A laparoscopy simulator includes two rods and an orientation sensor that determines the orientation of the rods. An optical sensor is used to determine measurements of each rod based on the rotation of the rod around a central axis of the rod and a sliding of the rod along the central axis. An accelerometer is used to determine additional measurements of each rod based on a rotation of the rod around two additional rotation axes of the simulator. The measurements are used to determine the overall orientation of the rods.