A system for simulating a medical procedure comprising: a physical model of an organ comprising a sensor mesh; a user input device comprising a distal end inserted within the physical model of the organ; a display device; a camera system comprising a first camera and a second camera; and a simulation controller coupled to the sensor mesh, the user input device, and the display device, the simulation controller comprising a processor and memory, the memory storing instructions that, when executed by the processor, cause the processor to: initialize a simulation of the organ; display, on the display device, a representation of a state of the simulation of the organ; receive contact data from the sensor mesh; receive images from the camera system; compute a location of the distal end of the user input device within the physical model of the organ in accordance with the contact data and in accordance with images of the distal end in the received images by: computing a first elevational angle and a first transverse angle of a first ray between the first camera and the distal end of the user input device with respect to an optical axis of the first camera; computing a second elevational angle and a second transverse angle of a second ray between the second camera and the distal end of the user input device with respect to an optical axis of the second camera; and computing an intersection between the first ray and the second ray, the intersection corresponding to the location of the distal end of the user input device; update the state of the simulation of the organ; generate a simulation output in accordance with the location of the distal end of the user input device and the state of the simulation of the organ; and display, on the display device, the simulation output. a physical model of an organ comprising a sensor mesh; a user input device comprising a distal end inserted within the physical model of the organ; a display device; a camera system comprising a first camera and a second camera; and a simulation controller coupled to the sensor mesh, the user input device, and the display device, the simulation controller comprising a processor and memory, the memory storing instructions that, when executed by the processor, cause the processor to: initialize a simulation of the organ; display, on the display device, a representation of a state of the simulation of the organ; receive contact data from the sensor mesh; receive images from the camera system; compute a location of the distal end of the user input device within the physical model of the organ in accordance with the contact data and in accordance with images of the distal end in the received images by: computing a first elevational angle and a first transverse angle of a first ray between the first camera and the distal end of the user input device with respect to an optical axis of the first camera; computing a second elevational angle and a second transverse angle of a second ray between the second camera and the distal end of the user input device with respect to an optical axis of the second camera; and computing an intersection between the first ray and the second ray, the intersection corresponding to the location of the distal end of the user input device; update the state of the simulation of the organ; generate a simulation output in accordance with the location of the distal end of the user input device and the state of the simulation of the organ; and display, on the display device, the simulation output. initialize a simulation of the organ; display, on the display device, a representation of a state of the simulation of the organ; receive contact data from the sensor mesh; receive images from the camera system; compute a location of the distal end of the user input device within the physical model of the organ in accordance with the contact data and in accordance with images of the distal end in the received images by: computing a first elevational angle and a first transverse angle of a first ray between the first camera and the distal end of the user input device with respect to an optical axis of the first camera; computing a second elevational angle and a second transverse angle of a second ray between the second camera and the distal end of the user input device with respect to an optical axis of the second camera; and computing an intersection between the first ray and the second ray, the intersection corresponding to the location of the distal end of the user input device; computing a first elevational angle and a first transverse angle of a first ray between the first camera and the distal end of the user input device with respect to an optical axis of the first camera; computing a second elevational angle and a second transverse angle of a second ray between the second camera and the distal end of the user input device with respect to an optical axis of the second camera; and computing an intersection between the first ray and the second ray, the intersection corresponding to the location of the distal end of the user input device; update the state of the simulation of the organ; generate a simulation output in accordance with the location of the distal end of the user input device and the state of the simulation of the organ; and display, on the display device, the simulation output.