrument within the medical apparatus and a length of a portion of the elongated instrument inserted into the medical apparatus; generating a medical image of at least a portion of the subject, the medical image comprising at least a representation of a distal section of the elongated instrument, the representation of the distal section being generated according to the distal angular position; and outputting the generated medical image.