I will be presenting this poster (pdf) at the 2010 North American Summer School on Surgical Robotics and Simulation held in Seattle, Washington. The images are of my recent work to virtually simulate the palpation for a femoral pulse and to perform a virtual needle insertion for training purposes. The simulation is novel as the user sees their real hand in the virtual environment and can feel the virtual patient through force and tactile feedback. The devices simulating the force of skin deformation, the tactile response from the patients pulse, and the force of inserting a needle into a simulated patient are situated below the LCD screen. The devices are hidden from view using a chroma-key technique so that the user sees only their hand, the real needle hub and the virtual patient. A full journal paper is to be submitted soon and my PhD thesis will be completed by December 2010.