A simulation device simulates haptic feedback which results when an elongate member advances through tissue. The simulation device includes an elongate member receiving component (8) into which the elongate member (1) is inserted; a depth determining component (14) for determining the depth of advancement of the elongate member; a resistive force determining component which determines the resistive force required to simulate haptic feedback; and a resistive force generating component (16) for generating the resistive force and applying it to the elongate member, and pre-determined values of resistive force for a depth of advancement of an elongate member in real tissue.
