A method and a system for simulating the minimally invasive medical procedure of urological endoscopy. The system is designed to simulate the actual medical procedure of urological endoscopy as closely as possible by providing botha simulated medical instrument, and tactile and visual feedback as the simulated procedure is performed on the simulated patient. Particularly preferred features include a multi-path solution for virtual navigation in a complex anatomy, the simulation of the effect of the beating heart on the urethra as it crosses the illiac vessel, and the simulated operation of a guidewire within the urethra In addition, the system and method optionally and more preferably incorporate the effect of dynamic contrast injection of dye into the urethra for fluoroscopy. The injection of such dye, and the subsequent visualization of the urological organ system in the presence of the endoscope, must be accurately simulated in terms of accurate visual feedback. Thus, the system and method provide a complete solution to the complex and difficult problem of training students in urological endoscopy procedures.