A method to simulate a medical procedure scenario for at least one operator interacting with a medical simulator anatomy model , said anatomy model being mounted on rotational element allowing to change the orientation of the anatomy model , the method comprising: - detecting the orientation of the anatomy model , - detecting the position of a virtual object into the medical procedure scenario, said virtual object being characterized by at least one material and/or physical property parameter and a virtual deformation model; - updating the position, deformation model and material/physical property of the at least one virtual object according to the orientation of the anatomy model; - acquiring a position and orientation from at least one instrument replicate manipulated by the operator, the instrument replicate being adapted to slide into an instrument hosting duct mounted on a portal entry of the anatomy model , said instrument hosting duct and said instrument replicate forming a linear electromagnetic motor; - detecting a virtual contact between the acquired position of the instrument replicate and the updated virtual object position in the medical procedure scenario, the virtual contact causing a virtual deformation of the virtual object in the medical procedure scenario according to the updated virtual deformation model of the virtual object; - calculating an axial force feedback signal to haptically render the interaction between the virtual object and the instrument replicate , the magnitude of the axial force feedback signal being a function of the virtual object position, the updated virtual object deformation model, the updated virtual object material and/or physical property parameters, as well as of the position and orientation of the instrument replicate ; - transmitting the calculated variable axial force feedback signal to a controller of the linear electromagnetic motor so as to produce an axial force along the instrument hosting duct axis. - detecting the orientation of the anatomy model , - detecting the position of a virtual object into the medical procedure scenario, said virtual object being characterized by at least one material and/or physical property parameter and a virtual deformation model; - updating the position, deformation model and material/physical property of the at least one virtual object according to the orientation of the anatomy model; - acquiring a position and orientation from at least one instrument replicate manipulated by the operator, the instrument replicate being adapted to slide into an instrument hosting duct mounted on a portal entry of the anatomy model , said instrument hosting duct and said instrument replicate forming a linear electromagnetic motor; - detecting a virtual contact between the acquired position of the instrument replicate and the updated virtual object position in the medical procedure scenario, the virtual contact causing a virtual deformation of the virtual object in the medical procedure scenario according to the updated virtual deformation model of the virtual object; - calculating an axial force feedback signal to haptically render the interaction between the virtual object and the instrument replicate , the magnitude of the axial force feedback signal being a function of the virtual object position, the updated virtual object deformation model, the updated virtual object material and/or physical property parameters, as well as of the position and orientation of the instrument replicate ; - transmitting the calculated variable axial force feedback signal to a controller of the linear electromagnetic motor so as to produce an axial force along the instrument hosting duct axis. <EOS>