Abstract: A device for tracking the translational and rotational displacement of an object having two degrees of freedom using a single point of contact with the object. The device is particularly useful in a catheter simulation device for surgery and interventional radiology applications. A spherical contact member is mounted for free rotation about all axes in force-transmitting contact with the surface of the object and a pair of shafts are mounted in tangential engagement with the spherical member to reflect the displacement imparted to the object relative to a reference position. This arrangement provides simultaneous tracking of the combined translational and rotational displacement of the object. Measuring the displacement of the object and a haptic applicator are included such that a load may be applied to the object to precisely control the degree of force required to cause displacement of the object.